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基于改进A^(*)算法和DWA融合的机器人路径规划研究 被引量:12
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作者 赵久强 赵庭辉 +2 位作者 冯毅萍 曹峥 仲玉芳 《实验技术与管理》 CAS 北大核心 2023年第3期87-92,共6页
传统的A^(*)算法存在未考虑移动机器人实际行驶时间,路径规划转折点多,且无法处理复杂环境中出现随机障碍物等问题。针对上述问题,提出了一种将移动机器人行驶时间作为代价且能根据障碍物信息调整启发函数权重的改进A^(*)算法,有效地减... 传统的A^(*)算法存在未考虑移动机器人实际行驶时间,路径规划转折点多,且无法处理复杂环境中出现随机障碍物等问题。针对上述问题,提出了一种将移动机器人行驶时间作为代价且能根据障碍物信息调整启发函数权重的改进A^(*)算法,有效地减少了路径规划时的转弯次数和转弯角度。使用Floyd算法进一步进行优化,删除冗余转折点,减少转弯次数以及提升路径的平滑度。改进后的A^(*)算法规划的路径相较于传统A^(*)算法平均转弯次数减少49.0%,转弯角度减少50.8%,路径长度减少1.7%。融合DWA算法后,能够在改进A^(*)算法规划的全局路径基础上进行局部路径修正,实现动态避障,最后经过仿真验证了算法的可行性和有效性。 展开更多
关键词 路径规划 改进A^(*)算法 动态窗口法 动态避障
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桌面型智能产线实验装置的设计与研制
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作者 赵久强 冯毅萍 +1 位作者 曹峥 仲玉芳 《实验室科学》 2024年第3期16-20,共5页
针对“传感与检测”课程中实验教学的需求,研制了一款桌面型智能产线实验装置,该装置模拟了一条小型生产线,各检测单元传感器安装于装置主体指定位置,结合设计的控制系统及检测算法,将各类典型传感器融入到各个检测环节,能够实现对模拟... 针对“传感与检测”课程中实验教学的需求,研制了一款桌面型智能产线实验装置,该装置模拟了一条小型生产线,各检测单元传感器安装于装置主体指定位置,结合设计的控制系统及检测算法,将各类典型传感器融入到各个检测环节,能够实现对模拟工件的宽度、高度、颜色、重量以及自带字符等特征信息的检测和显示。同时,该装置能够进行手动实验和自动实验模式,结合设计的实验内容,不仅可以用于以传感器为主线的传感与检测实验教学,还可以用于以PLC为主线的控制系统实验和以系统设计为主线的综合创新实验等教学,是一款具有典型性、多样性、趣味性且具有较高普适性的桌面型实验装置。 展开更多
关键词 智能产线 传感与检测 实验装置 实验教学
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Flux mechanism of compound flux on ash and slag of coal with high ash melting temperature 被引量:3
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作者 Chengli Wu Beibei Wang +1 位作者 jiuqiang zheng Hanxu Li 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2019年第5期1200-1206,共7页
The melting temperature of Z coal ash was reduced by adding calcium–magnesium compound flux(WCaO/WMgO=1). In the process of simulated coal gasification, the coal ash and slag were prepared. The transformation of mine... The melting temperature of Z coal ash was reduced by adding calcium–magnesium compound flux(WCaO/WMgO=1). In the process of simulated coal gasification, the coal ash and slag were prepared. The transformation of minerals in coal ash and slag upon the change of temperature was studied by using X-ray diffraction(XRD). With the increase of temperatures, forsterite in the ash disappears, while the diffraction peak strength of magnesium spinel increases,and the content of the calcium feldspar increases, then the content of the amorphous phase in the ash increases obviously. The species and evolution process of oxygen, silicon, aluminum, calcium, magnesium at different temperatures were analyzed by X-ray photoelectron spectroscopy(XPS). The decrease of the ash melting point mainly affects the structural changes of silicon, aluminum and oxygen. The coordination of aluminum and oxygen in the aluminum element structure, e.g., tetracoordinated aluminum oxide, was changed. Tetrahedral [AlO4] and hexacoordinated aluminoxy octahedral [AlO6] change with the temperature changing. The addition of Ca2+ and Mg2+ destroys silica chain, making bridge oxide silicon change into non-bridge oxysilicon;and bridge oxygen bond was broken and non-bridge oxygen bond was produced in the oxygen element structure. The addition of calcium and