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Tracking Control Method of Multi Motor Actuator Saturation Based on Total Amount Consistency 基于总量一致性的多电机执行器饱和跟踪控制方法
IF 0.7 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-05-20 DOI: 10.20965/jaciii.2023.p0501
Lin Jia, Junming Zhang, Changfan Zhang, Jing He
In collaborative control of multi motors for heavy-duty locomotives, the output value of the motor frequently exceeds its maximum allowable value during power redistribution. This results in a saturated motor owing to the power redundancy of each wheel set of the train. In this study, an algorithm for the tracking control of a consistent total amount of the extended observer through anti-saturation is proposed. First, mathematical models of multi-motor traction systems are developed. The system includes uncertain parameter perturbations and external perturbations. Second, a new type of extended sliding mode observer (ESMO) is designed to reduce the influence of the tracking effect on the input saturation of the system. Subsequently, for collaborative control of multi motors in heavy-duty locomotives, a new scheme for dynamic and auxiliary anti-saturation compensation (anti-windup) is established. The perturbation observation results and the systems’ auxiliary status are respectively input into the sliding mode controller (SMC). A traction total-amount coordinated tracking control (TACTC) of multi motors is achieved to ensure consistency of the system’s total output torque and the given traction characteristic curve. Finally, simulations and tests are performed on the motor actuators to demonstrate a good control effect.
在重型机车多电机协同控制中,在功率分配过程中,电机的输出功率经常超过其最大允许值。由于列车的每个轮对的功率冗余,这导致电机饱和。本文提出了一种通过抗饱和实现扩展观测器总量一致的跟踪控制算法。首先,建立了多电机牵引系统的数学模型。该系统包括不确定参数摄动和外部摄动。其次,设计了一种新型的扩展滑模观测器(ESMO),以减小跟踪效应对系统输入饱和的影响。随后,针对重型机车多电机协同控制问题,提出了一种动态辅助抗饱和补偿方案。将扰动观测结果和系统辅助状态分别输入滑模控制器(SMC)。为了保证系统的总输出转矩与给定的牵引特性曲线的一致性,实现了多电机牵引总量协调跟踪控制。最后,对电机执行器进行了仿真和试验,验证了控制效果。
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引用次数: 0
Time Series Self-Attention Approach for Human Motion Forecasting: A Baseline 2D Pose Forecasting 人体运动预测的时间序列自关注方法:一种基线二维姿态预测
IF 0.7 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-05-20 DOI: 10.20965/jaciii.2023.p0445
Andi Prademon Yunus, Kento Morita, Nobu C. Shirai, Tetsushi Wakabayashi
Human motion forecasting is a necessary variable to analyze human motion concerning the safety system of the autonomous system that could be used in many applications, such as in auto-driving vehicles, auto-pilot logistics delivery, and gait analysis in the medical field. At the same time, many types of research have been conducted on 3D human motion prediction for short-term and long-term goals. This paper proposes human motion forecasting in the 2D plane as a reliable alternative in motion capture of the RGB camera attached to the devices. We proposed a method, the time series self-attention approach to generate the next future human motion in the short-term of 400 milliseconds and long-term of 1,000 milliseconds, resulting that the model could predict human motion with a slight error of 23.51 pixels for short-term prediction and 10.3 pixels for long-term prediction on average compared to the ground truth in the quantitative and qualitative evaluation. Our method outperformed the LSTM and GRU models on the Human3.6M dataset based on the MPJPE and MPJVE metrics. The average loss of correct key points varied based on the tolerance value. Our method performed better within the 50 pixels tolerance. In addition, our method is tested by images without key point annotations using OpenPose as the pose estimation method. Resulting, our method could predict well the position of the human but could not predict well for the human body pose. This research is a new baseline for the 2D human motion prediction using the Human3.6M dataset.
