一种基于实时几何测距的船桥主动防撞方法

本文提出一种基于实时几何测距的船桥主动防撞方法。该方法对船的改动量甚微,仅需维持多项距离矩阵,通过告警逻辑矩阵进行展示与告警,能起到很好的船桥防撞提示效果。     

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。     

A thermal-aware VM consolidation mechanism with outage avoidance

Efficient energy and temperature management techniques are essential elements for operators of cloud data centers. Dynamic virtual machine (VM) consolidation using live migration techniques presents a great opportunity for cloud service providers to adaptively reduce energy consumption and optimize their resource utilization. In recent studies, power consumption readings of individual physical hosts were chosen as the main monitoring parameters in their allocation policies, whereas very few have considered host temperature, which has shown to have a negative impact on server reliability, as a migration criterion. In this work, a thermal-aware VM consolidation mechanism is proposed for resource allocation optimization and server reliability assurance. We consider the variability in host temperature as a migration criterion to avoid outage incidents via having better VM consolidations. Extensive simulation results obtained from CloudSim show the promising performance of the proposed mechanism in energy saving while reducing the number of server outage incidents due to fluctuations in host temperature.     

煤矿地面轨道运输矿车自动避障技术研究

介绍了煤矿地面轨道运输矿车自动避障技术。首先介绍了基于雷达的矿车前方障碍物检测技术及其相关算法,然后详细介绍了基于机器视觉的矿车前方障碍物检测系统和常用的图像处理方法以及相关的算法,最后介绍了雷达和机器视觉融合的障碍物检测技术在煤矿地面轨道运输矿车自动避障过程中的应用。     

网络安全威胁因素及其常见网络安全技术分析

社会经济的快速发展促进了科学技术水平的显著提升，社会生产生活各个领域当中对计算机网络的应用程度不断提升，当前，网络已经成为了人们日常生活与工作的重要组成部分。为此，加强对网络安全等因素影响研究就显得格外重要。网络环境关系着用户的使用质量，更加影响人们的工作效率，加强对网络安全技术的研究时解决相关问题的核心内容。本文针对网络安全威胁因素以及常见的网络安全技术进行了简要分析。     

基于机器学习的用户实体行为分析技术在账号异常检测中的应用

伴随企业业务的不断扩增和电子化发展,企业自身数据和负载数据都开始暴增。然而,作为企业核心资产之一的内部数据,却面临着日益严峻的安全威胁。越来越多以周期长、频率低、隐蔽强为典型特征的非明显攻击绕过传统安全检测方法,对大量数据造成损毁。当前,用户实体行为分析(User and Entity Behavior Analytics,UEBA)系统正作为一种新兴的异常用户检测体系在逐步颠覆传统防御手段,开启网络安全保卫从“被动防御”到“主动出击”的新篇章。因此,将主要介绍UEBA在企业异常用户检测中的应用情况。首先,通过用户、实体、行为三要素的关联,整合可以反映用户行为基线的各类数据;其次,定义4类特征提取维度,有效提取几十种最能反映用户异常的基础特征;再次,将3种异常检测算法通过集成学习方法用于异常用户建模;最后,通过异常打分,定位异常风险最大的一批用户。在实践中,对排名前10的异常用户进行排查,证明安恒信息的UEBA落地方式在异常用户检测中极其高效。     

车辆高速避让路径跟踪控制策略

建立车辆动力学模型,研究车辆在高速避让工况下的路径跟踪控制策略。基于自抗扰控制设计车辆横摆角速度以及道路曲率2种不同的路径跟踪控制器;设计基于车辆偏航位移和偏航角度加权的线性二次最优控制器;对3种控制器控制效果进行仿真验证,分析路径跟踪侧向位移误差、侧向加速度、前轮转向角以及偏航角度变化。越野车实车测试结果表明,路径跟踪控制策略正确。     

基于入位基准线的避死区自动泊车路径规划

为避免自动泊车过程中出现泊车死区，提出一种在车位外部汽车自动向前行驶至前进水平线的轨迹计算方法；为了减小泊车所需的车位长度，研究了由前进水平线倒车泊入车位，并保证该泊车轨迹经过入位基准线的方法。通过确定出的几个必须经过的定点坐标，利用插值样条理论与几何数学，确定出汽车在车位外部的泊车路径及其函数，且该函数具有唯一性，因此减少了自动泊车过程中系统不断进行反馈与纠正的计算过程。通过实验车的模拟验证，证明了路径规划的正确性。利用CarSim软件进行泊车过程的运动仿真，并对绘制出的轨迹线进行分析，结果表明该方法能控制汽车自动前进至非泊车死区位置，并可以减少对泊车所需车位长度的要求。     

Deep reinforcement learning-based safe interaction for industrial human-robot collaboration using intrinsic reward function

Aiming at human-robot collaboration in manufacturing, the operator's safety is the primary issue during the manufacturing operations. This paper presents a deep reinforcement learning approach to realize the real-time collision-free motion planning of an industrial robot for human-robot collaboration. Firstly, the safe human-robot collaboration manufacturing problem is formulated into a Markov decision process, and the mathematical expression of the reward function design problem is given. The goal is that the robot can autonomously learn a policy to reduce the accumulated risk and assure the task completion time during human-robot collaboration. To transform our optimization object into a reward function to guide the robot to learn the expected behaviour, a reward function optimizing approach based on the deterministic policy gradient is proposed to learn a parameterized intrinsic reward function. The reward function for the agent to learn the policy is the sum of the intrinsic reward function and the extrinsic reward function. Then, a deep reinforcement learning algorithm intrinsic reward-deep deterministic policy gradient (IRDDPG), which is the combination of the DDPG algorithm and the reward function optimizing approach, is proposed to learn the expected collision avoidance policy. Finally, the proposed algorithm is tested in a simulation environment, and the results show that the industrial robot can learn the expected policy to achieve the safety assurance for industrial human-robot collaboration without missing the original target. Moreover, the reward function optimizing approach can help make up for the designed reward function and improve policy performance.     

The mediating role of problematic social media use in the relationship between social avoidance/distress and self-esteem

The number of social media users in Bangladesh is increasing in every year. Young people – mainly college and university students – are the heavy users of it. Problematic social media use (PSMU) has received increasing research attention over the past decade. However, there are very few studies concerning PSMU in Bangladesh. The present study examined the role of PSMU in the relationship between social avoidance/distress and self-esteem. The study comprised a sample of 370 university students from the University of Chittagong (Bangladesh). Participants were administered a survey including questions regarding socio-demographics, the Bergen Social Media Addiction Scale (BSMAS), the Rosenberg Self-Esteem Scale (RSES), and the Social Avoidance and Distress Scale (SADS). Results showed that PSMU partially mediated the relationship between social avoidance/distress and self-esteem, while social avoidance/distress predicted the level of self-esteem. However, PSMU had a non-significant influence on the relationship between these two variables while self-esteem predicted social avoidance/distress.