magnesium compound flux reacts with aluminum oxide tetrahedron, aluminum oxide octahedron and silicon tetrahedron to promote the breakage of the bridge oxygen bond. Ca2+ and Mg2+ are easily combined with silicon oxide and aluminum oxide tetrahedron and aluminum. Oxygen octahedrons combine with non-oxygen bonds to generate low-melting temperature feldspars and magnesite minerals, thereby reducing the coal ash melting temperatures. The structure of kaolinite and mullite was simulated by quantum chemistry calculation, and kaolinite molecule has a stable structure. 展开更多
关键词 COAL ASH and SLAG COMPOUND FLUX X-ray photoelectron spectroscopy Transformation of mineral STRUCTURE STRUCTURE of kaolinite and mullite
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A BOOSTING APPROACH FOR INTRUSION DETECTION
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作者 Zan Xin Han jiuqiang Zhang Junjie zheng Qinghua Han Chongzhao 《Journal of Electronics(China)》 2007年第3期369-373,共5页
Intrusion detection can be essentially regarded as a classification problem,namely,dis-tinguishing normal profiles from intrusive behaviors. This paper introduces boosting classification algorithm into the area of int... Intrusion detection can be essentially regarded as a classification problem,namely,dis-tinguishing normal profiles from intrusive behaviors. This paper introduces boosting classification algorithm into the area of intrusion detection to learn attack signatures. Decision tree algorithm is used as simple base learner of boosting algorithm. Furthermore,this paper employs the Principle Com-ponent Analysis (PCA) approach,an effective data reduction approach,to extract the key attribute set from the original high-dimensional network traffic data. KDD CUP 99 data set is used in these ex-periments to demonstrate that boosting algorithm can greatly improve the classification accuracy of weak learners by combining a number of simple “weak learners”. In our experiments,the error rate of training phase of boosting algorithm is reduced from 30.2% to 8% after 10 iterations. Besides,this paper also compares boosting algorithm with Support Vector Machine (SVM) algorithm and shows that the classification accuracy of boosting algorithm is little better than SVM algorithm’s. However,the generalization ability of SVM algorithm is better than boosting algorithm. 展开更多
关键词 Network security Intrusion Detection System (IDS) Machine learning Boosting algo-rithm Decision tree Support Vector Machine (SVM)
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基于机器视觉的接线端子缺陷检测算法
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作者 赵久强 曾豪辉 +2 位作者 冯毅萍 曹峥 仲玉芳 《实验技术与管理》 CAS 北大核心 2022年第11期40-45,共6页
接线端子是工业生产中常用的电路连接元件,决定了电子系统的安全性与可靠性。以常用的弹簧式直插接线端子为例,对其缺陷进行定义与分类,针对性地设计了其黄铜导电条与高强度弹簧的缺陷检测算法。首先对图像进行预处理校正,设计了定位基... 接线端子是工业生产中常用的电路连接元件,决定了电子系统的安全性与可靠性。以常用的弹簧式直插接线端子为例,对其缺陷进行定义与分类,针对性地设计了其黄铜导电条与高强度弹簧的缺陷检测算法。首先对图像进行预处理校正,设计了定位基准拟合与位姿校正算法,对其形态归一化,之后分别设计基于四叉树分形的区域面积匹配与基于随机森林的细微特征检测,实现不同类别缺陷的检测。实验结果表明:对接线端子中导电条部分的检测正确率基本达到100%,而对高强度弹簧处缺陷准确率达98%以上,且对噪声具有一定鲁棒性,能够满足实际工业生产需求。 展开更多
关键词 接线端子 缺陷检测 四叉树图像分形 随机森林
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