This paper proposes a deep learning-based 3D LiDAR perception framework designed for applications such as autonomous robots and vehicles.To address the high dependency on large-scale annotated data—an inherent limita...This paper proposes a deep learning-based 3D LiDAR perception framework designed for applications such as autonomous robots and vehicles.To address the high dependency on large-scale annotated data—an inherent limitation of deep learning models—this study introduces a hybrid perception architecture that incorporates expertdriven LiDAR processing techniques into the deep neural network.Traditional 3DLiDAR processingmethods typically remove ground planes and apply distance-or density-based clustering for object detection.In this work,such expert knowledge is encoded as feature-level inputs and fused with the deep network,therebymitigating the data dependency issue of conventional learning-based approaches.Specifically,the proposedmethod combines two expert algorithms—Patchwork++for ground segmentation and DBSCAN for clustering—with a PointPillars-based LiDAR detection network.We design four hybrid versions of the network depending on the stage and method of integrating expert features into the feature map of the deep model.Among these,Version 4 incorporates a modified neck structure in PointPillars and introduces a new Cluster 2D Pseudo-Map Branch that utilizes cluster-level pseudo-images generated from Patchwork++and DBSCAN.This version achieved a+3.88%improvement mean Average Precision(mAP)compared to the baseline PointPillars.The results demonstrate that embedding expert-based perception logic into deep neural architectures can effectively enhance performance and reduce dependency on extensive training datasets,offering a promising direction for robust 3D LiDAR object detection in real-world scenarios.展开更多
Remote driving,an emergent technology enabling remote operations of vehicles,presents a significant challenge in transmitting large volumes of image data to a central server.This requirement outpaces the capacity of t...Remote driving,an emergent technology enabling remote operations of vehicles,presents a significant challenge in transmitting large volumes of image data to a central server.This requirement outpaces the capacity of traditional communication methods.To tackle this,we propose a novel framework using semantic communications,through a region of interest semantic segmentation method,to reduce the communication costs by transmitting meaningful semantic information rather than bit-wise data.To solve the knowledge base inconsistencies inherent in semantic communications,we introduce a blockchain-based edge-assisted system for managing diverse and geographically varied semantic segmentation knowledge bases.This system not only ensures the security of data through the tamper-resistant nature of blockchain but also leverages edge computing for efficient management.Additionally,the implementation of blockchain sharding handles differentiated knowledge bases for various tasks,thus boosting overall blockchain efficiency.Experimental results show a great reduction in latency by sharding and an increase in model accuracy,confirming our framework's effectiveness.展开更多
To address the severe challenges of PM_(2.5) and ozone co-control during the"14^(th) Five-Year Plan"period and to enhance the precision and intelligence level of air environment governance,it is imperative t...To address the severe challenges of PM_(2.5) and ozone co-control during the"14^(th) Five-Year Plan"period and to enhance the precision and intelligence level of air environment governance,it is imperative to build an efficient comprehensive management platform for regional air quality.In this paper,the specific practice in Zibo City,Shandong Province is as an example to systematically analyze the top-level design,technical implementation,and innovative application of a comprehensive management platform for regional air quality integrating"perception monitoring,data fusion,research judgment of early warnings,analysis of sources,collaborative dispatching,and evaluation assessment".Through the construction of an"sky-air-ground"integrated three-dimensional monitoring network,the platform integrates multi-source heterogeneous environmental data,and employs big data,cloud computing,artificial intelligence,CALPUFF/CMAQ,and other numerical model technologies to achieve comprehensive perception,precise prediction,intelligent source tracing,and closed-loop management of air pollution.The platform innovatively establishes a full-process closed-loop management mechanism of"data-early warning-disposition-evaluation",and achieves a fundamental transformation from passive response to active anticipation and from experience-based judgment to data driving in environmental supervision.The application results show that this platform significantly improves the scientific decision-making ability and collaborative execution efficiency of air pollution governance in Zibo City,providing a replicable and scalable comprehensive solution for similar industrial cities to achieve the continuous improvement of air quality.展开更多
