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2021 5th International Conference on Vision, Image and Signal Processing (ICVISP)最新文献

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Research on Omnidirectional Indoor Mobile Robot System Based on Multi-sensor Fusion 基于多传感器融合的全向室内移动机器人系统研究
Pub Date : 2021-12-01 DOI: 10.1109/ICVISP54630.2021.00028
Xiangquan Tan, Shuliang Zhang, Qingwen Wu
Indoor mobile robot faces the problems such as complex situations, multiple barriers, narrow spaces and low navigation accuracy. In this paper, omnidirectional indoor mobile robot system based on multi-sensor fusion is established which consists of mobile robot body, upper order control system and lower order control system. The mobile robot body is a platform adopting mecanum wheels as actuating mechanism. The upper order control system consists of upper computer controllers and robot operating system (ROS) above the controllers. The lower order control system consists of chassis controller using STM32F103 chip as the core part, DC motors and encoders. The navigation and localization function are implemented by data of sensor such as laser radar, UWB, odometer and IMU. The upper order control system first fuses and programs the navigation and localization data from multiple sensors, then sends instructions to the lower order control system; the lower order mobile control system receives these control instructions and solves the kinematic model, then control the robot body using PID algorithm. Localization and navigation test environment of the omnidirectional indoor mobile robot is established. Experimental results show that localization and navigation of omnidirectional indoor mobile robot system based on multi-sensor fusion has the advantages of omnidirectional indoor mobile ability, strong barrier avoiding ability, and high localization and navigation accuracy.
室内移动机器人面临着环境复杂、障碍物多、空间狭窄、导航精度低等问题。本文建立了基于多传感器融合的全向室内移动机器人系统,该系统由移动机器人本体、上阶控制系统和下阶控制系统组成。移动机器人本体是采用机械轮作作动机构的平台。上阶控制系统由上位机控制器和控制器上的机器人操作系统(ROS)组成。低阶控制系统由以STM32F103芯片为核心的机箱控制器、直流电机和编码器组成。通过激光雷达、超宽带、里程表和IMU等传感器的数据实现导航和定位功能。上阶控制系统首先对来自多个传感器的导航和定位数据进行融合和编程,然后向下阶控制系统发送指令;低阶移动控制系统接收这些控制指令并求解运动学模型,然后利用PID算法对机器人本体进行控制。建立了全向室内移动机器人的定位与导航测试环境。实验结果表明,基于多传感器融合的全向室内移动机器人系统具有全向室内移动能力强、避障能力强、定位导航精度高等优点。
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引用次数: 1
Identifying Factors to Improve the Coach Design and Service of the New-type EMU Sleeper Train: Findings from Passenger Satisfaction Survey 改进新型动车组卧铺列车车厢设计和服务的因素识别:乘客满意度调查结果
Pub Date : 2021-12-01 DOI: 10.1109/ICVISP54630.2021.00021
Zerui Xiang, Jinyi Zhi, Junhua Huang, Ran Li, Yongmeng Wu
In order to identify innovations, practices and ideas aimed to improve the coach design and service for new EMU sleeper trains, this study propose the coach characteristics of the new-type EMU sleeper train based on passenger satisfaction survey. Two passenger satisfaction questionnaires were developed, and the passengers’ impressions and comments ($n=686/198$) were collected during travel, the results were analyzed and suggestions were made for future coach design and service. The results indicated that the coach of the new-type EMU sleeper train would satisfy the needs of most passengers who travel in medium and long distances, providing increased capacity, reducing travel time, and improving passenger comfort. The findings could provide useful coach design and service guidelines for new EMU sleeper trains in the future.
