The identification of timber properties is important for safe application.Near Infrared Spectroscopy(NIRS)technology is widely-used because of its simplicity,efficiency,and positive environmental attributes.However,in...The identification of timber properties is important for safe application.Near Infrared Spectroscopy(NIRS)technology is widely-used because of its simplicity,efficiency,and positive environmental attributes.However,in its application,weak signals are extracted from complex,overlapping and changing information.This study focused on the stability of NIR modeling.The Orthogonal Partial Least Squares(OPLS)and Successive Projections Algorithm(SPA)eliminates noise and extracts effective spectra,and an ensemble learning method MIX-PLS,is applied to establish the model.The elastic modulus of timber is taken as an example,and 201 wood samples of three species,Xylosmacongesta(Lour.)Merr.,Acer pictum subsp.mono,and Betula pendula,samples were divided into three groups to investigate modelling performance.The results show that OPLS can preprocess the near-infrared spectroscopy information according to the target object in the face of the system error and reduce errors to minimum.SPA finally selects 13 spectral bands,simplifies the NIR spectral data and improves model accuracy.The Pearson's correlation coefficient of Calibration(Rc)and the Pearson's correlation coefficient of Prediction(Rp)of Mix Partial Least Squares(MIX-PLS)were 0.95 and 0.90,and Root Mean Square Error of Calibration(RMSEC)and Root Mean Square Error of Prediction(RMSEP)are 2.075 and 6.001,respectively,which shows the model has good generalization abilities.展开更多
With the rapid development in the service,medical,logistics and other industries,and the increasing demand for unmanned mobile devices,mobile robots with the ability of independent mapping,localization and navigation ...With the rapid development in the service,medical,logistics and other industries,and the increasing demand for unmanned mobile devices,mobile robots with the ability of independent mapping,localization and navigation capabilities have become one of the research hotspots.An accurate map construction is a prerequisite for a mobile robot to achieve autonomous localization and navigation.However,the problems of blurring and missing the borders of obstacles and map boundaries are often faced in the Gmapping algorithm when constructing maps in complex indoor environments.In this pursuit,the present work proposes the development of an improved Gmapping algorithm based on the sparse pose adjustment(SPA)optimizations.The improved Gmapping algorithm is then applied to construct the map of a mobile robot based on single-line Lidar.Experiments show that the improved algorithm could build a more accurate and complete map,reduce the number of particles required for Gmapping,and lower the hardware requirements of the platform,thereby saving and minimizing the computing resources.展开更多
基金supported financially by the China State Forestry Administration“948”projects(2015-4-52)Heilongjiang Natural Science Foundation(C2017005)。
文摘The identification of timber properties is important for safe application.Near Infrared Spectroscopy(NIRS)technology is widely-used because of its simplicity,efficiency,and positive environmental attributes.However,in its application,weak signals are extracted from complex,overlapping and changing information.This study focused on the stability of NIR modeling.The Orthogonal Partial Least Squares(OPLS)and Successive Projections Algorithm(SPA)eliminates noise and extracts effective spectra,and an ensemble learning method MIX-PLS,is applied to establish the model.The elastic modulus of timber is taken as an example,and 201 wood samples of three species,Xylosmacongesta(Lour.)Merr.,Acer pictum subsp.mono,and Betula pendula,samples were divided into three groups to investigate modelling performance.The results show that OPLS can preprocess the near-infrared spectroscopy information according to the target object in the face of the system error and reduce errors to minimum.SPA finally selects 13 spectral bands,simplifies the NIR spectral data and improves model accuracy.The Pearson's correlation coefficient of Calibration(Rc)and the Pearson's correlation coefficient of Prediction(Rp)of Mix Partial Least Squares(MIX-PLS)were 0.95 and 0.90,and Root Mean Square Error of Calibration(RMSEC)and Root Mean Square Error of Prediction(RMSEP)are 2.075 and 6.001,respectively,which shows the model has good generalization abilities.
基金National Key Research and Development of China(No.2019YFB1600700)Sichuan Science and Technology Planning Project(No.2021YFSY0003)。
文摘With the rapid development in the service,medical,logistics and other industries,and the increasing demand for unmanned mobile devices,mobile robots with the ability of independent mapping,localization and navigation capabilities have become one of the research hotspots.An accurate map construction is a prerequisite for a mobile robot to achieve autonomous localization and navigation.However,the problems of blurring and missing the borders of obstacles and map boundaries are often faced in the Gmapping algorithm when constructing maps in complex indoor environments.In this pursuit,the present work proposes the development of an improved Gmapping algorithm based on the sparse pose adjustment(SPA)optimizations.The improved Gmapping algorithm is then applied to construct the map of a mobile robot based on single-line Lidar.Experiments show that the improved algorithm could build a more accurate and complete map,reduce the number of particles required for Gmapping,and lower the hardware requirements of the platform,thereby saving and minimizing the computing resources.
