Pub Date : 2022-07-01DOI: 10.3724/sp.j.1249.2022.04472
X. Tang, Hui-Pin Huang
TANG Xiaolong and HUANG Hui College of Computer Science and Software Engineering, Shenzhen University, Shenzhen 518060, Guangdong Province, P. R. China Abstract: In recent years, the robot and artificial intelligence technology have developed rapidly, but there still remains a challenging problem to realize the contact operation of robot in home environment. In order to make the robot arrange shoes automatically, we design an autonomous shoes arrangement robot system based on the 3D vision. In this system, the instance segmentation network and minimum enclosing rectangle are used to recognize the shoes and their orientation, and the grasping pose and placing pose of robot are estimated accurately by means of the point cloud information of depth camera. In addition, the convolution neural network and cosine similarity are adopted to match with a pair of shoes. Afterwards, we evaluate the accuracy of shoe orientation recognition and shoe matching in the system, and then carry out a real robot arrangement experiment. The result show that this method could assure 96.2% accuracy of shoe orientation recognition, and the matching accuracy of shoes increases from 62.6% to 87.4% when the VGG16 network is added to the shoes matching algorithm. In conclusion, this method can accurately recognize the shoes and their orientation, and then match with a pair of shoes, meanwhile, improves the stability of the robot shoes arrangement.
{"title":"Design and implementation of shoes arrangement robot system for unknown environment","authors":"X. Tang, Hui-Pin Huang","doi":"10.3724/sp.j.1249.2022.04472","DOIUrl":"https://doi.org/10.3724/sp.j.1249.2022.04472","url":null,"abstract":"TANG Xiaolong and HUANG Hui College of Computer Science and Software Engineering, Shenzhen University, Shenzhen 518060, Guangdong Province, P. R. China Abstract: In recent years, the robot and artificial intelligence technology have developed rapidly, but there still remains a challenging problem to realize the contact operation of robot in home environment. In order to make the robot arrange shoes automatically, we design an autonomous shoes arrangement robot system based on the 3D vision. In this system, the instance segmentation network and minimum enclosing rectangle are used to recognize the shoes and their orientation, and the grasping pose and placing pose of robot are estimated accurately by means of the point cloud information of depth camera. In addition, the convolution neural network and cosine similarity are adopted to match with a pair of shoes. Afterwards, we evaluate the accuracy of shoe orientation recognition and shoe matching in the system, and then carry out a real robot arrangement experiment. The result show that this method could assure 96.2% accuracy of shoe orientation recognition, and the matching accuracy of shoes increases from 62.6% to 87.4% when the VGG16 network is added to the shoes matching algorithm. In conclusion, this method can accurately recognize the shoes and their orientation, and then match with a pair of shoes, meanwhile, improves the stability of the robot shoes arrangement.","PeriodicalId":35396,"journal":{"name":"Shenzhen Daxue Xuebao (Ligong Ban)/Journal of Shenzhen University Science and Engineering","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48044693","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-01DOI: 10.3724/sp.j.1249.2022.03287
Mingwei Hu, W. Wu, Qian-wei Zhao, G. He
{"title":"Analysis on the relationship between accessibility of intercity rail transit and urban economic development","authors":"Mingwei Hu, W. Wu, Qian-wei Zhao, G. He","doi":"10.3724/sp.j.1249.2022.03287","DOIUrl":"https://doi.org/10.3724/sp.j.1249.2022.03287","url":null,"abstract":"","PeriodicalId":35396,"journal":{"name":"Shenzhen Daxue Xuebao (Ligong Ban)/Journal of Shenzhen University Science and Engineering","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45319080","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-01DOI: 10.3724/sp.j.1249.2022.03334
Jianqiang Wang, Kaiqi Huang, Jianhua Su
WANG Jianqiang, HUANG Kaiqi, and SU Jianhua 1) School of Electrical Engineering and Automation, Jiangxi University of Science and Technology, Ganzhou 341000, Jiangxi Province, P. R. China 2) The State Key Laboratory for Management and Control of Complex System, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, P. R. China Abstract: In this paper, we propose a motion estimation method based on a feed-forward radial basis network for grasping arbitrary moving objects. We first employ a kernel correlation filtering (KCF) algorithm to track the target position in real-time and establish the motion model of the target. Using the feed-forward radial base network, we then adjust the sampling time of the Kalman filter (KF) to predict the motion parameters of the target. Since that, we can reduce the computing time and improve the accuracy of the estimation of the motion parameters. Compared with the feed-forward perceptron network, the proposed method shortens the required time for grasping by 20%, which can avoid a failure grasp due to the arbitrary movement of the object in grasping.