为了找出改进新型动车组卧铺列车车厢设计和服务的创新点、做法和思路,本研究基于旅客满意度调查,提出了新型动车组卧铺列车车厢的特点。制定两份乘客满意度问卷,收集乘客在旅行过程中的印象和意见($n=686/198$),对结果进行分析,并对未来的客车设计和服务提出建议。结果表明,新型动车组卧铺列车的车厢可以满足大多数中长途旅客的需求,增加了载客量,缩短了旅行时间,提高了乘客的舒适度。研究结果可为今后动车组卧铺列车的车厢设计和服务提供参考。
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引用次数: 1
Numerical Simulation of Fracture Propagation in Bedded Shale Based on Cohesive Zone Model 基于黏结带模型的层状页岩裂缝扩展数值模拟
Pub Date : 2021-12-01 DOI: 10.1109/ICVISP54630.2021.00060
Zhitao Yan, Qiang Wang, H. Liu, Shouxing Kang, Liping Zhang, Haiyang Sun
based on the global embedded cohesive zone model, the finite element model of complex hydraulic fracture (HF) propagation in layered shale is established in this paper. Considering the effects of fluid flow/geological stress coupling, pore elastic deformation and back stress, the effects of stratification approach angle, horizontal stress difference, displacement and fracturing fluid viscosity on the morphology of complex HF were studied based on the model. The results show that when the bedding approach angle is greater than 45°, it is more likely to form complex fractures through the bedding, and when the bedding approach angle is less than 45°, it is more likely to form simple fractures along the bedding direction. When the approach angle is 45°, HF tend to form simple fractures captured by bedding under low stress difference, and simple fractures that extend along bedding after passing through partial bedding under high stress difference. In the case of moderate stress difference, it is more likely to form complex cracks that extend through and along the bedding. The increase in the flow rate and the viscosity of the fracturing fluid can lead to the formation of more fractures across the bedding, higher fracture complexity and greater maximum fracture opening.
基于整体内嵌黏聚带模型,建立了层状页岩复杂水力裂缝扩展的有限元模型。基于该模型,考虑流体流动/地质应力耦合、孔隙弹性变形和背应力的影响,研究了分层接近角、水平应力差、驱替和压裂液粘度对复杂HF地层形态的影响。结果表明:当层理接近角大于45°时,更容易通过层理形成复杂裂缝;当层理接近角小于45°时,更容易沿层理方向形成简单裂缝;当接近角为45°时,低应力差条件下HF倾向形成被层理捕获的简单裂缝,高应力差条件下HF倾向形成穿过部分层理后沿层理延伸的简单裂缝。在中等应力差的情况下,更有可能形成穿过和沿着顺层延伸的复杂裂缝。压裂液的流量和粘度的增加会导致层理上裂缝的增多、裂缝的复杂程度和最大裂缝开度的增大。
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引用次数: 0
The Impact of Weather Conditions on Urban Bus Ridership 天气状况对城市公交客流量的影响
Pub Date : 2021-12-01 DOI: 10.1109/ICVISP54630.2021.00022
H. Yu, Hui Xu
The existing literatures on the impact of weather on urban bus ridership have concentrated on the aggregate bus ridership. However, the differences in bus users’ features make the impact different and little research concerns on this. This paper aims to examine the various impacts of weather on the bus ridership divided by bus users’ feature in order to fill this gap. We get hourly urban bus ridership from Harbin, China for January to June 2014 by collecting Harbin smart card data. And use multiple linear regression model to analyze the influence of weather on bus ridership which varies based on bus users’ age (student, adult, the elderly), weekends and weekdays, peak and off-peak, frequent and occasional, regular and irregular. Results show that the elderly are more greatly affected by the weather compared with adults, and students are barely affected. Bus users traveling on weekday or in off-peak hour are prone to change the way of travel because of the weather’s impact. Regular bus users are less affected by the weather. The results provide an approximate way to forecast the bus ridership which can help the bus agencies to provide better bus service.
