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Wireless sensor node localization algorithm combined with PSO-DFP 结合PSO-DFP的无线传感器节点定位算法
Q3 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-01-01 DOI: 10.1515/jisys-2022-0323
Jingjing Sun, Peng Zhang, Xiaohong Kong
Abstract In wireless communication technology, wireless sensor networks usually need to collect and process information in very harsh environment. Therefore, accurate positioning of sensors becomes the key to wireless communication technology. In this study, Davidon–Fletcher–Powell (DFP) algorithm was combined with particle swarm optimization (PSO) to reduce the influence of distance estimation error on positioning accuracy by using the characteristics of PSO iterative optimization. From the experimental results, among the average precision (AP) values of DFP, PSO, and PSO-DFP algorithms, the AP value of PSO-DFP was 0.9972. In the analysis of node positioning error, the maximum node positioning error of PSO-DFP was only about 21 mm. The results showed that the PSO-DFP algorithm had better performance, and the average positioning error of the algorithm was inversely proportional to the proportion of anchor nodes, node communication radius, and node density. In conclusion, the wireless sensor node location algorithm combined with PSO-DFP has a better location effect and higher stability than the traditional location algorithm.
在无线通信技术中,无线传感器网络通常需要在非常恶劣的环境中采集和处理信息。因此,传感器的准确定位成为无线通信技术的关键。本文将Davidon-Fletcher-Powell (DFP)算法与粒子群算法(PSO)相结合,利用粒子群算法迭代优化的特点,降低距离估计误差对定位精度的影响。从实验结果来看,在DFP、PSO和PSO-DFP算法的平均精度(AP)值中,PSO-DFP算法的AP值为0.9972。在节点定位误差分析中,PSO-DFP的最大节点定位误差仅为21 mm左右。结果表明,PSO-DFP算法具有更好的定位性能,算法的平均定位误差与锚节点比例、节点通信半径和节点密度成反比。综上所述,结合PSO-DFP的无线传感器节点定位算法比传统的定位算法具有更好的定位效果和更高的稳定性。
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引用次数: 0
Smart robots’ virus defense using data mining technology 基于数据挖掘技术的智能机器人病毒防御
Q3 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-01-01 DOI: 10.1515/jisys-2023-0065
Jiao Ye, Hemant N. Patel, Sankaranamasivayam Meena, Renato R. Maaliw, Samuel-Soma M. Ajibade, Ismail Keshta
Abstract In order to realize online detection and control of network viruses in robots, the authors propose a data mining-based anti-virus solution for smart robots. First, using internet of things (IoT) intrusion prevention system design method based on network intrusion signal detection and feedforward modulation filtering design, the overall design description and function analysis are carried out, and then the intrusion signal detection algorithm is designed, and finally, the hardware design and software development for a breach protection solution for the IoT are completed, and the integrated design of the system is realized. The findings demonstrated that based on the mean value of 10,000 tests, the IoT’s average packet loss rate is 0. Conclusion: This system has high accuracy, good performance, and strong compatibility and friendliness.
摘要为了实现机器人网络病毒的在线检测与控制,提出了一种基于数据挖掘的智能机器人反病毒解决方案。首先,采用基于网络入侵信号检测和前馈调制滤波设计的物联网(IoT)入侵防御系统设计方法,进行总体设计描述和功能分析,然后设计入侵信号检测算法,最后完成针对物联网的入侵防御解决方案的硬件设计和软件开发,实现系统的集成化设计。结果表明,以10000次测试的平均值计算,物联网的平均丢包率为0。结论:该系统准确度高,性能好,兼容性和友好性强。
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引用次数: 0
Motion vector steganography algorithm of sports training video integrating with artificial bee colony algorithm and human-centered AI for web applications 结合人工蜂群算法和以人为本的web应用AI的运动训练视频运动矢量隐写算法
IF 3 Q3 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-01-01 DOI: 10.1515/jisys-2022-0093
Jinmao Tong, Zhongwang Cao, Wenjiang J. Fu
Abstract In multimedia correspondence, steganography schemes are commonly applied. To reduce storage capacity, multimedia files, including images, are always compressed. Most steganographic video schemes are, therefore, not compression tolerant. In the frame sequences, the video includes extra hidden space. Artificial intelligence (AI) creates a digital world of real-time information for athletes, sponsors, and broadcasters. AI is reshaping business, and although it has already produced a significant impact on other sectors, the sports industry is the newest and most receptive one. Human-centered AI for web applications has substantially influenced audience participation, strategic plan execution, and other aspects of the sports industry that have traditionally relied heavily on statistics. Thus, this study presents the motion vector steganography of sports training video integrating with the artificial bee colony algorithm (MVS-ABC). The motion vector stenography detects the hidden information from the motion vectors in the sports training video bitstreams. Artificial bee colony (ABC) algorithm optimizes the block assignment to inject a hidden message into a host video, in which the block assignment is considered a combinatorial optimization problem. The experimental analysis evaluates the data embedding performance using steganographic technology compared with existing embedding technologies, using the ABC algorithm compared with other genetic algorithms. The findings show that the proposed model can give the highest performance in terms of embedding capacity and the least error rate of video steganography compared with the existing models.
