基于深度学习的四旋翼无人机单目视觉避障方法

针对无人机避障问题，提出一种基于深度学习的四旋翼无人机单目视觉避障方法。首先通过目标检测框选出目标在图像中的位置，并通过计算目标选框上下边距的长度，以此来估量出障碍物到无人机之间的距离；然后通过协同计算机判断是否执行避障动作；最后使用基于Pixhawk搭建的飞行实验平台进行实验。实验结果表明，该方法可用于无人机低速飞行条件下避障。该方法所用到的传感器只有一块单目摄像头，而且相对于传统的主动式传感器避障方法，所占用无人机的体积大幅减小。该方法鲁棒性较好，能够准确识别不同姿态的人，实现对人避障。     

When Does Communication Learning Need Hierarchical Multi-Agent Deep Reinforcement Learning

Abstract

Multi-agent systems need to communicate to coordinate a shared task. We show that a recurrent neural network (RNN) can learn a communication protocol for coordination, even if the actions to coordinate are performed steps after the communication phase. We show that a separation of tasks with different temporal scale is necessary for successful learning. We contribute a hierarchical deep reinforcement learning model for multi-agent systems that separates the communication and coordination task from the action picking through a hierarchical policy. We further on show, that a separation of concerns in communication is beneficial but not necessary. As a testbed, we propose the Dungeon Lever Game and we extend the Differentiable Inter-Agent Learning (DIAL) framework. We present and compare results from different model variations on the Dungeon Lever Game.     

Prediction methods and applications in the science of science: A survey

Science of science has become a popular topic that attracts great attentions from the research community. The development of data analytics technologies and the readily available scholarly data enable the exploration of data-driven prediction, which plays a pivotal role in finding the trend of scientific impact. In this paper, we analyse methods and applications in data-driven prediction in the science of science, and discuss their significance. First, we introduce the background and review the current state of the science of science. Second, we review data-driven prediction based on paper citation count, and investigate research issues in this area. Then, we discuss methods to predict scholar impact, and we analyse different approaches to promote the scholarly collaboration in the collaboration network. This paper also discusses open issues and existing challenges, and suggests potential research directions.     

基于DAE-BP神经网络的股票预测研究

股票指标数据种类多、维度高，且指标之间存在多重共线性。为了降低数据的维度、消除指标间的多重共线性和预测股票价格，首先构建了基于受限布尔兹曼机的深度自编码器，实现了高维数据向低维空间的压缩编码。然后基于BP神经网络建立了低维编码序列与股票价格之间的回归模型。实验结果表明，深度自编码器提取特征的能力优于主成分分析法和因子分析法；相比较使用降维前的数据，使用编码后的数据用预测股票价格，模型可以减少计算开销，并且获得更高的预测精度。     

基于视觉感知的智能扫地机器人的垃圾检测与分类

目的 为了提高扫地机器人的自主性和智能化程度，为扫地机器人配备视觉传感器，使其获得视觉感知能力，通过研究有效的垃圾检测分类模型与算法，实现对垃圾的定位与识别，引导扫地机器人对垃圾进行自动识别与按类处理，提高工作的目的性和效率，避免盲动和减少能耗。方法 选择检测速度较快的YOLOv2作为主网络模型，结合密集连接卷积网络，嵌入深层密集模块，对YOLOv2进行改进，提出一种YOLOv2-dense网络，该网络可以充分利用图像的高分辨率特征，实现图像浅层和深层特征的复用与融合。结果 测试结果表明，智能扫地机器人使用本文方法可以有效识别不同形态的常见垃圾类别，在真实场景中，测试识别准确率为84.98%，目标检测速度达到26帧/s。结论 实验结果表明，本文构建的YOLOv2-dense网络模型具有实时检测的速度，并且在处理具有不同背景、光照、视角与分辨率的图片时，表现出较强的适应和识别性能。在机器人移动过程中，可以保证以较高的准确率识别出垃圾的种类，整体性能优于原YOLOv2模型。     

Misconceptions of human factors concepts

Abstract

Like many scientific topics, Human Factors, and Ergonomics concepts are susceptible to being misunderstood by people unfamiliar with the subject matter. Most of the time these misunderstandings are harmless, like when a safety poster within a work setting encourages employees to 'overcome complacency'. This misunderstanding of complacency suggests it is a motivational aspect of human behaviour correctable with encouragement, whereas the human factors approach to overcoming complacency would be to evaluate how task design could diminish the destructive consequences of unexpected changes within a routine setting. No harm comes from the message within the safety poster, other than some wasted ink and paper, but misconceptions among particular audiences can eventually result in dire consequences for the human operator. This paper presents recent evidence that the concepts are being misapplied by casual consumers of human factors, particularly in the aftermath of accidents within complex systems, in ways detrimental to the core mission of improving the well-being of the human operator. Later, because this special issue presents new ways to demonstrate value via return on investment, practical efforts we can take to overcome such misconceptions are suggested.     

加权信息熵与增强局部二值模式结合的人脸识别

针对人脸识别因光照、姿态、表情、遮挡及噪声等多种因素的影响而导致的识别率不高的问题，提出一种加权信息熵（IEw）与自适应阈值环形局部二值模式（ATRLBP）算子相结合的人脸识别方法（IE （w） ATR-LBP）。首先，从原始人脸图像分块提取信息熵，得到每个子块的IEw；然后，利用ATRLBP算子分别对每个人脸子块提取特征从而得到概率直方图；最后，将各个块的IEw与概率直方图相乘，再串联成为原始人脸图像最后的特征直方图，并利用支持向量机（SVM）对人脸进行识别。在AR人脸库的表情、光照、遮挡A和遮挡B四个数据集上，IE （w） ATR-LBP方法分别取得了98.37%、94.17%、98.20%和99.34%的识别率。在ORL人脸库上，IE （w） ATR-LBP方法的最大识别率为99.85%；而且在ORL人脸库5次不同训练样本的实验中，与无噪声时相比，加入高斯和椒盐噪声后的平均识别率分别下降了14.04和2.95个百分点。实验结果表明，IE （w） ATR-LBP方法能够有效提高人脸在受光照、姿态、遮挡等影响时的识别率，尤其是存在表情变化及脉冲类噪声干扰时的识别率。     

MC尼龙重载承压地板井下巷道铺设工艺研究

我国煤矿井下无轨运输混凝土路面铺设成本高，并且受开采应力、巷道底板地质条件等影响，其应用受到限制。重载车辆的频繁碾压极易使路面发生损坏，从而影响正常开采效率还带来高昂的维护费用。为解决这一问题，采用MC尼龙重载承压地板代替传统混凝土铺设路面，进行了MC尼龙重载承压地板井下巷道铺设的工艺研究。通过对承压板井下铺设方案的制定、承压地板型式的研发、地板的整体连接及稳定性研发等，实现了高效的作业效率，更为安全、清洁的作业环境以及更低的成本，进而达到了“以塑代混凝土”的实际示范意义。该铺设工艺为井下无轨运输的采区路面、工作面搬家通道、临时路面以及其他应急路面、硐室地板的应用提供了良好的方案借鉴。