车辆轨迹数据在智能交通系统中有着诸多应用,但其实际应用效果常常受数据缺失问题影响。雷达和视频融合感知技术的迅速发展虽然实现了车辆轨迹数据的全天候采集,但在交叉口场景中仍然面临雷达对排队静止目标不敏感,大型车辆遮挡等原因...车辆轨迹数据在智能交通系统中有着诸多应用,但其实际应用效果常常受数据缺失问题影响。雷达和视频融合感知技术的迅速发展虽然实现了车辆轨迹数据的全天候采集,但在交叉口场景中仍然面临雷达对排队静止目标不敏感,大型车辆遮挡等原因导致数据缺失问题。针对交叉口车辆轨迹数据缺失,本文提出一种基于物理信息深度学习的补全算法(Transformer-Full-Velocity-Difference, TF-FVD),将FVD跟驰模型的监督信号引入到Transformer模型的训练过程中,并增加信号灯状态编码模块以考虑交通信号约束。基于雷视轨迹数据集的实验结果表明:FVD模型监督信号和信号灯状态编码模块的引入分别带来了11.6%和15.6%的精度提升;在SinD(Signalized INtersection Dataset)公开数据集中,本文提出的TF-FVD模型较纯数据驱动SOTA(State of the Art)算法精度提升了25.3%;基于补全轨迹计算的车辆延误时间分布误差降低了9.14%,体现了其在实际应用中的价值。展开更多
Kinematics and its related issues of a 3-DOF in-parallel compliant mechanismare focused on. The micro manipulation application that requires high accuracy is developed. Designof the developed micromanipulator is based...Kinematics and its related issues of a 3-DOF in-parallel compliant mechanismare focused on. The micro manipulation application that requires high accuracy is developed. Designof the developed micromanipulator is based on the modified Delta mechanism. The main advantages ofthis manipulator are the use of only revolute flexure hinges and the capability to produce puretranslation theoretically. The aim is to develop an efficient kinematic model used for positioningcontrol. For this purpose, the Jacobian matrix relating the end effector position with the actuatordisplacements is obtained by both theoretical derivation and experiment. Aiming at the abnormalityin the motion capabilities of the micromanipulator found in calibration experiment, the mobility ofthe compliant mechanism on a theoretical level is analyzed by using the matrix method and screwtheory. Both the experimental and theoretical results have verified that the compliant mechanismdoes have rotational motion.展开更多
文摘车辆轨迹数据在智能交通系统中有着诸多应用,但其实际应用效果常常受数据缺失问题影响。雷达和视频融合感知技术的迅速发展虽然实现了车辆轨迹数据的全天候采集,但在交叉口场景中仍然面临雷达对排队静止目标不敏感,大型车辆遮挡等原因导致数据缺失问题。针对交叉口车辆轨迹数据缺失,本文提出一种基于物理信息深度学习的补全算法(Transformer-Full-Velocity-Difference, TF-FVD),将FVD跟驰模型的监督信号引入到Transformer模型的训练过程中,并增加信号灯状态编码模块以考虑交通信号约束。基于雷视轨迹数据集的实验结果表明:FVD模型监督信号和信号灯状态编码模块的引入分别带来了11.6%和15.6%的精度提升;在SinD(Signalized INtersection Dataset)公开数据集中,本文提出的TF-FVD模型较纯数据驱动SOTA(State of the Art)算法精度提升了25.3%;基于补全轨迹计算的车辆延误时间分布误差降低了9.14%,体现了其在实际应用中的价值。
基金This project is supported by National Natural Science Foundation of China (No.59775002 and No.50075010).
文摘Kinematics and its related issues of a 3-DOF in-parallel compliant mechanismare focused on. The micro manipulation application that requires high accuracy is developed. Designof the developed micromanipulator is based on the modified Delta mechanism. The main advantages ofthis manipulator are the use of only revolute flexure hinges and the capability to produce puretranslation theoretically. The aim is to develop an efficient kinematic model used for positioningcontrol. For this purpose, the Jacobian matrix relating the end effector position with the actuatordisplacements is obtained by both theoretical derivation and experiment. Aiming at the abnormalityin the motion capabilities of the micromanipulator found in calibration experiment, the mobility ofthe compliant mechanism on a theoretical level is analyzed by using the matrix method and screwtheory. Both the experimental and theoretical results have verified that the compliant mechanismdoes have rotational motion.