摘要在多媒体通信中,隐写技术是一种常用的通信技术。为了减少存储容量,多媒体文件(包括图像)总是被压缩。因此,大多数隐写视频方案都不能容忍压缩。在帧序列中,视频包含了额外的隐藏空间。人工智能(AI)为运动员、赞助商和广播公司创造了一个实时信息的数字世界。人工智能正在重塑商业,尽管它已经对其他行业产生了重大影响,但体育产业是最新的,也是最容易接受的。以人为中心的web应用程序人工智能对观众参与、战略计划执行以及传统上严重依赖统计数据的体育产业的其他方面产生了重大影响。因此,本研究结合人工蜂群算法(MVS-ABC)提出运动训练视频的运动矢量隐写。运动矢量速记法从运动矢量中检测运动训练视频比特流中的隐藏信息。人工蜂群(ABC)算法将块分配优化为在主机视频中注入隐藏信息,其中块分配被认为是一个组合优化问题。通过实验分析,比较隐写技术与现有嵌入技术的数据嵌入性能,比较ABC算法与其他遗传算法的数据嵌入性能。研究结果表明,与现有模型相比,该模型在嵌入容量和错误率方面具有最高的性能。
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引用次数: 0
A lattice-transformer-graph deep learning model for Chinese named entity recognition 中文命名实体识别的格-变换-图深度学习模型
IF 3 Q3 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-01-01 DOI: 10.1515/jisys-2022-2014
Min Lin, Yanyan Xu, Chenghao Cai, Dengfeng Ke, Kaile Su
Abstract Named entity recognition (NER) is the localization and classification of entities with specific meanings in text data, usually used for applications such as relation extraction, question answering, etc. Chinese is a language with Chinese characters as the basic unit, but a Chinese named entity is normally a word containing several characters, so both the relationships between words and those between characters play an important role in Chinese NER. At present, a large number of studies have demonstrated that reasonable word information can effectively improve deep learning models for Chinese NER. Besides, graph convolution can help deep learning models perform better for sequence labeling. Therefore, in this article, we combine word information and graph convolution and propose our Lattice-Transformer-Graph (LTG) deep learning model for Chinese NER. The proposed model pays more attention to additional word information through position-attention, and therefore can learn relationships between characters by using lattice-transformer. Moreover, the adapted graph convolutional layer enables the model to learn both richer character relationships and word relationships and hence helps to recognize Chinese named entities better. Our experiments show that compared with 12 other state-of-the-art models, LTG achieves the best results on the public datasets of Microsoft Research Asia, Resume, and WeiboNER, with the F1 score of 95.89%, 96.81%, and 72.32%, respectively.
