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Model for accurate speed measurement using double-loop detectors

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2006年第4期55卷 1094-1101页

作者： Ki, Yong-Kul Baik, Doo-Kwon Korea Univ Dept Comp Sci & Engn Seoul 136701 South Korea

Vehicle speed is an important parameter in measurements of road traffic. At present, double-loop detectors are generally used for vehicular speed measurement. However, these detectors incur errors caused by scanning time, spacing between double-loops, irregular vehicle trajectories, and the presence of multiple vehicles in the detection zone. This paper suggests a new model that uses an error-filtering algorithm to improve the accuracy of speed measurements. In the field tests, all percent errors of the vehicular speeds measured by the proposed model were within the error tolerance limit (5%). Furthermore, the variance of percent errors was reduced. Therefore, it can be concluded that the proposed model significantly improves vehicle-speed-measuring accuracy.

关键词： double-loop detectors filtering algorithm irregular driving vehicles (IDVs) loop design multiple vehicles in the detection zone (MVDZs)

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CROSS cyclic resource-constrained scheduling solver

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ARTIFICIAL INTELLIGENCE 2014年第1期206卷 25-52页

作者： Bonfietti, Alessio Lombardi, Michele Benini, Luca Milano, Michela Univ Bologna I-40136 Bologna Italy

Cyclic scheduling problems consist in ordering a set of activities executed indefinitely over time in a periodic fashion, subject to precedence and resource constraints. This class of problems has many applications in manufacturing, embedded systems and compiler design, production and chemical systems. This paper proposes a Constraint Programming approach for cyclic scheduling problems, based on modular arithmetic: in particular, we introduce a modular precedence constraint and a global cumulative constraint along with their filtering algorithms. We discuss two possible formulations. The first one (referred to as CROSS) models a pure cyclic scheduling problem and makes use of both our novel constraints. The second formulation (referred to as CROSS*) introduces a restrictive assumption to enable the use of classical resources constraints, but may incur a loss of solution quality. Many traditional approaches to cyclic scheduling operate by fixing the period value and then solving a linear problem in a generate-and-test fashion. Conversely, our technique is based on a non-linear model and tackles the problem as a whole: the period value is inferred from the scheduling decisions. Our approach has been tested on a number of non-trivial synthetic instances and on a set of realistic industrial instances. The method proved to effective in finding high quality solutions in a very short amount of time. (C) 2013 Elsevier B.V. All rights reserved.

关键词： Cyclic scheduling problem Cumulative constraint filtering algorithm Constraint programming

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Time-series unmanned aerial vehicle photogrammetry monitoring method without ground control points to measure mining subsidence

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JOURNAL OF APPLIED REMOTE SENSING 2021年第2期15卷

作者： Lian, Xugang Liu, Xiaoyu Ge, Linlin Hu, Haifeng Du, Zheyuan Wu, Yanru Taiyuan Univ Technol Sch Min Engn Taiyuan Peoples R China Univ New South Wales Sch Civil & Environm Engn Sydney NSW Australia

Surface subsidence and its secondary effects caused by underground coal mining continually threaten the safety and property of residents in mining areas. The commonly used total station and leveling approach is time-consuming and laborious, and the spatial range is limited. In this study, an FEIMA D2000 quadrotor unmanned aerial vehicle (UAV) was used to conduct 4-cm/pixel photogrammetry in four trial periods over a surface influence area (3.75 km(2)) of a working mine face. The performance comparison experiments from five point-cloud filtering algorithms in two sub-regions of the study area show that the ATIN algorithm provides the best filtering for this study area. Coal mining subsidence monitoring in mountainous area based on time-series UAV photogrammetry technology is proposed. Using this approach, the ATIN algorithm was used to filter the overall point cloud data in the study area to obtain the digital elevation model (DEM). The surface dynamic subsidence basin was determined with two phases of DEM subtraction. The results show that, compared with the measured leveling data in the field in the same period, the average root mean square error is 165 mm, and the maximum subsidence monitoring accuracy reaches 98%. (C) 2021 Society of Photo-Optical Instrumentation Engineers (SPIE)

关键词： unmanned aerial vehicle photogrammetry subsidence monitoring filtering algorithm surface subsidence basin

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Solving subgraph isomorphism problems with constraint programming

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CONSTRAINTS 2010年第3期15卷 327-353页

作者： Zampelli, Stephane Deville, Yves Solnon, Christine Univ Lyon 1 LIRIS CNRS UMR5205 F-69622 Villeurbanne France Univ Louvain Dept Comp Sci & Engn B-1348 Louvain Belgium Ecole Mines F-44307 Nantes 3 France

The subgraph isomorphism problem consists in deciding if there exists a copy of a pattern graph in a target graph. We introduce in this paper a global constraint and an associated filtering algorithm to solve this problem within the context of constraint programming. The main idea of the filtering algorithm is to label every node with respect to its relationships with other nodes of the graph, and to define a partial order on these labels in order to express compatibility of labels for subgraph isomorphism. This partial order over labels is used to filter domains. Labelings can also be strengthened by adding information from the labels of neighbors. Such a strengthening can be applied iteratively until a fixpoint is reached. Practical experiments illustrate that our new filtering approach is more effective on difficult instances of scale free graphs than state-of-the-art algorithms and other constraint programming approaches.

