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Supervised local and non-local structure preserving projections with application to just-in-time learning for adaptive soft sensor 被引量:4
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作者 邵伟明 田学民 王平 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2015年第12期1925-1934,共10页
In soft sensor field, just-in-time learning(JITL) is an effective approach to model nonlinear and time varying processes. However, most similarity criterions in JITL are computed in the input space only while ignoring... In soft sensor field, just-in-time learning(JITL) is an effective approach to model nonlinear and time varying processes. However, most similarity criterions in JITL are computed in the input space only while ignoring important output information, which may lead to inaccurate construction of relevant sample set. To solve this problem, we propose a novel supervised feature extraction method suitable for the regression problem called supervised local and non-local structure preserving projections(SLNSPP), in which both input and output information can be easily and effectively incorporated through a newly defined similarity index. The SLNSPP can not only retain the virtue of locality preserving projections but also prevent faraway points from nearing after projection,which endues SLNSPP with powerful discriminating ability. Such two good properties of SLNSPP are desirable for JITL as they are expected to enhance the accuracy of similar sample selection. Consequently, we present a SLNSPP-JITL framework for developing adaptive soft sensor, including a sparse learning strategy to limit the scale and update the frequency of database. Finally, two case studies are conducted with benchmark datasets to evaluate the performance of the proposed schemes. The results demonstrate the effectiveness of LNSPP and SLNSPP. 展开更多
关键词 Adaptive soft sensor just-in-time learning Supervised local and non-local structure preserving projections locality preserving projections Database monitoring
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Thermophysical Characterization of Local Materials from a Locality in Chad for Use in Eco-Building
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作者 Abderahman Adoum Oumar Malloum Soultan +4 位作者 Abdallah Dadi Togdjim Jonas Mahamat Saleh Abdel-Khadir Mahamoud Youssouf Khayal Salif Gaye 《Open Journal of Civil Engineering》 2024年第3期486-497,共12页
With the aim of enhancing the value of local building materials, the subject of this paper is a thermophysical study of natural Chadian clay from the eastern region of Chad, “Abeche”. Samples were taken from a brick... With the aim of enhancing the value of local building materials, the subject of this paper is a thermophysical study of natural Chadian clay from the eastern region of Chad, “Abeche”. Samples were taken from a brickwork in Abeche from a depth of 1 m, then using a clay brick-making press, 4 × 5 × 8 cm3 clay test tubes were made with 2%, 4%, 6% and 8% cow dung, and a 100% clay sample was used as a control. These samples underwent thermophysical characterization using the hot-wire method with a hot-plane option, yielding results that could improve thermophysical performance. The thermal conductivity of the test sample is in the order of 0.715 to 0.420 W/m. K, at 8% for cow dung, so the addition of cow dung as a percentage in the clay matrix enabled us to obtain various satisfactory thermal parameters. 展开更多
关键词 SOILS Characterization Thermophysical local Building
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Navigating the pathways:TAR-DNA-binding-protein-43 aggregation,axonal transport,and local synthesis in amyotrophic lateral sclerosis pathology
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作者 Ori Bar Avi Eran Perlson 《Neural Regeneration Research》 SCIE CAS 2025年第10期2921-2922,共2页
Neurons are highly polarized cells with axons reaching over a meter long in adult humans.To survive and maintain their proper function,neurons depend on specific mechanisms that regulate spatiotemporal signaling and m... Neurons are highly polarized cells with axons reaching over a meter long in adult humans.To survive and maintain their proper function,neurons depend on specific mechanisms that regulate spatiotemporal signaling and metabolic events,which need to be carried out at the right place,time,and intensity.Such mechanisms include axonal transport,local synthesis,and liquid-liquid phase separations.Alterations and malfunctions in these processes are correlated to neurodegenerative diseases such as amyotrophic lateral sclerosis(ALS). 展开更多
关键词 SYNTHESIS local AGGREGATION
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Women’s Social Roles and Peace Building in Al-Abassiya Locality:2012-2024
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作者 Abida Adam Altayeeb Mohammed Afag Mohamed Sadig Hazel Barrett 《Sociology Study》 2024年第5期236-247,共12页