命名实体识别(NER)是对文本数据中具有特定含义的实体进行定位和分类,通常用于关系提取、问题回答等应用。汉语是一种以汉字为基本单位的语言,但汉语命名实体通常是一个包含多个汉字的词,因此词与字之间的关系在汉语的NER中都起着重要的作用。目前已有大量研究表明,合理的词信息可以有效地改进中文NER的深度学习模型。此外,图卷积可以帮助深度学习模型更好地进行序列标记。因此,在本文中,我们将词信息和图卷积结合起来,提出了我们的网格-变换-图(LTG)深度学习模型。该模型通过位置注意来关注额外的单词信息,因此可以使用格变换来学习字符之间的关系。此外,自适应的图卷积层使模型能够学习更丰富的字符关系和单词关系,从而有助于更好地识别中文命名实体。我们的实验表明,与其他12个最先进的模型相比,LTG模型在微软亚洲研究院、Resume和WeiboNER的公共数据集上取得了最好的结果,F1得分分别为95.89%、96.81%和72.32%。
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引用次数: 1
Environmental landscape design and planning system based on computer vision and deep learning 基于计算机视觉和深度学习的环境景观设计与规划系统
IF 3 Q3 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-01-01 DOI: 10.1515/jisys-2022-0092
Xiubo Chen
Abstract Environmental landscaping is known to build, plan, and manage landscapes that consider the ecology of a site and produce gardens that benefit both people and the rest of the ecosystem. Landscaping and the environment are combined in landscape design planning to provide holistic answers to complex issues. Seeding native species and eradicating alien species are just a few ways humans influence the region’s ecosystem. Landscape architecture is the design of landscapes, urban areas, or gardens and their modification. It comprises the construction of urban and rural landscapes via coordinating the creation and management of open spaces and economics, finding a job, and working within a confined project budget. There was a lot of discussion about global warming and water shortages. There is a lot of hope to be found even in the face of seemingly insurmountable obstacles. AI is becoming more significant in many urban landscape planning and design elements with the advent of web 4.0 and Human-Centred computing. It created a virtual reality-based landscape to create deep neural networks (DNNs) to make deep learning (DL) more user-friendly and efficient. Users may only manipulate physical items in this environment to manually construct neural networks. These setups are automatically converted into a model, and the real-time testing set is reported and aware of the DNN models that users are producing. This research presents a novel strategy for combining DL-DNN with landscape architecture, providing a long-term solution to the problem of environmental pollution. Carbon dioxide levels are constantly checked when green plants are in and around the house. Plants, on either hand, remove toxins from the air, making it easier to maintain a healthy environment. Human-centered Artificial Intelligence-based web 4.0 may be used to assess and evaluate the data model. The study findings can be sent back into the design process for further modification and optimization.
众所周知,环境美化是建造、规划和管理景观,考虑到场地的生态,并产生有益于人类和生态系统其余部分的花园。景观与环境在景观设计规划中相结合,为复杂的问题提供全面的答案。播种本地物种和根除外来物种只是人类影响该地区生态系统的几种方式。景观建筑学是对景观、城市地区或花园及其改造的设计。它包括通过协调开放空间和经济的创造和管理、寻找工作和在有限的项目预算内工作来构建城市和农村景观。有很多关于全球变暖和水资源短缺的讨论。即使面对看似不可逾越的障碍,也有很多希望被发现。随着web 4.0和以人为中心的计算的出现,人工智能在许多城市景观规划和设计元素中变得越来越重要。它创造了一个基于虚拟现实的环境来创建深度神经网络(dnn),使深度学习(DL)更加用户友好和高效。在这种环境中,用户可能只能操作物理项目来手动构建神经网络。这些设置被自动转换为模型,实时测试集被报告,并意识到用户正在生成的DNN模型。本研究提出了一种将DL-DNN与景观建筑相结合的新策略,为解决环境污染问题提供了一个长期的解决方案。当绿色植物在房子里和周围时,二氧化碳水平会不断被检测。植物,无论从哪一方面,从空气中去除毒素,使其更容易维持一个健康的环境。以人为中心的基于人工智能的web 4.0可用于评估和评估数据模型。研究结果可以返回到设计过程中进行进一步的修改和优化。
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引用次数: 1
Data analysis with performance and privacy enhanced classification 具有性能和隐私增强分类的数据分析
IF 3 Q3 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-01-01 DOI: 10.1515/jisys-2022-0215
R. Tajanpure, A. Muddana
Abstract Privacy is the main concern in cyberspace because, every single click of a user on Internet is recognized and analyzed for different purposes like credit card purchase records, healthcare records, business, personalized shopping store experience to the user, deciding marketing strategy, and the list goes on. Here, the user’s personal information is considered a risk process. Though data mining applications focus on statistically useful patterns and not on the personal data of individuals, there is a threat of unrestricted access to individual records. Also, it is necessary to maintain the secrecy of data while retaining the accuracy of data classification and quality as well. For real-time applications, the data analytics carried out should be time efficient. Here, the proposed Convolution-based Privacy Preserving Algorithm (C-PPA) transforms the input into lower dimensions while preserving privacy which leads to better mining accuracy. The proposed algorithm is evaluated over different privacy-preserving metrics like accuracy, precision, recall, and F1-measure. Simulations carried out show that the average increment in the accuracy of C-PPA is 14.15 for Convolutional Neural Network (CNN) classifier when compared with results without C-PPA. Overlap-add C-PPA is proposed for parallel processing which is based on overlap-add convolution. It shows an average accuracy increment of 12.49 for CNN. The analytics show that the algorithm benefits regarding privacy preservation, data utility, and performance. Since the algorithm works on lowering the dimensions of data, the communication cost over the Internet is also reduced.