现有研究天气对城市公交客流量影响的文献主要集中在公交客流量总量上。然而,由于公交用户特征的不同,影响也不尽相同,研究较少。本文旨在研究天气对公交客流量的各种影响,并按公交用户的特征进行划分,以填补这一空白。通过收集哈尔滨智能卡数据,我们得到了2014年1月至6月中国哈尔滨每小时的城市公交客流量。并利用多元线性回归模型分析了天气对公交客流量的影响,公交客流量根据公交用户的年龄(学生、成人、老年人)、周末与工作日、高峰与非高峰、频繁与不频繁、规律与不规律而变化。结果表明,与成年人相比,老年人受天气的影响更大,而学生几乎没有受到影响。由于天气的影响,平日或非高峰时段出行的公交用户很容易改变出行方式。经常乘坐公交车的人受天气影响较小。研究结果为公交客流量预测提供了一种近似的方法,可以帮助公交机构提供更好的公交服务。
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引用次数: 0
The Study of Methods to Improve the Accuracy of Glycemic Control Based on Statistical Methods 基于统计方法提高血糖控制准确度的方法研究
Pub Date : 2021-12-01 DOI: 10.1109/ICVISP54630.2021.00040
A. Terenteva, M. Limorenko
Erroneous determination of blood glucose concentration in patients with diabetes can lead to errors in treatment. To prescribe the correct and non-traumatic treatment to the patient, you need to increase the accuracy of determining the concentration of glucose in the patient's blood. The authors of the article suggest the use of adaptive statistical methods to improve accuracy, which work well with a small number of repeated measurements under conditions of uncertainty of external factors. Such methods have proven themselves well in various fields of science and technology, where precise control of a large group of measurements is required. Such statistical methods have been well studied in terms of mathematics and applied in high-precision manufacturing. They allow you to adjust the required dose of the injected substance on the basis of several previous measurements in order to exclude insufficient or excessive administration. Both of these cases - an insufficient and excessive amount of the drug - lead to an incorrect glucose content in the patient's blood (hypo- and hyperglycemia), and have a bad effect on further treatment. To exclude such cases and improve the quality of treatment and the future life of patients with diabetes mellitus, a solution method using statistics is proposed.
糖尿病患者血糖浓度测定错误会导致治疗错误。为了给病人开出正确的、非创伤性的治疗方案,你需要提高测定病人血液中葡萄糖浓度的准确性。文章的作者建议使用自适应统计方法来提高准确性,这种方法在外部因素不确定的情况下对少量重复测量效果很好。这些方法在需要精确控制大量测量值的各个科学和技术领域已经证明了自己的有效性。这种统计方法在数学上得到了很好的研究,并在高精度制造中得到了应用。它们允许您根据以前的几次测量来调整注射物质的所需剂量,以排除给药不足或过量的情况。这两种情况——药物不足和过量——都会导致患者血液中的葡萄糖含量不正确(低血糖和高血糖),并对进一步治疗产生不良影响。为了排除此类病例,提高糖尿病患者的治疗质量和未来生活,我们提出了一种统计学解决方法。
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引用次数: 0
Slope Deformation Analysis and Research Based on 3D Laser Scanning Technology 基于三维激光扫描技术的边坡变形分析与研究
Pub Date : 2021-12-01 DOI: 10.1109/ICVISP54630.2021.00052
Xiaofang Xue, Jieming Guo, C. Ying, Yanhui Liu, T. Guo, Qian Meng, Yupeng Yang, Daguang Han
Aiming at the characteristics of traditional monitoring methods of slope deformation, such as low efficiency of single point measurement, limited operation area, time-consuming and laborious and difficulty in analyzing the overall deformation of slope. Taking the high cutting slope of a certain ramp section of suizi expressway as the research object, 3D laser scanning technology was used to scan the slope and obtain 3D point cloud data of the slope in different periods. The original data were pre-processed by point cloud registration, noise reduction, algorithm filtering and so on to obtain a 3D fined model, so as to realize the overall deformation analysis of the slope and the key monitoring of characteristic parts. The results show that 3D laser scanning technology can obtain more comprehensive 3D spatial information of the slope and realize the high efficiency and high precision monitoring of slope deformation, which is of significance for the real-time monitoring of slope deformation and disaster early warning.