This research focused on the social roles of women in Al-Abassiya locality,South Kordofan State,examining the obstacles they face and the impact on their participation in peace building.Using qualitative methods,data ... This research focused on the social roles of women in Al-Abassiya locality,South Kordofan State,examining the obstacles they face and the impact on their participation in peace building.Using qualitative methods,data were collected through various means,revealing that conflicts have significantly affected women’s lives,particularly in rural areas.Women play key roles in family,education,health services,and humanitarian aid,but their involvement in conflict resolution and peace building activities is limited.Obstacles include cognitive,economic,social,and institutional barriers.Recommendations include providing education and training programs,strengthening economic status,ensuring women’s representation in decision-making bodies,advocating for legal reforms promoting gender equality,improving access to information technologies,educating communities on women’s involvement in peace building,and providing support services for women affected by conflicts. 展开更多
关键词 WOMEN Al-Abassiya locality social roles peace building conflicts rural areas education gender equality DECISION-MAKING support services
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基于互信息和Just-in-Time优化的回声状态网络 被引量:7
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作者 张衡 王河山 《郑州大学学报(工学版)》 CAS 北大核心 2017年第5期1-6,共6页
为了提高回声状态网络(ESN)的适应性,提出基于互信息(MI)和Just-in-Time(JIT)的优化方法,对ESN的输入伸缩参数以及输出层进行优化,所得网络称为MI-JIT-ESN.ESN的优化方法分为两部分:一是基于网络输入与输出之间的互信息,对网络的多个输... 为了提高回声状态网络(ESN)的适应性,提出基于互信息(MI)和Just-in-Time(JIT)的优化方法,对ESN的输入伸缩参数以及输出层进行优化,所得网络称为MI-JIT-ESN.ESN的优化方法分为两部分:一是基于网络输入与输出之间的互信息,对网络的多个输入伸缩参数进行调整;二是基于JIT优化的局部输出层,对ESN的隐层输出数据进行局部重新建模,从而提升ESN输出层的回归拟合精度.将MI-JIT-ESN应用于青霉素补料分批发酵过程建模.结果显示,MI-JIT优化方法能提高模型的适应性,并优于其他比较方法. 展开更多
关键词 回声状态网络 互信息 just-in-time 优化 建模 青霉素发酵
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SELF-DEPENDENT LOCALITY PRESERVING PROJECTION WITH TRANSFORMED SPACE-ORIENTED NEIGHBORHOOD GRAPH
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作者 乔立山 张丽梅 孙忠贵 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2010年第3期261-268,共8页
Locality preserving projection (LPP) is a typical and popular dimensionality reduction (DR) method,and it can potentially find discriminative projection directions by preserving the local geometric structure in da... Locality preserving projection (LPP) is a typical and popular dimensionality reduction (DR) method,and it can potentially find discriminative projection directions by preserving the local geometric structure in data. However,LPP is based on the neighborhood graph artificially constructed from the original data,and the performance of LPP relies on how well the nearest neighbor criterion work in the original space. To address this issue,a novel DR algorithm,called the self-dependent LPP (sdLPP) is proposed. And it is based on the fact that the nearest neighbor criterion usually achieves better performance in LPP transformed space than that in the original space. Firstly,LPP is performed based on the typical neighborhood graph; then,a new neighborhood graph is constructed in LPP transformed space and repeats LPP. Furthermore,a new criterion,called the improved Laplacian score,is developed as an empirical reference for the discriminative power and the iterative termination. Finally,the feasibility and the effectiveness of the method are verified by several publicly available UCI and face data sets with promising results. 展开更多
关键词 graphic methods Laplacian transforms unsupervised learning dimensionality reduction locality preserving projection
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Calibration of soft sensor by using Just-in-time modeling and Ada Boost learning method 被引量:11
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作者 Huan Min Xionglin Luo 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2016年第8期1038-1046,共9页
Soft sensor is an efficacious solution to predict the hard-to-measure target variable by using the process variables.In practical application scenarios, however, the feedback cycle of target variable is usually larger... Soft sensor is an efficacious solution to predict the hard-to-measure target variable by using the process variables.In practical application scenarios, however, the feedback cycle of target variable is usually larger than that of the process variables, which causes the deficiency of prediction errors. Consequently soft sensor cannot be calibrated timely and deteriorates. We proposed a soft sensor calibration method by using Just-in-time modeling and Ada Boost learning method. A moving window consisting of a primary part and a secondary part is constructed.The primary part is made of history data from certain number of constant feedback cycles of target variable and the secondary part includes some coarse target values estimated initially by Just-in-time modeling during the latest feedback cycle of target variable. The data set of the whole moving window is processed by Ada Boost learning method to build an auxiliary estimation model and then target variable values of the latest corresponding feedback cycle are reestimated. Finally the soft sensor model is calibrated by using the reestimated target variable values when the target feedback is unavailable; otherwise using the feedback value. The feasibility and effectiveness of the proposed calibration method is tested and verified through a series of comparative experiments on a pH neutralization facility in our laboratory. 展开更多
关键词 Process control Measurement Soft sensor CALIBRATION DETERIORATION Moving WINDOW just-in-time ADA BOOST
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A supervised multimanifold method with locality preserving for face recognition using single sample per person 被引量:3