关键词： Subgraph isomorphism Global constraint filtering algorithm

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Trajectory-based anomalous behaviour detection for intelligent traffic surveillance

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IET INTELLIGENT TRANSPORT SYSTEMS 2015年第8期9卷 810-816页

作者： Cai, Yingfeng Wang, Hai Chen, Xiaobo Jiang, Haobin Jiangsu Univ Automot Engn Res Inst Zhenjiang 212013 Peoples R China Jiangsu Univ Sch Automot & Traff Engn Zhenjiang 212013 Peoples R China

This study proposes an efficient anomalous behaviour detection framework using trajectory analysis. Such framework includes the trajectory pattern learning module and the online abnormal detection module. In the pattern learning module, a coarse-to-fine clustering strategy is utilised. Vehicle trajectories are coarsely grouped into coherent clusters according to the main flow direction (MFD) vectors followed by a three-stage filtering algorithm. Then a robust K-means clustering algorithm is used in each coarse cluster to get fine classification by which the outliers are distinguished. Finally, the hidden Markov model (HMM) is used to establish the path pattern within each cluster. In the online detection module, the new vehicle trajectory is compared against all the MFD distributions and the HMMs so that the coherence with common motion patterns can be evaluated. Besides that, a real-time abnormal detection method is proposed. The abnormal behaviour can be detected when happening. Experimental results illustrate that the detection rate of the proposed algorithm is close to the state-of-the-art abnormal event detection systems. In addition, the proposed system provides the lowest false detection rate among selected methods. It is suitable for intelligent surveillance applications.

关键词： intelligent transportation systems video surveillance learning (artificial intelligence) road vehicles hidden Markov models traffic engineering computing trajectory based anomalous behaviour detection intelligent traffic surveillance trajectory analysis trajectory pattern learning module online abnormal detection module coarse-to-fine clustering strategy vehicle trajectories main flow direction MFD vectors filtering algorithm robust K-means clustering algorithm coarse cluster hidden Markov model HMM path pattern online detection module vehicle trajectory MFD distributions motion patterns abnormal behaviour intelligent surveillance applications

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Hankel Matrix Rank as Indicator of Ghost in Bearing-Only Tracking

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IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS 2018年第6期54卷 2713-2723页

作者： Bekiroglu, Korkut Ayazoglu, Mustafa Lagoa, Constantino Sznaier, Mario Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore ASELSAN Inc TR-06172 Ankara Turkey Penn State Univ Dept Elect Engn & Comp Sci University Pk PA 16802 USA Northeastern Univ Dept Elect & Comp Engn Boston MA 02115 USA

Usually, bearing angle measurements are employed in triangulation methods to display the position of targets. However, in multiradar and multitarget scenarios, triangulation approaches bring out ghosts that operate like real targets. This paper proposes a target/ghost classifier that relies on the fact that the trajectory of a ghost is actually a function of trajectories of at least two targets and therefore, the complexity of a ghost trajectory is "greater" than the complexity of targets' trajectories.

关键词： atomic norm deghosting filtering algorithm parsimonious model identification radar ghost elimination

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Design of 4PUS-PPPS redundant parallel mechanism oriented to the visual system of flight simulator

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INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS 2021年第4期5卷 534-542页

作者： Ren, Bin Zhang, Zhiqiang Shanghai Univ Sch Mechatron Engn & Automat Shanghai Key Lab Intelligent Mfg & Robot Shanghai 200444 Peoples R China

The Design of the flight simulator mechanism is an essential link in the development of aviation technology. The six-degree-of-freedom Stewart parallel mechanism is used as the mechanical body of most traditional flight simulators. They can simulate the six-degree-of-freedom motion of the aircraft. However, the reachable attitude of the moving platform of the Stewart parallel mechanism is relatively small, and its range of motion is +/- 35 degrees, which can only achieve a small range of yaw, roll and pitch. It can only satisfy the simulation of the attitude change of a civil aviation aircraft. A 4PUS-PPPS redundant parallel mechanism equipped with visual function is proposed to simulate the high motion performance of fighter aircraft, which can realize the movement of angles (- 90 degrees,178 degrees) around the horizontal axis of the aircraft. The flight attitude data of the aircraft were acquired and processed by filtering algorithms in the software of Unity 3D environment. Then, the three steering gears that simulate the action of the moving platform are controlled by the processed data, which realizes the simulation control of the combination of virtual and honest and provides a new idea for the research of redundant parallel mechanisms.

