[目的/意义]农业场景下的知识服务具有周期性长、活动时间长的特点。传统推荐模型无法有效挖掘农业场景下的基于农时的隐藏信息。针对上述问题,提出一种融合时间感知和增强过滤的农业知识个性化推荐模型(Time-aware and Filter-enhanced...[目的/意义]农业场景下的知识服务具有周期性长、活动时间长的特点。传统推荐模型无法有效挖掘农业场景下的基于农时的隐藏信息。针对上述问题,提出一种融合时间感知和增强过滤的农业知识个性化推荐模型(Time-aware and Filter-enhanced Sequential Recommendation Model for Agriculture Knowledge,TiFSA)。[方法]首先,基于时间感知的位置嵌入方法,将农户交互的时间信息与位置嵌入相结合,帮助学习农业情境下基于农时的项目相关性。其次,在时间感知位置嵌入的基础上,引入滤波器过滤算法,自适应地衰减农户情境数据中的噪声。最后,引入时间信息的多头自注意力网络,实现对时间、项目和特征的统一建模,对农户随时间变化的偏好特征进行情境表示,从而为用户提供可靠的推荐结果。[结果和讨论]根据“全国农业知识智能服务云平台”中的用户交互序列数据集进行实验。结果表明,该模型在农业数据集上的命中率为45.79%,归一化折损累计增益为53.52%;与近几年性能最佳的模型Ti-SASRec相比分别提升16.19%和14.02%。[结论]该模型能够有效捕获农业领域的用户情境特征和建模农户的动态偏好,具有更好的推荐性能。展开更多
For improving the estimation accuracy and the convergence speed of the unscented Kalman filter(UKF),a novel adaptive filter method is proposed.The error between the covariance matrices of innovation measurements and t...For improving the estimation accuracy and the convergence speed of the unscented Kalman filter(UKF),a novel adaptive filter method is proposed.The error between the covariance matrices of innovation measurements and their corresponding estimations/predictions is utilized as the cost function.On the basis of the MIT rule,an adaptive algorithm is designed to update the covariance of the process uncertainties online by minimizing the cost function.The updated covariance is fed back into the normal UKF.Such an adaptive mechanism is intended to compensate the lack of a priori knowledge of the process uncertainty distribution and to improve the performance of UKF for the active state and parameter estimations.The asymptotic properties of this adaptive UKF are discussed.Simulations are conducted using an omni-directional mobile robot,and the results are compared with those obtained by normal UKF to demonstrate its effectiveness and advantage over the previous methods.展开更多
An innovative multi-robot simultaneous localization and mapping(SLAM)is proposed based on a mobile Ad hoc local wireless sensor network(Ad-WSN).Multiple followed-robots equipped with the wireless link RS232/485module ...An innovative multi-robot simultaneous localization and mapping(SLAM)is proposed based on a mobile Ad hoc local wireless sensor network(Ad-WSN).Multiple followed-robots equipped with the wireless link RS232/485module act as mobile nodes,with various on-board sensors,Tp-link wireless local area network cards,and Tp-link wireless routers.The master robot with embedded industrial PC and a complete robot control system autonomously performs the SLAM task by exchanging information with multiple followed-robots by using this self-organizing mobile wireless network.The PC on the remote console can monitor multi-robot SLAM on-site and provide direct motion control of the robots.This mobile Ad-WSN complements an environment devoid of usual GPS signals for the robots performing SLAM task in search and rescue environments.In post-disaster areas,the network is usually absent or variable and the site scene is cluttered with obstacles.To adapt to such harsh situations,the proposed self-organizing mobile Ad-WSN enables robots to complete the SLAM process while improving the performances of object of interest identification and exploration area coverage.The information of localization and mapping can communicate freely among multiple robots and remote PC control center via this mobile Ad-WSN.Therefore,the autonomous master robot runs SLAM algorithms while exchanging information with multiple followed-robots and with the remote PC control center via this local WSN environment.Simulations and experiments validate the improved performances of the exploration area coverage,object marked,and loop closure,which are adapted to search and rescue post-disaster cluttered environments.展开更多