人体运动预测是分析自动驾驶系统安全系统中人体运动的必要变量,可用于自动驾驶汽车、自动驾驶物流配送、医疗领域的步态分析等许多应用。同时,针对人体三维运动预测的短期和长期目标进行了多种类型的研究。本文提出了在二维平面上的人体运动预测,作为附着在设备上的RGB相机的运动捕捉的可靠替代方案。我们提出了一种时间序列自关注方法,在短期400毫秒和长期1000毫秒内生成下一个未来的人体运动,结果表明,该模型在定量和定性评价中,与地面真实值相比,短期预测的平均误差为23.51像素,长期预测的平均误差为10.3像素。我们的方法在基于MPJPE和MPJVE指标的human360万数据集上优于LSTM和GRU模型。正确关键点的平均损失随容差值的变化而变化。我们的方法在50像素的公差范围内表现更好。此外,使用OpenPose作为姿态估计方法,对没有关键点标注的图像进行了测试。结果表明,该方法可以很好地预测人体的位置,但不能很好地预测人体的姿势。本研究为利用Human3.6M数据集进行二维人体运动预测提供了新的基线。
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引用次数: 1
Optimization Design Method of Spherical Magnetic Field Generation Coil Based on Differential Evolution Algorithm 基于差分进化算法的球形磁场产生线圈优化设计方法
IF 0.7 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-05-20 DOI: 10.20965/jaciii.2023.p0490
Wei Xu, Jian Ge, Hong Yu, Min Xiao
In a coil magnetometer, the size and uniformity of the bias magnetic field generated by the Helmholtz coil directly determine the accuracy of the solution of the geomagnetic direction. The design of traditional spherical coils relies heavily on the manual experience or mathematical derivation, making it difficult to obtain optimal parameters or requiring larger spherical coils. To address the problem, first, a coaxial symmetrical spherical coil model that improves space utilization was established. Second, an optimal design method for the spherical magnetic field generation coil based on a differential evolution algorithm was proposed. Third, the optimal bias magnetic field was obtained without increasing the volume of the coil. The verification results showed that the magnetic non-uniformity and magnetic gradient of the bias field generated by the optimized coil were reduced by 63.2% and 82.8%, respectively.
在线圈式磁强计中,亥姆霍兹线圈产生的偏置磁场的大小和均匀性直接决定了地磁方向求解的精度。传统的球形线圈设计严重依赖于人工经验或数学推导,难以获得最优参数或需要更大的球形线圈。为了解决这一问题,首先建立了提高空间利用率的同轴对称球形线圈模型;其次,提出了一种基于差分进化算法的球形磁场产生线圈优化设计方法。在不增加线圈体积的情况下,获得了最优的偏置磁场。验证结果表明,优化线圈产生的偏置磁场的磁不均匀性和磁梯度分别降低了63.2%和82.8%。
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引用次数: 0
A Real-Time Voluntary Motion Extraction Method Based on an Adaptive Filter 一种基于自适应滤波的实时自主运动提取方法
IF 0.7 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-05-20 DOI: 10.20965/jaciii.2023.p0372
Mingyuan Xie, Jinhua She, Zhen-Tao Liu, Zhaohui Yang
Tremors are a symptom of several disorders of the central and peripheral nervous systems, such as Parkinson’s disease (PD). Exoskeletons have been investigated as noninvasive tremor suppression alternatives to medication and surgery. The challenge in musculoskeletal tremor suppression is attenuation of tremor motion without impeding the patient’s voluntary motion. Linear low-pass filters (LPFs) are commonly used for tremor removal. This study presents an alternative method based on an adaptive filter. We compare the effectiveness of the LPFs and adaptive filter on the recorded acceleration signals from an online database.
震颤是几种中枢和周围神经系统疾病的症状,如帕金森病(PD)。外骨骼已被研究作为药物和手术的非侵入性震颤抑制替代品。肌肉骨骼震颤抑制的挑战是在不妨碍患者自主运动的情况下衰减震颤运动。线性低通滤波器(lpf)通常用于震颤去除。本研究提出了一种基于自适应滤波器的替代方法。我们比较了lpf和自适应滤波器对在线数据库中记录的加速度信号的有效性。
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引用次数: 0
Parking Robot Path-Tracking System Based on Discrete PID Algorithm 基于离散PID算法的停车机器人路径跟踪系统
IF 0.7 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-05-20 DOI: 10.20965/jaciii.2023.p0411
Dianjun Wang, Jiahao Chen, Ya Chen, Xingkang Zheng, Liang Wang, Lele Wang
To improve the space utilization rates of intelligent stereo garages, their key execution equipment—parking robots—must be highly flexible; therefore, the chassis of parking robots use steering wheel systems. However, this design increases the complexity of robot motion control and path-tracking systems. Because of the large sizes of parking robots, large position and angle deviations can lead to derailment events, posing significant risk to users. Thus, in this study, based on the characteristics required for parking robots, a diagonally arranged parking robot with double steering wheels was developed and its kinematic model was established using the velocity–geometry method. For the positioning of the robot in a garage, a fusion positioning algorithm based on quick response (QR) codes and track calculation was used, considering the requirements of real-time response and accuracy. A discrete proportional-integral-derivative (PID) path-tracking algorithm for the synchronous compensation of the position and angle deviations was also devised. Using the Visual C++ platform, a path-tracking system that uses an industrial computer and motion control card was developed. Experiments on the path-tracking capability of the parking robot showed that, using the discrete PID path-tracking algorithm, it can track a planned path well. On Z- and U-type paths, its maximum tracking deviations were reduced by 84.8% and 64.0%, compared with the unused path-tracking system, reaching 10.4 mm and 10.9 mm, respectively. Thus, the tracking accuracy was significantly improved, proving that the developed robot well satisfies the path-tracking requirements of parking robots.