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作者 Nabipour Mehrasa Aghagolzadeh Ali Motameni Homayun 《Journal of Central South University》 SCIE EI CAS CSCD 2017年第12期2853-2861,共9页
Although real-world experiences show that preparing one image per person is more convenient, most of the appearance-based face recognition methods degrade or fail to work if there is only a single sample per person(SS... Although real-world experiences show that preparing one image per person is more convenient, most of the appearance-based face recognition methods degrade or fail to work if there is only a single sample per person(SSPP). In this work, we introduce a novel supervised learning method called supervised locality preserving multimanifold(SLPMM) for face recognition with SSPP. In SLPMM, two graphs: within-manifold graph and between-manifold graph are made to represent the information inside every manifold and the information among different manifolds, respectively. SLPMM simultaneously maximizes the between-manifold scatter and minimizes the within-manifold scatter which leads to discriminant space by adopting locality preserving projection(LPP) concept. Experimental results on two widely used face databases FERET and AR face database are presented to prove the efficacy of the proposed approach. 展开更多
关键词 face recognition locality PRESERVING MANIFOLD learning single sample PER PERSON
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Just-in-time learning based integrated MPC-ILC control for batch processes 被引量:4
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作者 Li Jia Wendan Tan 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2018年第8期1713-1720,共8页
Considering the two-dimension(2 D) characteristic and the unknown optimal trajectory problem of the batch processes, an integrated model predictive control-iterative learning control(MPC-ILC) for batch processes is pr... Considering the two-dimension(2 D) characteristic and the unknown optimal trajectory problem of the batch processes, an integrated model predictive control-iterative learning control(MPC-ILC) for batch processes is proposed in this paper. Firstly, the batch-axis information and time-axis information are combined into one quadratic performance index. It implies the integration of ILC and MPC algorithm idea, which leads to superior tracking performance and better robustness against disturbance and uncertainty. To address the problem of the unknown optimal trajectory, both time-varying prediction horizon and end product quality control are employed. Moreover, an integrated 2 D just-in-time learning(JITL) model is used to improve the predictive accuracy. Furthermore, rigorous description and proof are presented to prove the convergence and tracking performance of the proposed MPC-ILC strategy. The simulation results show the effectiveness of the proposed method. 展开更多
关键词 Model predictive control Batch process just-in-time learning (JITL) model
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Sparse Kernel Locality Preserving Projection and Its Application in Nonlinear Process Fault Detection 被引量:28
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作者 DENG Xiaogang TIAN Xuemin 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2013年第2期163-170,共8页
Locality preserving projection (LPP) is a newly emerging fault detection method which can discover local manifold structure of a data set to be analyzed, but its linear assumption may lead to monitoring performance de... Locality preserving projection (LPP) is a newly emerging fault detection method which can discover local manifold structure of a data set to be analyzed, but its linear assumption may lead to monitoring performance degradation for complicated nonlinear industrial processes. In this paper, an improved LPP method, referred to as sparse kernel locality preserving projection (SKLPP) is proposed for nonlinear process fault detection. Based on the LPP model, kernel trick is applied to construct nonlinear kernel model. Furthermore, for reducing the computational complexity of kernel model, feature samples selection technique is adopted to make the kernel LPP model sparse. Lastly, two monitoring statistics of SKLPP model are built to detect process faults. Simulations on a continuous stirred tank reactor (CSTR) system show that SKLPP is more effective than LPP in terms of fault detection performance. 展开更多
关键词 nonlinear locality preserving projection kernel trick sparse model fault detection
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Fault Diagnosis Model Based on Feature Compression with Orthogonal Locality Preserving Projection 被引量:14
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作者 TANG Baoping LI Feng QIN Yi 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2011年第5期891-898,共8页