文摘[目的/意义]农业场景下的知识服务具有周期性长、活动时间长的特点。传统推荐模型无法有效挖掘农业场景下的基于农时的隐藏信息。针对上述问题,提出一种融合时间感知和增强过滤的农业知识个性化推荐模型(Time-aware and Filter-enhanced Sequential Recommendation Model for Agriculture Knowledge,TiFSA)。[方法]首先,基于时间感知的位置嵌入方法,将农户交互的时间信息与位置嵌入相结合,帮助学习农业情境下基于农时的项目相关性。其次,在时间感知位置嵌入的基础上,引入滤波器过滤算法,自适应地衰减农户情境数据中的噪声。最后,引入时间信息的多头自注意力网络,实现对时间、项目和特征的统一建模,对农户随时间变化的偏好特征进行情境表示,从而为用户提供可靠的推荐结果。[结果和讨论]根据“全国农业知识智能服务云平台”中的用户交互序列数据集进行实验。结果表明,该模型在农业数据集上的命中率为45.79%,归一化折损累计增益为53.52%;与近几年性能最佳的模型Ti-SASRec相比分别提升16.19%和14.02%。[结论]该模型能够有效捕获农业领域的用户情境特征和建模农户的动态偏好,具有更好的推荐性能。
基金Supported by National High Technology Research and Development Program of China(863 Program)Hi-Tech Research and Development Program of China(2003AA421020)
文摘For improving the estimation accuracy and the convergence speed of the unscented Kalman filter(UKF),a novel adaptive filter method is proposed.The error between the covariance matrices of innovation measurements and their corresponding estimations/predictions is utilized as the cost function.On the basis of the MIT rule,an adaptive algorithm is designed to update the covariance of the process uncertainties online by minimizing the cost function.The updated covariance is fed back into the normal UKF.Such an adaptive mechanism is intended to compensate the lack of a priori knowledge of the process uncertainty distribution and to improve the performance of UKF for the active state and parameter estimations.The asymptotic properties of this adaptive UKF are discussed.Simulations are conducted using an omni-directional mobile robot,and the results are compared with those obtained by normal UKF to demonstrate its effectiveness and advantage over the previous methods.
基金Projects(61573213,61473174,61473179)supported by the National Natural Science Foundation of ChinaProjects(ZR2015PF009,ZR2014FM007)supported by the Natural Science Foundation of Shandong Province,China+1 种基金Project(2014GGX103038)supported by the Shandong Province Science and Technology Development Program,ChinaProject(2014ZZCX04302)supported by the Special Technological Program of Transformation of Initiatively Innovative Achievements in Shandong Province,China
文摘An innovative multi-robot simultaneous localization and mapping(SLAM)is proposed based on a mobile Ad hoc local wireless sensor network(Ad-WSN).Multiple followed-robots equipped with the wireless link RS232/485module act as mobile nodes,with various on-board sensors,Tp-link wireless local area network cards,and Tp-link wireless routers.The master robot with embedded industrial PC and a complete robot control system autonomously performs the SLAM task by exchanging information with multiple followed-robots by using this self-organizing mobile wireless network.The PC on the remote console can monitor multi-robot SLAM on-site and provide direct motion control of the robots.This mobile Ad-WSN complements an environment devoid of usual GPS signals for the robots performing SLAM task in search and rescue environments.In post-disaster areas,the network is usually absent or variable and the site scene is cluttered with obstacles.To adapt to such harsh situations,the proposed self-organizing mobile Ad-WSN enables robots to complete the SLAM process while improving the performances of object of interest identification and exploration area coverage.The information of localization and mapping can communicate freely among multiple robots and remote PC control center via this mobile Ad-WSN.Therefore,the autonomous master robot runs SLAM algorithms while exchanging information with multiple followed-robots and with the remote PC control center via this local WSN environment.Simulations and experiments validate the improved performances of the exploration area coverage,object marked,and loop closure,which are adapted to search and rescue post-disaster cluttered environments.
