Vulnerable objects detection for autonomous driving: A review

Object detection performed by Autonomous Vehicles (AV)s is a crucial operation that comes ahead of various autonomous driving tasks, such as object tracking, trajectories estimation, and collision avoidance. Dynamic road elements (pedestrians, cyclists, vehicles) impose a greater challenge due to their continuously changing location and behaviour. This paper presents a comprehensive review of the state-of-the-art object detection technologies focusing on both the sensory systems and algorithms used. It begins with a brief introduction on the autonomous driving operations and challenges. Then, different sensory systems employed on existing AVs are elaborated while illustrating their advantages, limitations and applications. Also, sensory systems employed by different research are reviewed. Moreover, due to the significant role Deep Neural Networks (DNN)s are playing in object detection tasks, different DNN-based networks are also highlighted. Afterwards, previous research on dynamic objects detection performed by AVs are reviewed in tabular forms. Finally, a conclusion summarizes the outcomes of the review and suggests future work towards the development of vehicles with higher automation levels.     

机井自动化供水方案改进

针对民乐县农村人饮机井水位自动供水系统控制中存在的可靠性低、成本高等问题,文章结合深井泵提取地下水进行供水的实际情况,提出了软启动控制柜+浮球开关+微电脑时间控制器改进的思路和方法,运用效果良好。     

“三软”煤层沿空掘巷围岩力学环境及支护体承载性能分析

为应对"三软"煤层综放沿空掘巷围岩稳定性差的问题,通过数值模拟分析、揭示"三软"煤层中锚杆、锚索载荷变化规律及其与围岩变形相互作用关系,为"三软"煤层沿空掘巷锚网支护参数优化提供理论依据,改善了巷道支护状况,降低相邻工作面间保护煤柱压煤率,提高矿井经济效益和社会效益。     

A Lane-Level Road Marking Map Using a Monocular Camera

The essential requirement for precise localization of a self-driving car is a lane-level map which includes road markings (RMs). Obviously, we can build the lane-level map by running a mobile mapping system (MMS) which is equipped with a high-end 3D LiDAR and a number of high-cost sensors. This approach, however, is highly expensive and ineffective since a single high-end MMS must visit every place for mapping. In this paper, a lane-level RM mapping system using a monocular camera is developed. The developed system can be considered as an alternative to expensive high-end MMS. The developed RM map includes the information of road lanes (RLs) and symbolic road markings (SRMs). First, to build a lane-level RM map, the RMs are segmented at pixel level through the deep learning network. The network is named RMNet. The segmented RMs are then gathered to build a lane-level RM map. Second, the lane-level map is improved through loop-closure detection and graph optimization. To train the RMNet and build a lane-level RM map, a new dataset named SeRM set is developed. The set is a large dataset for lane-level RM mapping and it includes a total of 25157 pixel-wise annotated images and 21000 position labeled images. Finally, the proposed lane-level map building method is applied to SeRM set and its validity is demonstrated through experimentation.      

电力保护装置自动测试系统设计与研究

电力保护装置在出厂前要进行严格的板卡测试,传统板卡测试系统自动化程度较低,功能不够强大,且开发成本高,通用性不好。针对以上不足,设计了一种基于虚拟仪器的板卡测试系统,该系统主要由测试程序和上位机两部分组成,测试程序主要完成对板卡设备的模块化测试,并给出测试结果;上位机通过以太网与测试板卡通信,借助FTP和telnet技术,完成整个测试程序的发送、执行、测试结果的获取等功能。以电力保护装置内的CPU板卡为研究对象,结果表明,该测试系统可对板卡进行高效率自动测试,测试结果可靠,故障信息可追踪,可有效提高电力保护装置调试的通过率,保证企业产品的可靠性。     

受老空水威胁工作面巷道防治水实践

针对高庄煤矿3_上1104回风巷为沿空掘巷,巷道掘进期间受3_上1102老空水威胁,掘进开采存在严重的水患安全问题,采用超前打设疏水孔的方案来治理老空水威胁,对巷道采用调向增大护巷煤柱厚度等措施实现巷道安全快速掘进,探放水期间无淹巷情况发生,探放水后巷道顶板和上帮无淋水现象发生。     

"不知火"柑橘全自动包装生产线的设计与研究

目的为了解决柑橘在实际包装过程中因于人工手动装袋、装箱等导致的效率低下问题,设计一条全自动柑橘包装生产线。方法基于“不知火”柑橘的特殊体型特征,使用传送带分级装置对其进行分级;通过倾斜皮带解决柑橘排列姿态的整理问题;经给袋式包装机装袋后,采用扭结式扎口装置对其进行封口;利用并联机器人对其进行装箱。通过计算生产节拍,合理规划每个工序的循环时间,并通过Flexsim软件对该生产线进行仿真分析与平衡优化。结果该生产线整体效率由89%提升到93%,能够正常运行且满足生产力的需求。结论该柑橘包装生产线实现了柑橘的分级、整料、装袋、装箱等工序,降低了工作强度,提高了生产效率,实现了包装过程的自动化。     

基于改进LFM算法的主动解列断面搜索方法

针对传统解列断面算法复杂度高的问题,提出一种基于改进LFM算法的解列断面搜索方式。首先,基于节点间电气联系和能量转移分布熵完成电网加权复杂网络建模;其次,基于主动解列断面约束条件,对LFM算法做适应性改良;最后,通过改进LFM算法得到解列断面,并在IEEE39节点系统中验证了算法有效性。仿真结果表明,改进LFM算法可充分考虑传统解列断面的约束条件,在算法具有较低复杂度的同时对系统运行状态更强的适应性。     

某矿快速掘进最优炮孔间距的选择

山西某矿5308底抽巷在掘进过程中速度慢、效率低，直接影响工作面的瓦斯抽采，为了改善上述情形，对炮孔间距进行研究。通过使用ANSYS软件对不同炮孔间距下快速掘进效果的模拟分析，并经现场验证，得出了适应该矿的最佳炮孔间距。结果表明：炮孔间距为500 mm时，爆破产生裂隙发育范围和岩石损伤区域都最大，快速掘进的效果最好。     

奥钢联板坯铸机驱动力报警问题的分析及改进

浇铸过程中，驱动力报警会导致紧急停浇甚至滞坯事故发生。为防止事故发生，通常采用降速、强冷等措施，但降速造成成本浪费，强冷又产生裂纹等质量缺陷，两者都难以满足生产需要。通过对铸机的各项参数对比分析，找到影响驱动力报警的主要原因为辊缝异常，轻压下模型参数、冷却工艺设置不合理等，通过调整二冷工艺、优化模型参数、加强轻压下区域扇形段辊缝维护，可以达到明显降低驱动力、消除报警的目的，从而保证连铸生产稳定。