Background:Epilepsy is the most common neurological disease in the world.The objective of the study was to determine the knowledge,attitude and practice of driver's license applicants and instructors in driving sc...Background:Epilepsy is the most common neurological disease in the world.The objective of the study was to determine the knowledge,attitude and practice of driver's license applicants and instructors in driving schools on epilepsy in Burkina Faso.Method:This cross-sectional study was carried out from January 7th to March 7th 2020 in 21 driving schools approved by the National Driver License Authority in the city of Ouagadougou.Fifteen driver applicants and one instructor were selected in each driving school,resulting in a total of 315 driver applicants and 21 instructors in the study.Results:The mean age of participants was 29.91±7.63 years.One of the driver applicants included in the study was once experienced a seizure attack.All respondents had heard of epilepsy.The main source of epilepsy information was from family(42.5%).Two hundred and twenty-six respondents(673%)had witnessed an epileptic seizure.A majority of participants(55.9%)believed that persons with epilepsy be not permitted to drive a motor vehicle.About 44.0% of participants thought that people with epilepsy should be permitted to drive under certain conditions.One hundred and four(30.9%)participants suggested that people with epilepsy be permitted to drive a light vehicle.One hundred and forty-one(42.0%)suggest to withdraw the driving license for lifetime if a driver had an epileptic seizure attack;while twenty-three(6.8%)participants recommended suspension of driver license for 12 months.Conclusion:Efforts should be made to improve awareness and education among license applicants and instructors on the driving by people with epilepsy.展开更多
钻井顶部驱动装置结构复杂、故障类型多样,现有的故障树分析法和专家系统难以有效应对复杂多变的现场情况。为此,利用知识图谱在结构化与非结构化信息融合、故障模式关联分析以及先验知识传递方面的优势,提出了一种基于知识图谱的钻井...钻井顶部驱动装置结构复杂、故障类型多样,现有的故障树分析法和专家系统难以有效应对复杂多变的现场情况。为此,利用知识图谱在结构化与非结构化信息融合、故障模式关联分析以及先验知识传递方面的优势,提出了一种基于知识图谱的钻井顶部驱动装置故障诊断方法,利用以Transformer为基础的双向编码器模型(Bidirectional Encoder Representations from Transformers,BERT)构建了混合神经网络模型BERT-BiLSTM-CRF与BERT-BiLSTM-Attention,分别实现了顶驱故障文本数据的命名实体识别和关系抽取,并通过相似度计算,实现了故障知识的有效融合和智能问答,最终构建了顶部驱动装置故障诊断方法。研究结果表明:①在故障实体识别任务上,BERT-BiLSTM-CRF模型的精确度达到95.49%,能够有效识别故障文本中的信息实体;②在故障关系抽取上,BERT-BiLSTM-Attention模型的精确度达到93.61%,实现了知识图谱关系边的正确建立;③开发的问答系统实现了知识图谱的智能应用,其在多个不同类型问题上的回答准确率超过了90%,能够满足现场使用需求。结论认为,基于知识图谱的故障诊断方法能够有效利用顶部驱动装置的先验知识,实现故障的快速定位与智能诊断,具备良好的应用前景。展开更多
基金supported by Basic Science Research Program through the National Research Foundation of Korea(NRF)funded by the Ministry of Education(RS-2023-00245084)by Korea Institute for Advancement of Technology(KIAT)grant funded by the Korea Government(MOTIE)(RS-2024-00415938,HRD Program for Industrial Innovation)and Soonchunhyang University.
文摘This paper proposes a deep learning-based 3D LiDAR perception framework designed for applications such as autonomous robots and vehicles.To address the high dependency on large-scale annotated data—an inherent limitation of deep learning models—this study introduces a hybrid perception architecture that incorporates expertdriven LiDAR processing techniques into the deep neural network.Traditional 3DLiDAR processingmethods typically remove ground planes and apply distance-or density-based clustering for object detection.In this work,such expert knowledge is encoded as feature-level inputs and fused with the deep network,therebymitigating the data dependency issue of conventional learning-based approaches.Specifically,the proposedmethod combines two expert algorithms—Patchwork++for ground segmentation and DBSCAN for clustering—with a PointPillars-based LiDAR detection network.We design four hybrid versions of the network depending on the stage and method of integrating expert features into the feature map of the deep model.Among these,Version 4 incorporates a modified neck structure in PointPillars and introduces a new Cluster 2D Pseudo-Map Branch that utilizes cluster-level pseudo-images generated from Patchwork++and DBSCAN.This version achieved a+3.88%improvement mean Average Precision(mAP)compared to the baseline PointPillars.The results demonstrate that embedding expert-based perception logic into deep neural architectures can effectively enhance performance and reduce dependency on extensive training datasets,offering a promising direction for robust 3D LiDAR object detection in real-world scenarios.
基金supported in part by the National Natural Science Foundation of China under Grant No.62062031in part by the MIC/SCOPE#JP235006102+2 种基金in part by JST ASPIRE Grant Number JPMJAP2325in part by ROIS NII Open Collaborative Research under Grant 24S0601in part by collaborative research with Toyota Motor Corporation,Japan。
文摘Remote driving,an emergent technology enabling remote operations of vehicles,presents a significant challenge in transmitting large volumes of image data to a central server.This requirement outpaces the capacity of traditional communication methods.To tackle this,we propose a novel framework using semantic communications,through a region of interest semantic segmentation method,to reduce the communication costs by transmitting meaningful semantic information rather than bit-wise data.To solve the knowledge base inconsistencies inherent in semantic communications,we introduce a blockchain-based edge-assisted system for managing diverse and geographically varied semantic segmentation knowledge bases.This system not only ensures the security of data through the tamper-resistant nature of blockchain but also leverages edge computing for efficient management.Additionally,the implementation of blockchain sharding handles differentiated knowledge bases for various tasks,thus boosting overall blockchain efficiency.Experimental results show a great reduction in latency by sharding and an increase in model accuracy,confirming our framework's effectiveness.