为了提高智能立体车库的空间利用率,其关键执行设备停车机器人必须具有高度的灵活性;因此,泊车机器人的底盘采用方向盘系统。然而,这种设计增加了机器人运动控制和路径跟踪系统的复杂性。由于停车机器人的尺寸较大,较大的位置和角度偏差可能导致脱轨事件,对用户构成重大风险。因此,本研究根据泊车机器人所需的特性,研制了一种对角线布置的双方向盘泊车机器人,并采用速度几何方法建立了其运动学模型。针对车库机器人的定位,考虑到实时性和准确性的要求,采用了基于QR码和轨迹计算的融合定位算法。设计了一种离散比例-积分-导数(PID)路径跟踪算法,用于位置和角度偏差的同步补偿。在Visual c++平台上,开发了一个由工控机和运动控制卡组成的路径跟踪系统。对停车机器人路径跟踪能力的实验表明,采用离散PID路径跟踪算法可以很好地跟踪规划的路径。在Z型和u型路径上,与未使用路径跟踪系统相比,其最大跟踪偏差减小了84.8%和64.0%,分别达到10.4 mm和10.9 mm。因此,跟踪精度显著提高,证明所开发的机器人很好地满足了停车机器人的路径跟踪要求。
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引用次数: 0
Label Design and Extraction in High-Temperature Logistics Based on Concave Coding and MLFFA-DeepLabV3+ Network 基于凹编码和mlfa - deeplabv3 +网络的高温物流标签设计与提取
IF 0.7 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-05-20 DOI: 10.20965/jaciii.2023.p0467
Xiaoyan Zhao, Pengfei Zhao, Yuguo Yin, Luqi Tao, Jianfeng Yan, Zhaohui Zhang
Logistics tracking technology at normal temperature is quite mature, but there are few tracking methods for the high-temperature production process. The main difficulties are that the label materials generally used cannot withstand the high temperature for a long time, and the detection devices are vulnerable to environmental impact. A high-temperature logistics tracking solution was developed for a carbon anode used in an aluminum electrolysis factory. It is based on concave coding and a multiscale low-level feature fusion and attention-DeepLabV3+ (MLFFA-DeepLabV3+) network extraction technique for the coded region of the concave coding. The concave coding is printed on the product as a tag that can endure a high temperature of more than 1,200°C, ensuring its integrity and identifiability. Because there is no obvious color distinction between the coding area and the background, direct recognition is ineffective. The MLFFA-DeepLabV3+ network extracts the coding region to improve the recognition rate. The DeepLabV3+ network is improved by replacing the backbone network and adding of a multiscale low-level feature fusion module and convolutional block attention module. Experimental results showed that the mean pixel accuracy and mean intersection over union of the MLFFA-DeepLabV3+ network increased by 2.37% and 2.45%, respectively, compared with the original DeepLabV3+ network. The network structure has only 11.24% of the number of parameters in the original structure. The solution is feasible and provides a basis for high-temperature logistics tracking technology in intelligent manufacturing.