针对传统的边坡变形监测方法存在单点测量效率低、操作面积有限、耗时费力、难以分析边坡整体变形等特点。以绥子高速公路某匝道段高路堑边坡为研究对象,采用三维激光扫描技术对边坡进行扫描,获得边坡不同时期的三维点云数据。对原始数据进行点云配准、降噪、算法滤波等预处理,得到三维精细模型,实现边坡整体变形分析和特征部位关键监测。结果表明,三维激光扫描技术可以获得更全面的边坡三维空间信息,实现对边坡变形的高效、高精度监测,对边坡变形的实时监测和灾害预警具有重要意义。
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引用次数: 1
Route Planning Based on Street Criteria for Autonomous Driving Vehicles 基于街道标准的自动驾驶车辆路线规划
Pub Date : 2021-12-01 DOI: 10.1109/ICVISP54630.2021.00017
Eric Neidhardt, David Suske
Modern day, smart vehicles have many comfort functions and can support the driver in a variety of traffic situations. This leads to increased safety and comfort. In road traffic, however, there are many different situations. Some of them cannot completely be handled by an automated vehicle. It depends on the level of automation (SAE level) and the used technology of the vehicle if a certain situation or a specific street topology is problematic. The fastest or shortest route is therefore no longer necessarily the best route. Criteria like fuel or energy consumption are already addressed by some routing algorithms. This paper proposes that criteria such as comfort and safety should be considered in route selection of autonomous driving vehicles. For safety and to make optimum use of the automation of his vehicle, a user is willing to accept a longer journey. In this situation we are not looking for the best route, but several pareto-optimal routes. In this paper an Approach is proposed to handle different infrastructure criteria for routing autonomous driving vehicles. Because many possible criteria exist and their impact on the vehicle is related to the technology and SAE level of the vehicle, the resulting concept is designed as flexible as possible.
如今,智能汽车具有许多舒适功能,可以在各种交通情况下支持驾驶员。这增加了安全性和舒适度。然而,在道路交通中,有许多不同的情况。其中一些任务不能完全由自动化车辆来处理。这取决于自动化水平(SAE水平)和车辆所使用的技术,如果某种情况或特定的街道拓扑是有问题的。因此,最快或最短的路线不再是最好的路线。一些路由算法已经解决了燃料或能源消耗等标准。本文提出在自动驾驶车辆的路线选择中应考虑舒适性和安全性等标准。为了安全和充分利用车辆的自动化功能,用户愿意接受更长的旅程。在这种情况下,我们寻找的不是最佳路线,而是多条帕累托最优路线。本文提出了一种处理自动驾驶车辆路由的不同基础设施标准的方法。由于存在许多可能的标准,并且它们对车辆的影响与车辆的技术和SAE水平有关,因此最终的概念设计尽可能灵活。
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引用次数: 0
Optimal Localization of Charging Stations for EVs: A Preliminary Study for the Transmilenio’s Trunk Lines in Bogotá, Colombia 电动汽车充电站优化定位:哥伦比亚波哥大<e:1> Transmilenio干线初步研究
Pub Date : 2021-12-01 DOI: 10.1109/ICVISP54630.2021.00024
Gabriele Galimberti, S. Rivera, W. Yaïci, M. Longo
The climate of the planet is going through some mayor changes. Most of the climate scientists agree upon anthropological activities being the main cause of this, due to the CO2 and other GreenHouse Gas (GHG) emissions. Road transportation also contributes to air pollution and to the local pollution in big cities, due to the emissions of particulate matter (PM10 and PM2.5) and polluting gases such as NOx, CO, SO2 among others. Those problems and the continuous increase in emission limits given by regulators all over the world, are demanding for a change in the current transportation paradigm, leading to a completely electrified solution for both the private and public vehicles. This is particularly true for those cities that relay thoroughly on bus system as main public form of transport. Even though the Colombian capital, Bogota, is a big city with about 10 million people, it does not have a subway or other electric type of massive transport systems, but it has developed a big and articulated bus system. With the aim of shifting part of this system, namely the trunk lines of the Transmilenio company, to an electric one, this work analyses the problematic of the charging needs. To calculate the energy consumptions, computational simulations on two lines, C29 and B11, have been performed based on three different solutions proposed to address the charging problem. The aim of this work is the comparison of different technical solutions to find the best one in financial terms (also in the form of type and dimension of the bus accumulators in a true first principles thinking) and the estimation and inclusion of the buses’ cost.