{"title":"Dynamic grasping parameter estimation based on feedforward radial basis function network","authors":"Jianqiang Wang, Kaiqi Huang, Jianhua Su","doi":"10.3724/sp.j.1249.2022.03334","DOIUrl":"https://doi.org/10.3724/sp.j.1249.2022.03334","url":null,"abstract":"WANG Jianqiang, HUANG Kaiqi, and SU Jianhua 1) School of Electrical Engineering and Automation, Jiangxi University of Science and Technology, Ganzhou 341000, Jiangxi Province, P. R. China 2) The State Key Laboratory for Management and Control of Complex System, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, P. R. China Abstract: In this paper, we propose a motion estimation method based on a feed-forward radial basis network for grasping arbitrary moving objects. We first employ a kernel correlation filtering (KCF) algorithm to track the target position in real-time and establish the motion model of the target. Using the feed-forward radial base network, we then adjust the sampling time of the Kalman filter (KF) to predict the motion parameters of the target. Since that, we can reduce the computing time and improve the accuracy of the estimation of the motion parameters. Compared with the feed-forward perceptron network, the proposed method shortens the required time for grasping by 20%, which can avoid a failure grasp due to the arbitrary movement of the object in grasping.","PeriodicalId":35396,"journal":{"name":"Shenzhen Daxue Xuebao (Ligong Ban)/Journal of Shenzhen University Science and Engineering","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43242952","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract: Accessibility is an important indicator for evaluating the efficiency of transportation infrastructure. Accurately measuring the accessibility of rail stations can help further optimize station service facilities and connecting environments Starting from the definition of accessibility of urban rail stations, establish a multiple logit model for selecting rail station connection modes, and determine the radiation range of each type of station for different connection modes Establish a accessibility model for rail stations based on radiation range, considering the built environment and travel costs around the stations Taking Xi'an City, China as an example, calculate the accessibility of walking, cycling, and bus connections at rail stations, as well as station accessibility The results indicate that the accessibility of orbital stations shows a decreasing pattern in space from the center to the periphery in a "circle like" pattern The accessibility values of various transfer stations are at a high level, while the starting and ending stations are at a lower level The accessibility of intermediate stations varies depending on their location. The closer they are to the starting and ending stations, the lower the accessibility, while the closer they are to transfer stations and city centers, the higher the accessibility Keywords: transportation planning and management; Accessibility; Urban rail stations; Radiation range; Connection method; The classification number of the multiple logit model is U491, and the reference code is A doi: 10 3724/SP J. 1249 2022. 03296
{"title":"The accessibility of urban rail stations based on the catchment area","authors":"Shuhong Ma, Dachuan Tang, Xiao Li, Xingfang Sun","doi":"10.3724/sp.j.1249.2022.03296","DOIUrl":"https://doi.org/10.3724/sp.j.1249.2022.03296","url":null,"abstract":"摘 要:可达性是评价交通基础设施效率的重要指标,准确测算轨道站点可达性有助于进一步优化站 点服务设施和接驳环境 . 从城市轨道站点可达性的定义出发,建立轨道站点接驳方式选择的多项 logit模型, 并确定各类型站点对不同接驳方式的辐射范围 . 考虑轨道站点周边的建成环境和出行成本,建立基于辐射 范围的轨道站点可达性模型 . 以中国西安市为例,计算轨道站点步行、自行车和公交接驳的可达性以及站 点可达性 . 结果表明,轨道站点可达性在空间上呈现出从中心位置到外围“圈层”式递减的形态 . 换乘站 各接驳方式的可达性值均处于较高水平,始末站处于较低水平 . 中间站根据位置的不同,可达性存在差异, 越接近始末站可达性越低,越接近换乘站和市中心可达性越高 . 关键词:交通运输规划与管理;可达性;城市轨道站点;辐射范围;接驳方式;多项 logit模型 中图分类号:U491 文献标志码:A doi:10. 3724/SP. J. 1249. 2022. 03296","PeriodicalId":35396,"journal":{"name":"Shenzhen Daxue Xuebao (Ligong Ban)/Journal of Shenzhen University Science and Engineering","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44331468","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-01DOI: 10.3724/sp.j.1249.2022.03237
Bin Jia, Chengxiang Lan, Xiangyu Li
{"title":"Analysis of the initial response pattern of <italic>Chlamydomonas reinhardtii</italic> to methyl jasmonate (MeJA) treatment","authors":"Bin Jia, Chengxiang Lan, Xiangyu Li","doi":"10.3724/sp.j.1249.2022.03237","DOIUrl":"https://doi.org/10.3724/sp.j.1249.2022.03237","url":null,"abstract":"","PeriodicalId":35396,"journal":{"name":"Shenzhen Daxue Xuebao (Ligong Ban)/Journal of Shenzhen University Science and Engineering","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48213793","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-01DOI: 10.3724/sp.j.1249.2022.03349
Linzhong Xia, Jianfeng Ye, Dean Luo, Mingxiang Guan, Jun Liu, Xuemei Cao