Based on feature compression with orthogonal locality preserving projection(OLPP),a novel fault diagnosis model is proposed in this paper to achieve automation and high-precision of fault diagnosis of rotating machi... Based on feature compression with orthogonal locality preserving projection(OLPP),a novel fault diagnosis model is proposed in this paper to achieve automation and high-precision of fault diagnosis of rotating machinery.With this model,the original vibration signals of training and test samples are first decomposed through the empirical mode decomposition(EMD),and Shannon entropy is constructed to achieve high-dimensional eigenvectors.In order to replace the traditional feature extraction way which does the selection manually,OLPP is introduced to automatically compress the high-dimensional eigenvectors of training and test samples into the low-dimensional eigenvectors which have better discrimination.After that,the low-dimensional eigenvectors of training samples are input into Morlet wavelet support vector machine(MWSVM) and a trained MWSVM is obtained.Finally,the low-dimensional eigenvectors of test samples are input into the trained MWSVM to carry out fault diagnosis.To evaluate our proposed model,the experiment of fault diagnosis of deep groove ball bearings is made,and the experiment results indicate that the recognition accuracy rate of the proposed diagnosis model for outer race crack、inner race crack and ball crack is more than 90%.Compared to the existing approaches,the proposed diagnosis model combines the strengths of EMD in fault feature extraction,OLPP in feature compression and MWSVM in pattern recognition,and realizes the automation and high-precision of fault diagnosis. 展开更多
关键词 orthogonal locality preserving projection(OLPP) manifold learning feature compression Morlet wavelet support vector machine(MWSVM) empirical mode decomposition(EMD) fault diagnosis
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Regional difference and dynamic mechanism of locality of the Chinese farming-pastoral ecotone based on geotagged photos from Panoramio 被引量:1
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作者 WANG Fang LI Yixi +1 位作者 DONG Ying ZHU Xiaohua 《Journal of Arid Land》 SCIE CSCD 2018年第2期316-333,共18页
Cross-regional locality research reflects the influences of natural environment and the human activities due to the abundant land types and the multiple landscape combinations in related regions. The Chinese farming-p... Cross-regional locality research reflects the influences of natural environment and the human activities due to the abundant land types and the multiple landscape combinations in related regions. The Chinese farming-pastoral ecotone is a typical large-scale region but few studies were conducted. This research contributed to the understanding of cross-regional locality of the Chinese farming-pastoral ecotone from different scales, including national, sectional, and provincial administrative units by utilizing geotagged photos(GTPs) obtained from the Panoramio website. The major results were as follows:(1) the locality elements of the Chinese farming-pastoral ecotone included 52 free nodes classified into 8 types of scene attributes;(2) there were huge differences between locality elements of different regions, and there was a negative correlation between the similarity degree of elements of different provinces and their spatial distances;(3) the Chinese farming-pastoral ecotone could be divided into the northern, central and southern sections, whose localities had differences in element constitution, association structure and the strength of elements, system stability and the anti-interference capability; and(4) the evolution of the localities of the northern and central sections was mainly influenced by human activities, while the locality of southern section retained more natural features. On a theoretical level, this research aimed to establish the research methodology of locality from the perspective of open data on the web with strong operability and replicability. On a practical level, this research could enrich the structuring recognition of the locality of the Chinese farming-pastoral ecotone and the comprehension of its dynamic mechanism. The results provide a reference for locality differentiation protection and the development of a cross-regional scale. 展开更多
关键词 administrative units geotagged photos LANDSCAPE locality NETWORKS regional differences
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An Efficient Grid Service Discovery Mechanism Based on the Locality Principle 被引量:2
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作者 KOU Yue YU Ge SHEN De-rong NIE Tie-zheng LIU Jian CAO Yu 《Wuhan University Journal of Natural Sciences》 EI CAS 2006年第1期83-87,共5页
With the explosion of services in grid environment, it's necessary to develop a mechanism which has the ability of discovering suitable grid services efficiently. This paper attempts to establish a layered resource m... With the explosion of services in grid environment, it's necessary to develop a mechanism which has the ability of discovering suitable grid services efficiently. This paper attempts to establish a layered resource management model based on the locality principle which classifies services into different domains and virtual organizations (VOs) according to their shared purposes. We propose an ontologybased search method applying the ontology theory for characterizing semantic information. In addition, we extend the UD- D1 in querying, storing, and so on. Simulation experiments have shown that our mechanism achieves higher performance in precision, recall and query response time. 展开更多
关键词 grid service discovery locality principle virtual organization ontology semantic information UDDI(universal description discovery and integration)
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Performance Study of Locality and Its Impact on Peer-to-Peer Systems 被引量:1
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作者 Mohammed Younus Talha Rabah W. Aldhaheri Mohammad H. Awedh 《Communications and Network》 2015年第1期12-20,共9页