隐私是网络空间中主要关注的问题,因为用户在互联网上的每一次点击都被识别和分析,用于不同的目的,如信用卡购买记录、医疗记录、商业、个性化购物商店体验、决定营销策略等等。在这里,用户的个人信息被认为是一个风险过程。虽然数据挖掘应用程序关注的是统计上有用的模式,而不是个人的个人数据,但是存在对个人记录不受限制访问的威胁。在保证数据分类准确性和质量的同时,也要保证数据的保密性。对于实时应用程序,执行的数据分析应该具有时间效率。本文提出的基于卷积的隐私保护算法(C-PPA)在保护隐私的同时将输入转换为更低的维度,从而提高了挖掘精度。该算法通过不同的隐私保护指标(如准确性、精度、召回率和f1度量)进行评估。仿真结果表明,使用C-PPA的卷积神经网络(CNN)分类器与不使用C-PPA的分类器相比,准确率平均提高了14.15。提出了一种基于重叠-添加卷积的并行处理方法。结果表明,CNN的平均精度增量为12.49。分析表明,该算法在隐私保护、数据实用和性能方面具有优势。由于该算法致力于降低数据的维度,因此也降低了互联网上的通信成本。
{"title":"Data analysis with performance and privacy enhanced classification","authors":"R. Tajanpure, A. Muddana","doi":"10.1515/jisys-2022-0215","DOIUrl":"https://doi.org/10.1515/jisys-2022-0215","url":null,"abstract":"Abstract Privacy is the main concern in cyberspace because, every single click of a user on Internet is recognized and analyzed for different purposes like credit card purchase records, healthcare records, business, personalized shopping store experience to the user, deciding marketing strategy, and the list goes on. Here, the user’s personal information is considered a risk process. Though data mining applications focus on statistically useful patterns and not on the personal data of individuals, there is a threat of unrestricted access to individual records. Also, it is necessary to maintain the secrecy of data while retaining the accuracy of data classification and quality as well. For real-time applications, the data analytics carried out should be time efficient. Here, the proposed Convolution-based Privacy Preserving Algorithm (C-PPA) transforms the input into lower dimensions while preserving privacy which leads to better mining accuracy. The proposed algorithm is evaluated over different privacy-preserving metrics like accuracy, precision, recall, and F1-measure. Simulations carried out show that the average increment in the accuracy of C-PPA is 14.15 for Convolutional Neural Network (CNN) classifier when compared with results without C-PPA. Overlap-add C-PPA is proposed for parallel processing which is based on overlap-add convolution. It shows an average accuracy increment of 12.49 for CNN. The analytics show that the algorithm benefits regarding privacy preservation, data utility, and performance. Since the algorithm works on lowering the dimensions of data, the communication cost over the Internet is also reduced.","PeriodicalId":46139,"journal":{"name":"Journal of Intelligent Systems","volume":"102 1","pages":""},"PeriodicalIF":3.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84761303","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}
引用次数: 0
Accurate and real-time object detection in crowded indoor spaces based on the fusion of DBSCAN algorithm and improved YOLOv4-tiny network 基于DBSCAN算法与改进的YOLOv4-tiny网络融合的室内拥挤空间精确实时目标检测
IF 3 Q3 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-01-01 DOI: 10.1515/jisys-2022-0268
Jianing Shen, Yang Zhou
