基于雾计算和强化学习的交通灯智能协同控制研究

针对路口交通拥堵现象,结合雾计算和强化学习理论,提出了一种FRTL（fog reinforcement traffic light）交通灯控制模型,该模型根据实时的交通流信息进行交通灯智能协同控制。雾节点将收集到的实时交通流信息上传到雾服务器,雾服务器在雾平台实现信息共享,雾平台结合处理后的共享数据和Q学习制定交通灯控制算法。算法利用检测到的实时交通数据计算出合适的交通灯配时方案,最终应用到交通灯上。仿真结果表明,与传统的分时段控制方式和主干道控制方式（ATL）相比,FRTL控制方法提高了路口的吞吐量,减少了车辆平均等待时间,达到了合理调控红绿灯时间、缓解交通拥堵的目标。     

An approach of checking an exit sign system based on navigation graph networks

Exit signs are widely used as an indoor navigation aid, because the information conveyed by exit signs can improve wayfinding efficiency. Existing research mainly focused on signboard design or the placement of several signs in a local space. Nevertheless, to provide effective navigation assistance, exit signs of a building need to work together and form a comprehensive exit sign system to indicate an effective exit route. Few studies treated exit signs of a building as a whole system to assess their design and placement. To fill this gap, this study defines three key characteristics of an effective exit sign system: continuity, consistency, and guiding correctness, proposes the mechanism of the interaction between pedestrians and exit signs on navigation graph networks, and develops a method to check exit sign systems based on navigation graph networks. The proposed method is a workflow that follows the procedure of constructing navigation graph networks using Building Information Modelling (BIM), identifying decision-making nodes, determining the mechanism of the interaction between pedestrians and exit signs, and assessing the effectiveness of exit sign systems in terms of continuity, consistency and guiding correctness. A real case of a three-story educational building is used to validate the feasibility of the proposed method. The results indicate that the proposed method can automatically identify coverage errors, direction conflicts, and guiding direction errors in exit sign systems of buildings. This study sheds substantial light on the design of exit sign systems in buildings and provides an effective tool to help designers and engineers design new exit sign systems and benefit building managers by examining and managing existing exit sign systems.     

一种空间曲线轨迹跟踪的无人机自适应导航控制算法

随着固定翼无人机飞行任务复杂化,为了实现高精度的空间曲线导航控制,基于L1-Navigation非线性导航控制算法,设计自适应模糊控制器优化固定翼无人机跟踪空间曲线导航控制方法。以球面上的空间八字曲线为例,对八字曲线建模,通过坐标转换求得目标航点位置来计算无人机飞行加速度。为了优化加速度控制无人机跟踪空间曲线性能,在L1-Navigation导航控制器中,针对增益系数设计一个双输入单输出模糊控制系统,以轨迹误差和轨迹误差变化率为输入量,以计算横向加速度的增益系数常数为输出量。最后,在Ardupilot飞控中进行飞行模拟实验,飞行实验表明,所提出方法能够精确跟踪空间曲线路径,并且有很好的自适应性。     

Optimal landmark selection for triangulation of robot position

A mobile robot can identify its own position relative to a global environment model by using triangulation based on three landmarks in the environment. It is shown that this procedure may be very sensitive to noise depending on spatial landmark configuration, and relative position between robot and landmarks. A general analysis is presented which permits prediction of the uncertainty in the triangulated position.

In addition an algorithm is presented for automatic selection of optimal landmarks. This algorithm enables a robot to continuously base its position computation on the set of available landmarks, which provides the least noise sensitive position estimate. It is demonstrated that using this algorithm can result in more than one order of magnitude reduction in uncertainty.     

New technique of mobile robot navigation using a hybrid adaptive fuzzy potential field approach

This paper presents a summary of the research aimed at developing a new reliable methodology for robot navigation and obstacle avoidance. This new approach is based on the artificial potential field (APF) method, which is used extensively for obstacle avoidance. The classical APF is dependent only on the separation distance between the robot and the surrounding obstacles. The new scheme introduces a variable, which is used to determine the importance that each obstacle has on the robot's future path. The importance variable is dependent on the obstacles position, both angle and distance, with respect to the robot. Simulation results are presented demonstrating the ability of the algorithm to perform successfully in simple environments.     

容栅式直线同步传感器在航空修理中的应用

分析了容栅式直线同步传感器的构造及工作原理，介绍了该传感器在航空各类电动机构修理检测中的应用，以及应用中出现的问题和解决的方法     

基于R8GNSS和全站仪的送电线路测量方法探析

结合500kV博墨输电线路工程,阐述了某些实用的测量方法及其注意事项,并对其精度进行了深入分析。实践表明,这些测量方法具有作业灵活、适应性强、实施速度快、成果可靠等特点,对保护生态环境和指导线路工程具有重要意义。     

基于信号灯图像识别在煤矿井下监控中应用

信号灯是煤矿井下的交通指示灯,和地面上的交通红绿灯得功能一样,以保证机车能在煤矿井下的安全有秩序的运行。本文将应用图像识别技术对信号灯进行识别,首先,对井下采集上来的图像进行相应的处理,对信号灯的邻域进行分析,确定信号灯的特征,然后对其进行识别,最后输出信号灯的结果,其中结果为红灯还是绿灯。     

喷泉设计研析

本文全面分析了喷泉设计中需要注意的几个问题,并且对每个问题都提出了较好的解决方法。     

照明节能管理的思考

在能源极为珍贵的今天,如何弥补传统能源的严重短缺,开发使用新能源,是摆在我们面前的一个亟待解决的难题。在路灯使用方面,要求我们必须走新能源之路,积极探索使用新能源路灯。