This paper presents the measurement study of locality-aware Peer-to-Peer solutions on Internet Autonomous System (AS) topology by reducing AS hop count and increase nearby source nodes in P2P applications. We evaluate... This paper presents the measurement study of locality-aware Peer-to-Peer solutions on Internet Autonomous System (AS) topology by reducing AS hop count and increase nearby source nodes in P2P applications. We evaluate the performance of topology-aware BT system called TopBT with BitTorrent (BT) by constructing AS graph and measure the hops between nodes to observe the impact of quality of service in P2P applications. 展开更多
关键词 PEER-TO-PEER BITTORRENT TopBT locality AUTONOMOUS System
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Locality Preserving Discriminant Projection for Speaker Verification 被引量:1
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作者 Chunyan Liang Wei Cao Shuxin Cao 《Journal of Computer and Communications》 2020年第11期14-22,共9页
In this paper, a manifold subspace learning algorithm based on locality preserving discriminant projection (LPDP) is used for speaker verification. LPDP can overcome the deficiency of the total variability factor anal... In this paper, a manifold subspace learning algorithm based on locality preserving discriminant projection (LPDP) is used for speaker verification. LPDP can overcome the deficiency of the total variability factor analysis and locality preserving projection (LPP). LPDP can effectively use the speaker label information of speech data. Through optimization, LPDP can maintain the inherent manifold local structure of the speech data samples of the same speaker by reducing the distance between them. At the same time, LPDP can enhance the discriminability of the embedding space by expanding the distance between the speech data samples of different speakers. The proposed method is compared with LPP and total variability factor analysis on the NIST SRE 2010 telephone-telephone core condition. The experimental results indicate that the proposed LPDP can overcome the deficiency of LPP and total variability factor analysis and can further improve the system performance. 展开更多
关键词 Speaker Verification locality Preserving Discriminant Projection locality Preserving Projection Manifold Learning Total Variability Factor Analysis
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Multimode Process Monitoring Based on Fuzzy C-means in Locality Preserving Projection Subspace 被引量:5
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作者 解翔 侍洪波 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2012年第6期1174-1179,共6页
For complex industrial processes with multiple operational conditions, it is important to develop effective monitoring algorithms to ensure the safety of production processes. This paper proposes a novel monitoring st... For complex industrial processes with multiple operational conditions, it is important to develop effective monitoring algorithms to ensure the safety of production processes. This paper proposes a novel monitoring strategy based on fuzzy C-means. The high dimensional historical data are transferred to a low dimensional subspace spanned by locality preserving projection. Then the scores in the novel subspace are classified into several overlapped clusters, each representing an operational mode. The distance statistics of each cluster are integrated though the membership values into a novel BID (Bayesian inference distance) monitoring index. The efficiency and effectiveness of the proposed method are validated though the Tennessee Eastman benchmark process. 展开更多
关键词 multimode process monitoring fuzzy C-means locality preserving projection integrated monitoring index Tennessee Eastman process
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A New Efficient Obstacle Avoidance Control Method for Cars Based on Big Data and Just-in-Time Modeling 被引量:1
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作者 Tatsuya Kai 《Journal of Computer and Communications》 2018年第11期12-22,共11页
This paper provides a new obstacle avoidance control method for cars based on big data and just-in-time modeling. Just-in-time modeling is a new kind of data-driven control technique in the age of big data and is used... This paper provides a new obstacle avoidance control method for cars based on big data and just-in-time modeling. Just-in-time modeling is a new kind of data-driven control technique in the age of big data and is used in various real systems. The main property of the proposed method is that a gain and a control time which are parameters in the control input to avoid an encountered obstacle are computed from a database which includes a lot of driving data in various situations. Especially, the important advantage of the method is small computation time, and hence it realizes real-time obstacle avoidance control for cars. From some numerical simulations, it is showed that the new control method can make the car avoid various obstacles efficiently in comparison with the previous method. 展开更多
关键词 Big Data just-in-time MODELING CARS OBSTACLE AVOIDANCE Control
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Minimizing Distance Using Just-in-Time Teaching and Flipped Classroom 被引量:1
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作者 Mahmuda Akhter 《Sino-US English Teaching》 2015年第1期20-25,共6页