Abstract Real-time object detection is an integral part of internet of things (IoT) application, which is an important research field of computer vision. Existing lightweight algorithms cannot handle target occlusions well in target detection tasks in indoor narrow scenes, resulting in a large number of missed detections and misclassifications. To this end, an accurate real-time multi-scale detection method that integrates density-based spatial clustering of applications with noise (DBSCAN) clustering algorithm and the improved You Only Look Once (YOLO)-v4-tiny network is proposed. First, by improving the neck network of the YOLOv4-tiny model, the detailed information of the shallow network is utilized to boost the average precision of the model to identify dense small objects, and the Cross mini-Batch Normalization strategy is adopted to improve the accuracy of statistical information. Second, the DBSCAN clustering algorithm is fused with the modified network to achieve better clustering effects. Finally, Mosaic data enrichment technique is adopted during model training process to improve the capability of the model to recognize occluded targets. Experimental results show that compared to the original YOLOv4-tiny algorithm, the mAP values of the improved algorithm on the self-construct dataset are significantly improved, and the processing speed can well meet the requirements of real-time applications on embedded devices. The performance of the proposed model on public datasets PASCAL VOC07 and PASCAL VOC12 is also better than that of other advanced lightweight algorithms, and the detection ability for occluded objects is significantly improved, which meets the requirements of mobile terminals for real-time detection in crowded indoor environments.
摘要实时目标检测是物联网应用的重要组成部分,是计算机视觉的一个重要研究领域。现有的轻量级算法在室内狭窄场景的目标检测任务中不能很好地处理目标遮挡,导致大量的漏检和误分类。为此,提出了一种将基于密度的应用空间聚类与噪声(DBSCAN)聚类算法和改进的You Only Look Once (YOLO)-v4-tiny网络相结合的精确实时多尺度检测方法。首先,通过改进YOLOv4-tiny模型的颈部网络,利用浅层网络的详细信息提高模型识别密集小目标的平均精度,并采用Cross mini-Batch归一化策略提高统计信息的精度。其次,将DBSCAN聚类算法与改进后的网络进行融合,获得更好的聚类效果。最后,在模型训练过程中采用马赛克数据充实技术,提高模型对遮挡目标的识别能力。实验结果表明,与原始的YOLOv4-tiny算法相比,改进算法在自构建数据集上的mAP值有了显著提高,处理速度可以很好地满足嵌入式设备上实时应用的要求。本文提出的模型在公共数据集PASCAL VOC07和PASCAL VOC12上的性能也优于其他先进的轻量级算法,对遮挡物的检测能力显著提高,满足了移动终端在拥挤室内环境下实时检测的要求。
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引用次数: 1
Intelligent auditing techniques for enterprise finance 企业财务智能审计技术
Q3 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-01-01 DOI: 10.1515/jisys-2023-0011
Chen Peng, Guixian Tian
Abstract With the need of social and economic development, the audit method is also continuously reformed and improved. Traditional audit methods have defects of comprehensively considering various risk factors, and cannot meet the needs of enterprise financial work. To improve the effectiveness of audit work and meet the financial needs of enterprises, a solution for intelligent auditing of enterprise finance is proposed, including intelligent analysis of accounting vouchers and of audit reports. Then, Bi-directional Long Short-Term Memory (BiLSTM) neural network is used to classify the audit problems under three text feature extraction methods. The test results show that the accuracy, recall rate, and F 1 value of the COWORDS-IOM algorithm in the aggregate clustering of accounting vouchers are 85.12, 83.28, and 84.85%, respectively, which are better than the self-organizing map algorithm before the improvement. The accuracy rate, recall rate, and F 1 value of Word2vec TF-IDF LDA-BiLSTM model for intelligent analysis of audit reports are 87.43, 87.88, and 87.66%, respectively. This shows that the proposed method has good performance in accounting voucher clustering and intelligent analysis of audit reports, which can provide guidance for the development of enterprise financial intelligence software to a certain extent.