{"title":"Short text automatic scoring system based on BERT-BiLSTM model","authors":"Linzhong Xia, Jianfeng Ye, Dean Luo, Mingxiang Guan, Jun Liu, Xuemei Cao","doi":"10.3724/sp.j.1249.2022.03349","DOIUrl":"https://doi.org/10.3724/sp.j.1249.2022.03349","url":null,"abstract":"","PeriodicalId":35396,"journal":{"name":"Shenzhen Daxue Xuebao (Ligong Ban)/Journal of Shenzhen University Science and Engineering","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46139574","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-01DOI: 10.3724/sp.j.1249.2022.03343
W. Nan, Fumin Xu, Bosheng Ye
NAN Wenhu,XU Fumin,and YE Bosheng 1) School of Mechanical and Electrical Engineering, Lanzhou University of Technology, Lanzhou 730050, Gansu Province, P. R. China 2) The National CNC Engineering Center, Huazhong University of Science and Technology, Wuhan 430074, Hubei Province, P. R. China Abstract: Aiming at the problem that machine vision is difficult to be applied to the radioactive source grasping due to the semi-closed and strong radiation environment of the lead can, we propose a memory reasoning based reinforcement learning grasping method. The kinematics model of intelligent robot grasping system is constructed based on machine vision. The interaction between the intelligent robot and internal environment of lead cans is realized by force feedback. Through the memory reasoning decision of historical grasping data, the autonomous grasping of radioactive sources is realized. Using the Gazebo simulator in robot operating system (ROS), the Monte Carlo sampling method and reinforcement learning grasping method based on memory reasoning are simulated, respectively. The results show that the reinforcement learning grasping method based on memory reasoning achieves the average grasping efficiency of 84.67% higher than that of Monte Carlo sampling method and thus demonstrate that the reinforcement learning grasping method can effectively solve the problem of autonomous grasping of radioactive sources in lead cans.
{"title":"Motion planning of radioactive source grasping robot based on memory reasoning","authors":"W. Nan, Fumin Xu, Bosheng Ye","doi":"10.3724/sp.j.1249.2022.03343","DOIUrl":"https://doi.org/10.3724/sp.j.1249.2022.03343","url":null,"abstract":"NAN Wenhu,XU Fumin,and YE Bosheng 1) School of Mechanical and Electrical Engineering, Lanzhou University of Technology, Lanzhou 730050, Gansu Province, P. R. China 2) The National CNC Engineering Center, Huazhong University of Science and Technology, Wuhan 430074, Hubei Province, P. R. China Abstract: Aiming at the problem that machine vision is difficult to be applied to the radioactive source grasping due to the semi-closed and strong radiation environment of the lead can, we propose a memory reasoning based reinforcement learning grasping method. The kinematics model of intelligent robot grasping system is constructed based on machine vision. The interaction between the intelligent robot and internal environment of lead cans is realized by force feedback. Through the memory reasoning decision of historical grasping data, the autonomous grasping of radioactive sources is realized. Using the Gazebo simulator in robot operating system (ROS), the Monte Carlo sampling method and reinforcement learning grasping method based on memory reasoning are simulated, respectively. The results show that the reinforcement learning grasping method based on memory reasoning achieves the average grasping efficiency of 84.67% higher than that of Monte Carlo sampling method and thus demonstrate that the reinforcement learning grasping method can effectively solve the problem of autonomous grasping of radioactive sources in lead cans.","PeriodicalId":35396,"journal":{"name":"Shenzhen Daxue Xuebao (Ligong Ban)/Journal of Shenzhen University Science and Engineering","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49178070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-01DOI: 10.3724/sp.j.1249.2022.03278
Qiliang Zhang, Kunhua Yang, Xingda Qu, D. Tao
{"title":"Evaluation of drivers' mental workload based on multi-modal physiological signals","authors":"Qiliang Zhang, Kunhua Yang, Xingda Qu, D. Tao","doi":"10.3724/sp.j.1249.2022.03278","DOIUrl":"https://doi.org/10.3724/sp.j.1249.2022.03278","url":null,"abstract":"","PeriodicalId":35396,"journal":{"name":"Shenzhen Daxue Xuebao (Ligong Ban)/Journal of Shenzhen University Science and Engineering","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47732103","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-05-01DOI: 10.3724/sp.j.1249.2022.03271
Yongzheng Yang, Fuquan Pan, Zhaoqiang Wang, Lixia Zhang, Jinshun Yang
{"title":"Analysis of the influence of longitudinal slope changes of undersea tunnels on drivers' EEG signals","authors":"Yongzheng Yang, Fuquan Pan, Zhaoqiang Wang, Lixia Zhang, Jinshun Yang","doi":"10.3724/sp.j.1249.2022.03271","DOIUrl":"https://doi.org/10.3724/sp.j.1249.2022.03271","url":null,"abstract":"","PeriodicalId":35396,"journal":{"name":"Shenzhen Daxue Xuebao (Ligong Ban)/Journal of Shenzhen University Science and Engineering","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46267346","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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