JiTT (Just-in-Time Teaching) and flipped classroom are two innovations in academia where high-tech and no-tech resources are blended to encourage more interaction and creativity among students. These two methods als... JiTT (Just-in-Time Teaching) and flipped classroom are two innovations in academia where high-tech and no-tech resources are blended to encourage more interaction and creativity among students. These two methods also help minimize the dependency on face-to-face lecture and make the class time more creative and effective. This study is the very first attempt of implementing these strategies in Bangladesh. It explores the prospect of JiTT and flipped classroom at tertiary level in Bangladesh. In the first part of this paper, recent studies on JiTT and flipped classroom are discussed to shed light on their effectiveness and problems. The latter part explains the data and research findings. Before collecting the data, JiTT and flipped classroom were used with 33 students of undergraduate level who were students of"ELT Methodology" course. After the implementation of the methods, a questionnaire survey was conducted to collect data regarding their response to these two methods. The study reveals that JiTT and flipped classroom help cover more topics in a short time while enhancing students' interaction and participation. They make students come to the class prepared and reflect on their learning. Teachers can understand students need better and provide required feedback. The overall interaction among students and teachers can be improved using JiTT and flipped classroom since everyone is clear about each other's existing knowledge and learning objectives. 展开更多
关键词 just-in-time technology teaching strategies flipped classroom video lecture
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Online Batch Process Monitoring Based on Just-in-Time Learning and Independent Component Analysis 被引量:1
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作者 WANG Li SHI Hong-bo 《Journal of Donghua University(English Edition)》 EI CAS 2016年第6期944-948,共5页
A new method was developed for batch process monitoring in this paper. In the devdopad method, just-in-time learning ( JITL ) and independent component analysis (ICA) were integrated to build JITL-ICA monitoring s... A new method was developed for batch process monitoring in this paper. In the devdopad method, just-in-time learning ( JITL ) and independent component analysis (ICA) were integrated to build JITL-ICA monitoring scheme. JITL was employed to tackle with the characteristics of batch process such as inherent time- varying dynamics, multiple operating phases, and especially the case of uneven length stage. According to new coming test data, the most correlated segmentation was obtained from batch-wise unfolded training data by JITL. Then, ICA served as the principal components extraction approach. Therefore, the non.Gaussian distributed data can also be addressed under this modeling framework. The effectiveness and superiority of JITL-ICA based monitoring method was demonstrated by fed-batch penicillin fermentation. 展开更多
关键词 batch process monitoring just-in-time learning(JITL) independent component analysis(ICA)
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Loop Closure Detection via Locality Preserving Matching With Global Consensus 被引量:1
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作者 Jiayi Ma Kaining Zhang Junjun Jiang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2023年第2期411-426,共16页
A critical component of visual simultaneous localization and mapping is loop closure detection(LCD),an operation judging whether a robot has come to a pre-visited area.Concretely,given a query image(i.e.,the latest vi... A critical component of visual simultaneous localization and mapping is loop closure detection(LCD),an operation judging whether a robot has come to a pre-visited area.Concretely,given a query image(i.e.,the latest view observed by the robot),it proceeds by first exploring images with similar semantic information,followed by solving the relative relationship between candidate pairs in the 3D space.In this work,a novel appearance-based LCD system is proposed.Specifically,candidate frame selection is conducted via the combination of Superfeatures and aggregated selective match kernel(ASMK).We incorporate an incremental strategy into the vanilla ASMK to make it applied in the LCD task.It is demonstrated that this setting is memory-wise efficient and can achieve remarkable performance.To dig up consistent geometry between image pairs during loop closure verification,we propose a simple yet surprisingly effective feature matching algorithm,termed locality preserving matching with global consensus(LPM-GC).The major objective of LPM-GC is to retain the local neighborhood information of true feature correspondences between candidate pairs,where a global constraint is further designed to effectively remove false correspondences in challenging sceneries,e.g.,containing numerous repetitive structures.Meanwhile,we derive a closed-form solution that enables our approach to provide reliable correspondences within only a few milliseconds.The performance of the proposed approach has been experimentally evaluated on ten publicly available and challenging datasets.Results show that our method can achieve better performance over the state-of-the-art in both feature matching and LCD tasks.We have released our code of LPM-GC at https://github.com/jiayi-ma/LPM-GC. 展开更多
关键词 Feature matching locality preserving matching loop closure detection SLAM
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