随着社会经济发展的需要,审计方法也在不断改革和完善。传统的审计方法存在综合考虑各种风险因素的缺陷,不能满足企业财务工作的需要。为提高审计工作的有效性,满足企业财务需求,提出了一种企业财务智能审计解决方案,包括会计凭证智能分析和审计报告智能分析。然后利用双向长短期记忆(BiLSTM)神经网络对三种文本特征提取方法下的审计问题进行分类。测试结果表明,COWORDS-IOM算法在会计凭证聚类中的准确率为85.12,召回率为83.28,f1值为84.85%,均优于改进前的自组织映射算法。Word2vec TF-IDF LDA-BiLSTM模型用于审计报告智能分析的准确率为87.43,召回率为87.88,f1值为87.66%。这表明所提出的方法在会计凭证聚类和审计报告智能分析方面具有良好的性能,可以在一定程度上为企业财务智能软件的开发提供指导。
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引用次数: 0
Construction pit deformation measurement technology based on neural network algorithm 基于神经网络算法的施工坑变形测量技术
Q3 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-01-01 DOI: 10.1515/jisys-2022-0292
Yong Wu, Xiaoli Zhou
Abstract The current technology of foundation pit deformation measurement is inefficient, and its accuracy is not ideal. Therefore, an intelligent prediction model of foundation pit deformation based on back propagation neural network (BPNN) is proposed to predict the foundation pit deformation intelligently, with high accuracy and efficiency, so as to improve the safety of the project. Firstly, to address the shortcomings of BPNNs, which rely on the initial parameter settings and tend to fall into local optimum and unstable performance, this study adopts the modified particle swarm optimization (MPSO) to optimise the parameters of BPNNs and constructs a pit deformation prediction model based on the MPSO–BP algorithm to achieve predictive measurements of pit deformation. After training and testing the data samples, the results show that the prediction accuracy of the MPSO–BP pit deformation prediction model is 99.76%, which is 2.25% higher than that of the particle swarm optimization–back propagation (PSO–BP) pit deformation prediction model and 3.01% higher than that of the BP pit deformation prediction model. The aforementioned results show that the MPSO–BP pit deformation prediction model proposed in this study can effectively predict the pit deformation variables of construction projects and provide data support for the protective measures of the staff, which is helpful for the cause of construction projects in China.
摘要当前的基坑变形测量技术效率低下,测量精度不理想。为此,提出一种基于反向传播神经网络(BPNN)的基坑变形智能预测模型,对基坑变形进行智能预测,具有较高的精度和效率,从而提高工程的安全性。首先,针对bpnn依赖初始参数设置、易陷入局部最优、性能不稳定的缺点,采用改进粒子群算法(MPSO)对bpnn参数进行优化,构建基于MPSO - bp算法的基坑变形预测模型,实现基坑变形的预测测量。经过对数据样本的训练和测试,结果表明,MPSO-BP基坑变形预测模型的预测精度为99.76%,比粒子群优化-反向传播(PSO-BP)基坑变形预测模型的预测精度高2.25%,比BP基坑变形预测模型的预测精度高3.01%。上述结果表明,本研究提出的MPSO-BP基坑变形预测模型能够有效预测建筑工程基坑变形变量,为施工人员防护措施提供数据支持,对中国建设工程事业有所帮助。
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引用次数: 0
CMOR motion planning and accuracy control for heavy-duty robots 重型机器人CMOR运动规划与精度控制
Q3 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2023-01-01 DOI: 10.1515/jisys-2023-0050
Congju Zuo, Weihua Wang, Liang Xia, Feng Wang, Pucheng Zhou, Leiji Lu
Abstract Factors like rising work costs and the imminent transformation and upgrading of manufacturing industries are driving the rapid development of the industrial robotics market. In this study, by analyzing the structure of the transport arm and China Fusion Engineering Test Reactor and performing mathematical modeling, a feasible solution for the robot can be obtained using the dynamic ant colony optimization algorithm and grayscale values. However, for multiple degree of freedom robots, due to a large number of joints, the pure use of joint angle restrictions cannot avoid their own mutual interference. The design of the transport arm robot’s own collision algorithm is shown, which focuses on each linkage as a rod wrapped by a cylinder. The experiment shows that the relationship between the integrated center of mass and the whole machine center of mass can get the action area of the whole machine center of mass of the robot, according to which the relationship between the radius of the catch circle and time of the projection area of the whole machine center of mass of the robot in the horizontal plane can be obtained. The maximum outer circle radius r com = 267.977 mm {r}_{text{com}}=267.977hspace{.25em}text{mm} , according to the stability criterion r ssa > r con {r}_{text{ssa}}gt {r}_{text{con}} , can be obtained, so the stability analysis of the gait switching process can be judged to be correct and effective.