常温下的物流跟踪技术已经相当成熟,但针对高温生产过程的跟踪方法却很少。主要困难是一般使用的标签材料不能长时间承受高温,检测装置易受环境影响。针对某铝电解厂碳阳极,开发了一种高温物流跟踪解决方案。该算法基于凹编码和凹编码编码区域的多尺度低阶特征融合与关注- deeplabv3 + (MLFFA-DeepLabV3+)网络提取技术。凹面编码作为标签印刷在产品上,可以承受1200℃以上的高温,保证了产品的完整性和可识别性。由于编码区与背景之间没有明显的颜色区分,直接识别是无效的。mlfa - deeplabv3 +网络提取编码区域,提高识别率。DeepLabV3+网络通过替换骨干网,增加多尺度低阶特征融合模块和卷积块关注模块进行改进。实验结果表明,与原DeepLabV3+网络相比,mlfa -DeepLabV3+网络的平均像素精度和平均交联度分别提高了2.37%和2.45%。网络结构的参数数量仅为原结构的11.24%。该方案切实可行,为智能制造中的高温物流跟踪技术提供了基础。
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引用次数: 0
Understanding Cultural Similarities of Archaeological Sites from Excavation Reports Using Natural Language Processing Technique 利用自然语言处理技术从发掘报告中了解考古遗址的文化相似性
IF 0.7 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-05-20 DOI: 10.20965/jaciii.2023.p0394
Fumihiro Sakahira, Yuji Yamaguchi, Takao Terano
In this study, we applied natural language processing (NLP) techniques to texts of excavation reports on buried cultural properties to calculate the degree of similarity between the reports for determining archaeological sites that have a high degree of similarity. Specifically, we validated whether the similarity of sentence embeddings in the excavation reports of these sites is consistent with the existing classification. Four archaeological sites classified in existing archaeological research papers were used. For validation, 128 excavation reports from the four sites were used; sentence embeddings were obtained using Doc2Vec. We obtained the following results: 1) In applying NLP to excavation reports for determining the similarities of archaeological sites, merging the texts for each site into a single document and then processing it was more preferable than processing it in separate volumes of the excavation report. 2) The similarity based on sentence embedding of excavation reports using Doc2Vec was more consistent with the classification of the characteristics of archaeological sites than term frequency–inverse document frequency (TF-IDF). 3) When targeting a specific period, the sentence embedding exclusively for the text of the relevant period is consistent with the classification of the characteristics of the archaeological site from the artifacts and structural remains of that specific period. 4) When a specific period is targeted, the exclusive sentence embeddings of that period, obtained through the additive compositionality of sentence embeddings, can be used to classify the characteristics of archaeological sites based on the artifacts and structural remains on that period. Consequently, the similarities of texts based on NLP can reflect the similarities of archaeological sites. This holds true even for excavation reports that include spelling inconsistencies, optical character reader misrecognition, and garbled words.
在本研究中,我们将自然语言处理(NLP)技术应用于埋藏文物的挖掘报告文本,计算报告之间的相似程度,以确定具有高度相似度的考古遗址。具体而言,我们验证了这些遗址挖掘报告中句子嵌入的相似性是否与现有分类一致。使用了现有考古研究论文中分类的四个考古遗址。为了验证,使用了来自四个地点的128份挖掘报告;使用Doc2Vec获取句子嵌入。我们得到了以下结果:1)在将NLP应用于挖掘报告中以确定考古遗址的相似性时,将每个遗址的文本合并为一个文件然后进行处理比在挖掘报告的单独卷中进行处理更可取。2)基于句子嵌入的Doc2Vec挖掘报告相似度比术语频率-逆文档频率(TF-IDF)更符合考古遗址特征分类。3)在针对特定时期时,专门针对相关时期文本的句子嵌入与该特定时期的文物和结构遗迹的考古遗址特征分类是一致的。(4)当以特定时期为目标时,通过句嵌入的加性组合性获得该时期的专属句嵌入,可以根据该时期的文物和结构遗迹对考古遗址的特征进行分类。因此,基于NLP的文本相似性可以反映考古遗址的相似性。这甚至适用于包含拼写不一致、光学字符阅读器错误识别和乱码的挖掘报告。
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引用次数: 1
Toward Question-Answering with Multi-Hop Reasoning and Calculation over Knowledge Using a Neural Network Model with External Memories 基于外部记忆神经网络模型的多跳推理与知识计算问答研究
IF 0.7 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-05-20 DOI: 10.20965/jaciii.2023.p0481
Yuri Murayama, Ichiro Kobayashi
The differentiable neural computer (DNC) is a neural network model with an addressable external memory that can solve algorithmic and question-answering tasks. Improved versions of the DNC have been proposed, including the robust and scalable DNC (rsDNC) and DNC-deallocation-masking-sharpness (DNC-DMS). However, integrating structured knowledge and calculations into these DNC models remains a challenging research question. In this study, we incorporate an architecture for knowledge and calculations into the DNC, rsDNC, and DNC-DMS to improve their abilities to generate correct answers for questions with multi-hop reasoning and provide calculations over structured knowledge. Our improved rsDNC model achieves the best performance for the mean top-1 accuracy, and our improved DNC-DMS model scores the highest for the top-10 accuracy in the GEO dataset. In addition, our improved rsDNC model outperforms other models in regards to the mean top-1 accuracy and mean top-10 accuracy in the augmented GEO dataset.
