Fast Estimation of Loader’s Shovel Load Volume by 3D Reconstruction of Material Piles

Fast and accurate measurement of the volume of earthmoving materials is of great signifcance for the real-time evaluation of loader operation efciency and the realization of autonomous operation. Existing methods for volume measurement, such as total station-based methods, cannot measure the volume in real time, while the bucket-based method also has the disadvantage of poor universality. In this study, a fast estimation method for a loader’s shovel load volume by 3D reconstruction of material piles is proposed. First, a dense stereo matching method (QORB–MAPM) was proposed by integrating the improved quadtree ORB algorithm (QORB) and the maximum a posteriori probability model (MAPM), which achieves fast matching of feature points and dense 3D reconstruction of material piles. Second, the 3D point cloud model of the material piles before and after shoveling was registered and segmented to obtain the 3D point cloud model of the shoveling area, and the Alpha-shape algorithm of Delaunay triangulation was used to estimate the volume of the 3D point cloud model. Finally, a shovel loading volume measurement experiment was conducted under loose-soil working conditions. The results show that the shovel loading volume estimation method (QORB–MAPM VE) proposed in this study has higher estimation accuracy and less calculation time in volume estimation and bucket fll factor estimation, and it has signifcant theoretical research and engineering application value.

Parametric message passing-based relative navigation in joint tactical information distribution system

Relative navigation is a key feature in the joint tactical information distribution system（JTIDS）.A parametric message passing algorithm based on factor graph is proposed to perform relative navigation in JTIDS.First of all,the joint posterior distribution of all the terminals＇ positions is represented by factor graph.Because of the nonlinearity between the positions and time-of-arrival（TOA） measurement,messages cannot be obtained in closed forms by directly using the sum-product algorithm on factor graph.To this end,the Euclidean norm is approximated by Taylor expansion.Then,all the messages on the factor graph can be derived in Gaussian forms,which enables the terminals to transmit means and covariances.Finally,the impact of major error sources on the navigation performance are evaluated by Monte Carlo simulations,e.g.,range measurement noise,priors of position uncertainty and velocity noise.Results show that the proposed algorithm outperforms the extended Kalman filter and cooperative extended Kalman filter in both static and mobile scenarios of the JTIDS.

An Automatic Monitoring and Alarming Method for the Power Supply of Weather Radars

As weather radar stations require headroom environment to operate,they were mostly built on highlands which are usually unattended.The mains supply is relatively poor,and the risk of radar stoppages due to power outage is therefore ever-present.As such,the radar construction program is used to build a complementary security video monitoring system.By collecting monitoring images of the regulated power supply in real-time from power supply auto transfer systems in distribution rooms and radar transceiver rooms,using Spearman’s rank correlation coefficient to analyse pixel variation trends,and supplementing statistical analysis of pixel characteristics difference to eliminate misjudgments resulting from low image contrast in special scenarios,a software can be developed through C#.It has the function of automatically monitoring mains supply and alerting staff on duty to handle the power outage in a timely manner via text message so that any potential risk is neutralised before it can cause damage.This monitoring and auto-alerting approach is generally applicable to unattended rooms with large amounts of electronical equipment.

A multi process value-based reinforcement learning environment framework for adaptive traffic signal control

Realising adaptive traffic signal control(ATSC)through reinforcement learning(RL)is an important means to easetraffic congestion.This paper finds the computing power of the central processing unit(CPU)cannot fully usedwhen Simulation of Urban MObility(SUMO)is used as an environment simulator for RL.We propose a multi-process framework under value-basedRL.First,we propose a shared memory mechanism to improve exploration efficiency.Second,we use the weight sharing mechanism to solve the problem of asynchronous multi-process agents.We also explained the reason shared memory in ATSC does not lead to early local optima of the agent.Wehave verified in experiments the sampling efficiency of the 10-process method is 8.259 times that of the single process.The sampling efficiency of the 20-process method is 13.409 times that of the single process.Moreover,the agent can also converge to the optimal solution.

Representation learning via a semi-supervised stacked distance autoencoder for image classification

Image classification is an important application of deep learning. In a typical classification task, the classification accuracy is strongly related to the features that are extracted via deep learning methods. An autoencoder is a special type of neural network, often used for dimensionality reduction and feature extraction. The proposed method is based on the traditional autoencoder, incorporating the "distance" information between samples from different categories. The model is called a semisupervised distance autoencoder. Each layer is first pre-trained in an unsupervised manner. In the subsequent supervised training, the optimized parameters are set as the initial values. To obtain more suitable features, we use a stacked model to replace the basic autoencoder structure with a single hidden layer. A series of experiments are carried out to test the performance of different models on several datasets, including the MNIST dataset, street view house numbers(SVHN) dataset, German traffic sign recognition benchmark(GTSRB), and CIFAR-10 dataset. The proposed semi-supervised distance autoencoder method is compared with the traditional autoencoder, sparse autoencoder, and supervised autoencoder. Experimental results verify the effectiveness of the proposed model.