工作成本上升、制造业转型升级迫在眉睫等因素推动着工业机器人市场的快速发展。本研究通过对输送臂和中国聚变工程试验堆的结构进行分析,并进行数学建模,利用动态蚁群优化算法和灰度值得到机器人的可行解。然而,对于多自由度机器人来说,由于关节数量众多,单纯利用关节角度限制并不能避免自身的相互干扰。展示了运输臂机器人自身碰撞算法的设计,该算法将每个连杆作为一根被圆柱体包裹的杆。实验表明,综合质心与整机质心的关系可以得到机器人整机质心的作用面积,据此可以得到机器人整机质心在水平面上的投影面积与捕捉圆半径的关系。最大外圆半径r com =267.977 mm {r}_{text{com}}=267.977hspace{。25em}text{mm},根据稳定性判据r ssa >R con {R}_{text{ssa}}gt {R}_{text{con}},从而判断步态切换过程的稳定性分析是正确有效的。
{"title":"CMOR motion planning and accuracy control for heavy-duty robots","authors":"Congju Zuo, Weihua Wang, Liang Xia, Feng Wang, Pucheng Zhou, Leiji Lu","doi":"10.1515/jisys-2023-0050","DOIUrl":"https://doi.org/10.1515/jisys-2023-0050","url":null,"abstract":"Abstract Factors like rising work costs and the imminent transformation and upgrading of manufacturing industries are driving the rapid development of the industrial robotics market. In this study, by analyzing the structure of the transport arm and China Fusion Engineering Test Reactor and performing mathematical modeling, a feasible solution for the robot can be obtained using the dynamic ant colony optimization algorithm and grayscale values. However, for multiple degree of freedom robots, due to a large number of joints, the pure use of joint angle restrictions cannot avoid their own mutual interference. The design of the transport arm robot’s own collision algorithm is shown, which focuses on each linkage as a rod wrapped by a cylinder. The experiment shows that the relationship between the integrated center of mass and the whole machine center of mass can get the action area of the whole machine center of mass of the robot, according to which the relationship between the radius of the catch circle and time of the projection area of the whole machine center of mass of the robot in the horizontal plane can be obtained. The maximum outer circle radius <m:math xmlns:m=\"http://www.w3.org/1998/Math/MathML\"> <m:msub> <m:mrow> <m:mi>r</m:mi> </m:mrow> <m:mrow> <m:mtext>com </m:mtext> </m:mrow> </m:msub> <m:mo>=</m:mo> <m:mn>267.977</m:mn> <m:mspace width=\".25em\" /> <m:mtext>mm</m:mtext> </m:math> {r}_{text{com}}=267.977hspace{.25em}text{mm} , according to the stability criterion <m:math xmlns:m=\"http://www.w3.org/1998/Math/MathML\"> <m:msub> <m:mrow> <m:mi>r</m:mi> </m:mrow> <m:mrow> <m:mtext>ssa </m:mtext> </m:mrow> </m:msub> <m:mo>&gt;</m:mo> <m:msub> <m:mrow> <m:mi>r</m:mi> </m:mrow> <m:mrow> <m:mtext>con </m:mtext> </m:mrow> </m:msub> </m:math> {r}_{text{ssa}}gt {r}_{text{con}} , can be obtained, so the stability analysis of the gait switching process can be judged to be correct and effective.","PeriodicalId":46139,"journal":{"name":"Journal of Intelligent Systems","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135599800","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}
引用次数: 0
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