可微神经计算机(DNC)是一种具有可寻址外部存储器的神经网络模型,可以解决算法和问答任务。DNC的改进版本已经被提出,包括鲁棒和可扩展的DNC (rsDNC)和DNC-释放-掩码-清晰度(DNC- dms)。然而,将结构化知识和计算集成到这些DNC模型中仍然是一个具有挑战性的研究问题。在本研究中,我们将知识和计算架构整合到DNC、rsDNC和DNC- dms中,以提高它们对具有多跳推理的问题生成正确答案的能力,并提供对结构化知识的计算。改进的rsDNC模型在GEO数据集中的前1位精度上取得了最好的成绩,改进的DNC-DMS模型在前10位精度上取得了最高的成绩。此外,我们改进的rsDNC模型在增强GEO数据集的平均前1精度和平均前10精度方面优于其他模型。
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引用次数: 0
Causality Extraction Cascade Model Based on Dual Labeling 基于双标记的因果关系提取级联模型
IF 0.7 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-05-20 DOI: 10.20965/jaciii.2023.p0421
Fengxiao Yan, Bo Shen, Chenyang Dai
Causal relation extraction is a crucial task in natural language processing. Current extraction methods have problems, including low accuracy of causal-event division and incorrect extraction of important semantic features. This study uses the bidirectional long short-term memory (BiLSTM) and attentive convolutional neural network (ACNN) models to construct a cascaded causal relationship extraction model to improve the precision of the extraction. The model uses two kinds of labels and then divides the causal event boundary after determining the relationship between the front and rear causal events. It automatically learns semantic features from sentences, reducing the dependence on external knowledge and improving the precision of extraction. The experimental results demonstrate that the precision of causality extraction can reach 81.67% and the F1 value can reach 83.2%.
因果关系提取是自然语言处理中的一项重要任务。现有的提取方法存在因果事件划分精度低、重要语义特征提取不正确等问题。本研究利用双向长短期记忆(BiLSTM)和注意卷积神经网络(ACNN)模型构建了级联因果关系提取模型,以提高提取精度。该模型使用两种标签,在确定前后因果事件之间的关系后,划分因果事件边界。自动从句子中学习语义特征,减少了对外部知识的依赖,提高了提取的精度。实验结果表明,因果关系提取精度可达81.67%,F1值可达83.2%。
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引用次数: 0
Non-Destructive Classification of Paddy Rice Leaf Disease Infected by Bacterial and Fungal Species Using Vision-Based Deep Learning 基于视觉深度学习的水稻叶片细菌和真菌病害无损分类
IF 0.7 Q4 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-05-20 DOI: 10.20965/jaciii.2023.p0333
Amir A. Bracino, D. G. Evangelista, Ronnie S. Concepcion, Elmer P. Dadios, R. R. Vicerra
Rice is a plant with rounded hollow articulated culms, flat, well-attached leaf blades, and terminal spikes. Its cultivation and consumption shape the culture, diet, and economy of different groups, especially in Asia. However, farmers suffer great financial losses each year due to rice disease. Therefore, the identification and classification of rice diseases are very important. Prompt, timely, and accurate disease diagnosis prevents product loss and improves crop quality. This study focuses on the classification of whether rice paddy leaf is normal or has a disease (one of the following: bacterial leaf blight (BLB), bacterial leaf streaks (BLS), bacterial panicle blight (BPB): heart, downy mildew, hispa, and rice tungro disease (RTD)) using deep learning-based algorithms such as EfficientNet-b0, MobileNet-v2, and Places365-GoogLeNet. The best model for this simulation was found to be EfficientNet-b0 with an average accuracy of 97.74%.
水稻是一种具有圆形中空铰接的秆,扁平,附着良好的叶片和末端穗的植物。它的种植和消费塑造了不同群体的文化、饮食和经济,尤其是在亚洲。然而,由于水稻病害,农民每年遭受巨大的经济损失。因此,水稻病害的鉴定和分类十分重要。迅速、及时和准确的疾病诊断可防止产品损失并提高作物质量。本研究主要利用基于深度学习的算法(如EfficientNet-b0、MobileNet-v2和Places365-GoogLeNet),对水稻叶片是否正常或有疾病(以下其中一种:细菌性叶枯病(BLB)、细菌性叶条病(BLS)、细菌性穗状叶枯病(BPB):心脏病、霜霉病、hispa和水稻tungro病(RTD))进行分类。该模拟的最佳模型是EfficientNet-b0,平均准确率为97.74%。
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引用次数: 1
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