关键词： Flight simulator Redundant parallel mechanism Visual function filtering algorithm

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Enhancing the MCL-SLAM algorithm to overcome the issue of illumination variation, non-static environment and kidnapping to present the NIK-SLAM

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INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS 2024年 1-22页

作者： Agunbiade, Olusanya Yinka Univ Western Cape Dept Informat Syst Cape Town South Africa

Simultaneous Localization and Mapping (SLAM) is a major challenge that has been comprehensively investigated by scholars. SLAM's ability to support autonomous navigation helps the robot to move from one place to another without being controlled by humans. This achievement has attracted the attention of scholars towards focusing on this area. Over the decades, countless procedures have been developed with extraordinary accomplishments. However, some problems can degrade the efficiency of SLAM (Simultaneous Localization and Mapping) technique, and examples of such problems include environmental noises (light intensity and shadow), non-static environment, and kidnap robots. These problems create inconsistency in measurement that can lead to erroneous navigation for an unmanned vehicle. In minimizing the effect of these problems, a novel SLAM technique based on several re-modifications of MCL is presented in this paper. This innovative technique is known as NIK-SLAM. The NIK-SLAM is equipped with filters alongside some modifications of the original Monte-Carlo algorithm (MCL) to maximize its performance. The filters were employed to overcome the effect of shadow and light intensity while the re-modification of MCL is used to overcome the limitation of kidnapping and non-static objects. A publicly available dataset (TUM-RGBD) and a private dataset were used for evaluation. Matlab was used for simulation while assessments were based on quantitative and qualitative validation. The results demonstrated a better performance of the NIK-SLAM, attaining a lower trajectory error for most experiments when compared to the original MCL and other SLAM algorithms found in the literature, but at the expense of delayed processing time. Furthermore, this accomplishment supports pathway planning, and exploration into unstable environments while it decreases accident rates/human fatalities, and in the future study, the issue of delayed processing time will be addressed.

关键词： Autonomous robot Trajectory Navigation filtering algorithm Kidnap problem Non-static environment Simultaneous localization and mapping

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Semiparametric inference in mixture models with predictive recursion marginal likelihood

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BIOMETRIKA 2011年第3期98卷 567-582页

作者： Martin, Ryan Tokdar, Surya T. Indiana Univ Purdue Univ Dept Math Sci Indianapolis IN 46202 USA Duke Univ Dept Stat Sci Durham NC 27708 USA

Predictive recursion is an accurate and computationally efficient algorithm for nonparametric estimation of mixing densities in mixture models. In semiparametric mixture models, however, the algorithm fails to account for any uncertainty in the additional unknown structural parameter. As an alternative to existing profile likelihood methods, we treat predictive recursion as a filter approximation by fitting a fully Bayes model, whereby an approximate marginal likelihood of the structural parameter emerges and can be used for inference. We call this the predictive recursion marginal likelihood. Convergence properties of predictive recursion under model misspecification also lead to an attractive construction of this new procedure. We show pointwise convergence of a normalized version of this marginal likelihood function. Simulations compare the performance of this new approach with that of existing profile likelihood methods and with Dirichlet process mixtures in density estimation. Mixed-effects models and an empirical Bayes multiple testing application in time series analysis are also considered.

关键词： Density estimation Dirichlet process mixture Empirical Bayes filtering algorithm Marginal likelihood Martingale Mixed effects model Multiple testing Profile likelihood

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A novel trust recommendation model for mobile social network based on user motivation

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ELECTRONIC COMMERCE RESEARCH 2021年第3期21卷 809-830页

作者： Yang, Gelan Yang, Qin Jin, Huixia Hunan City Univ Dept Comp Yiyang 413000 Peoples R China Sichuan Agr Univ Sch Business Dujiangyan 611830 Peoples R China Hunan City Univ Dept Informat Sci & Engn Yiyang 413000 Peoples R China

Traditional collaborative filtering recommendation algorithm has the problems of sparse data and limited user preference information. To deal with data sparseness problem and the unreliability phenomenon on the traditional social network recommendation. This paper presents a novel algorithm based on trust relationship reconstruction and social network delivery. This paper introduces the method of eliminating falsehood and storing truth to avoid the unreliable phenomenon and improves the accuracy of falsehood according to the user similarity formula based on the scale of contact established by users. In this paper, the problem of attack caused by the misbehaving nodes is investigated when the recommended information is disseminated in the existing trust model. In addition, a recommendation-based trust model is proposed that includes a defensive plan. This scheme employs the clustering techniques on the basis of interaction count, information Compatibility and node intimacy, in a certain period of time dynamically filter dishonest recommendation related attacks. The model has been verified in different portable and detached topologies. The network knots undergo modifications regarding their neighbors as well as frequent routes. The experimental analysis indicates correctness and robustness of the reliance system in an active MANET setting. Compared with the most advanced recommender system, the proposed recommendation algorithm in accuracy and coverage measurements show a significant improvement.

关键词： Trust relationship Mobile social network filtering algorithm Recommendation attack Recommendation management

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