地球的气候正在经历一些重大变化。大多数气候科学家都同意,由于二氧化碳和其他温室气体(GHG)的排放,人类活动是造成这种情况的主要原因。由于颗粒物(PM10和PM2.5)的排放以及氮氧化物、一氧化碳、二氧化硫等污染气体的排放,道路运输也加剧了空气污染和大城市的局部污染。这些问题以及世界各地监管机构不断提高的排放限制,都要求改变当前的交通模式,为私人和公共车辆提供完全电气化的解决方案。对于那些完全依赖公交系统作为主要公共交通方式的城市来说尤其如此。虽然哥伦比亚首都波哥大是一个拥有约1000万人口的大城市,但它没有地铁或其他电动大型交通系统,但它开发了一个大型铰接式公交系统。为了将该系统的一部分,即Transmilenio公司的干线转换为电动线路,本文分析了充电需求问题。为了计算能量消耗,在C29和B11两条线上进行了基于三种不同充电方案的计算模拟。这项工作的目的是比较不同的技术解决方案,以在财务方面找到最佳解决方案(也以真正的第一性原则思维中的公共汽车蓄电池的类型和尺寸的形式),并估计和包括公共汽车的成本。
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引用次数: 0
[Title page iii] [标题页iii]
Pub Date : 2021-12-01 DOI: 10.1109/icvisp54630.2021.00002
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引用次数: 0
Message from the General Chair 主席致辞
Pub Date : 2021-12-01 DOI: 10.1109/icvisp54630.2021.00005
R. Gopura
MERCon 2020 is 6th International Multidisciplinary Engineering Research Conference organized by the Engineering research unit of the University of Moratuwa, Sri Lanka and it solicits research papers describing significant and innovative research contributions in all disciplines of engineering. We initially planned the conference as a face-to-face (physical) conference. However, due to the prevailing COVID 19 pandemic situation, the conference organizing committee and technical programme committee decided to transform it into a fully virtual conference by providing all expectations of a physical conference. The virtual conference runs from July 28 to July 30, 2020. In a physical conference, participants have two main expectations: publication and networking. The organizing committee of the virtual MERCon 2020 has taken every possible effort to fulfil the expectations of its participants by designing its programme very carefully. MERCon 2020 programme includes three keynote speeches, four workshops and twenty four technical sessions run in three parallel tracks for two days. There are 114 papers to be presented in technical sessions via the virtual mode during the conference. I am confident that the technical programme of the conference will be stimulating, valuable, and inspiring.
MERCon 2020是由斯里兰卡莫拉图瓦大学工程研究部门组织的第六届国际多学科工程研究会议,它征求研究论文,描述工程所有学科的重大和创新研究贡献。我们最初将会议计划为面对面(实体)会议。但是,由于新冠肺炎疫情,会议组委会和技术计划委员会决定将其转变为完全虚拟的会议,提供物理会议的所有期望。本次虚拟会议将于2020年7月28日至30日举行。在实体会议中,参与者有两个主要期望:发表和建立网络。虚拟MERCon 2020的组委会通过精心设计计划,尽一切可能满足参与者的期望。MERCon 2020计划包括三个主题演讲,四个研讨会和24个技术会议,分三个平行轨道进行,为期两天。在会议期间,将有114篇论文通过虚拟模式在技术会议上发表。我相信,会议的技术方案将是令人振奋的、有价值的和鼓舞人心的。
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引用次数: 0
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2021 5th International Conference on Vision, Image and Signal Processing (ICVISP)
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