文摘To address the severe challenges of PM_(2.5) and ozone co-control during the"14^(th) Five-Year Plan"period and to enhance the precision and intelligence level of air environment governance,it is imperative to build an efficient comprehensive management platform for regional air quality.In this paper,the specific practice in Zibo City,Shandong Province is as an example to systematically analyze the top-level design,technical implementation,and innovative application of a comprehensive management platform for regional air quality integrating"perception monitoring,data fusion,research judgment of early warnings,analysis of sources,collaborative dispatching,and evaluation assessment".Through the construction of an"sky-air-ground"integrated three-dimensional monitoring network,the platform integrates multi-source heterogeneous environmental data,and employs big data,cloud computing,artificial intelligence,CALPUFF/CMAQ,and other numerical model technologies to achieve comprehensive perception,precise prediction,intelligent source tracing,and closed-loop management of air pollution.The platform innovatively establishes a full-process closed-loop management mechanism of"data-early warning-disposition-evaluation",and achieves a fundamental transformation from passive response to active anticipation and from experience-based judgment to data driving in environmental supervision.The application results show that this platform significantly improves the scientific decision-making ability and collaborative execution efficiency of air pollution governance in Zibo City,providing a replicable and scalable comprehensive solution for similar industrial cities to achieve the continuous improvement of air quality.
文摘为克服高精度地图(high-definition map,HD Map)在语义信息获取方面的不足,本文提出了一种融合天地图等多源地理空间数据的高精地图语义增强知识图谱构建方法。该方法首先分析了自动驾驶在复杂场景下对环境语义信息的需求,设计了与车辆非直接相关,但对驾驶行为决策产生影响的道路设施、兴趣点(points of interest,POI)、建筑区域等信息构建知识图谱本体模型。利用天地图(MAPWORLD)权威POI及建筑数据,通过空间邻近度、语义类型映射等方法,提取高精地图车道、道路周围的地理实体及其相互关系,构建了高精地图语义增强知识图谱。最后,以湖北武汉经开区地图数据为例,通过假设特定场景进行语义增强实验,验证该知识图谱能够有效增强高精地图语义信息并为高级别自动驾驶决策提供信息库,为提升自动驾驶车辆的环境感知与决策智能化水平提供了新的思路与技术支持。
文摘Background:Epilepsy is the most common neurological disease in the world.The objective of the study was to determine the knowledge,attitude and practice of driver's license applicants and instructors in driving schools on epilepsy in Burkina Faso.Method:This cross-sectional study was carried out from January 7th to March 7th 2020 in 21 driving schools approved by the National Driver License Authority in the city of Ouagadougou.Fifteen driver applicants and one instructor were selected in each driving school,resulting in a total of 315 driver applicants and 21 instructors in the study.Results:The mean age of participants was 29.91±7.63 years.One of the driver applicants included in the study was once experienced a seizure attack.All respondents had heard of epilepsy.The main source of epilepsy information was from family(42.5%).Two hundred and twenty-six respondents(673%)had witnessed an epileptic seizure.A majority of participants(55.9%)believed that persons with epilepsy be not permitted to drive a motor vehicle.About 44.0% of participants thought that people with epilepsy should be permitted to drive under certain conditions.One hundred and four(30.9%)participants suggested that people with epilepsy be permitted to drive a light vehicle.One hundred and forty-one(42.0%)suggest to withdraw the driving license for lifetime if a driver had an epileptic seizure attack;while twenty-three(6.8%)participants recommended suspension of driver license for 12 months.Conclusion:Efforts should be made to improve awareness and education among license applicants and instructors on the driving by people with epilepsy.
文摘钻井顶部驱动装置结构复杂、故障类型多样,现有的故障树分析法和专家系统难以有效应对复杂多变的现场情况。为此,利用知识图谱在结构化与非结构化信息融合、故障模式关联分析以及先验知识传递方面的优势,提出了一种基于知识图谱的钻井顶部驱动装置故障诊断方法,利用以Transformer为基础的双向编码器模型(Bidirectional Encoder Representations from Transformers,BERT)构建了混合神经网络模型BERT-BiLSTM-CRF与BERT-BiLSTM-Attention,分别实现了顶驱故障文本数据的命名实体识别和关系抽取,并通过相似度计算,实现了故障知识的有效融合和智能问答,最终构建了顶部驱动装置故障诊断方法。研究结果表明:①在故障实体识别任务上,BERT-BiLSTM-CRF模型的精确度达到95.49%,能够有效识别故障文本中的信息实体;②在故障关系抽取上,BERT-BiLSTM-Attention模型的精确度达到93.61%,实现了知识图谱关系边的正确建立;③开发的问答系统实现了知识图谱的智能应用,其在多个不同类型问题上的回答准确率超过了90%,能够满足现场使用需求。结论认为,基于知识图谱的故障诊断方法能够有效利用顶部驱动装置的先验知识,实现故障的快速定位与智能诊断,具备良好的应用前景。
