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基于自适应阈值的型钢精确角点FAST检测算法
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作者 包家汉 孙德尚 +1 位作者 黄建中 胡政 《上海交通大学学报》 北大核心 2025年第5期691-702,共12页
基于机器视觉的在线型钢平直度检测中,对型钢图像关键角点快速、准确地提取是实现精确检测的关键技术问题.针对加速分割检验特征提取(FAST)算法需要人工设定角点筛选阈值和角点提取存在大量伪角点的问题,提出一种自适应阈值生成及校正策... 基于机器视觉的在线型钢平直度检测中,对型钢图像关键角点快速、准确地提取是实现精确检测的关键技术问题.针对加速分割检验特征提取(FAST)算法需要人工设定角点筛选阈值和角点提取存在大量伪角点的问题,提出一种自适应阈值生成及校正策略,能够在自动获取初始阈值的基础上,根据角点数是否达到初始角点集要求对阈值实时校正直至达到适当值,以减少关键角点遗漏.在采用FAST提取角点的基础上,利用最小核心值相似区域(SUSAN)算法剔除伪角点,以保证关键角点提取的有效性.试验证明,这种基于自适应阈值的FAST角点检测算法(FAST-A),在检测环境和对象特性发生变化时,仍然可以准确、快速地检测到型钢关键角点,在为型钢平直度检测实时提供精确角点的基础上,提高角点提取的自适应性. 展开更多
关键词 型钢 角点检测 加速分割检验特征提取算法 最小核心值相似区域算法 自适应阈值
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Self-adaptive PID controller of microwave drying rotary device tuning on-line by genetic algorithms 被引量:6
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作者 杨彪 梁贵安 +5 位作者 彭金辉 郭胜惠 李玮 张世敏 李英伟 白松 《Journal of Central South University》 SCIE EI CAS 2013年第10期2685-2692,共8页
The control design, based on self-adaptive PID with genetic algorithms(GA) tuning on-line was investigated, for the temperature control of industrial microwave drying rotary device with the multi-layer(IMDRDWM) and wi... The control design, based on self-adaptive PID with genetic algorithms(GA) tuning on-line was investigated, for the temperature control of industrial microwave drying rotary device with the multi-layer(IMDRDWM) and with multivariable nonlinear interaction of microwave and materials. The conventional PID control strategy incorporated with optimization GA was put forward to maintain the optimum drying temperature in order to keep the moisture content below 1%, whose adaptation ability included the cost function of optimization GA according to the output change. Simulations on five different industrial process models and practical temperature process control system for selenium-enriched slag drying intensively by using IMDRDWM were carried out systematically, indicating the reliability and effectiveness of control design. The parameters of proposed control design are all on-line implemented without iterative predictive calculations, and the closed-loop system stability is guaranteed, which makes the developed scheme simpler in its synthesis and application, providing the practical guidelines for the control implementation and the parameter design. 展开更多
关键词 industrial microwave DRYING ROTARY device self-adaptive PID controller genetic algorithm ON-LINE tuning SELENIUM-ENRICHED SLAG
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Acid-pickling plates and strips speed control system by microwave heating based on self-adaptive fuzzy PID algorithm 被引量:7
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作者 杨彪 彭金辉 +3 位作者 郭胜惠 张世敏 李玮 何涛 《Journal of Central South University》 SCIE EI CAS 2012年第8期2179-2186,共8页
Double self-adaptive fuzzy PID algorithm-based control strategy was proposed to construct quasi-cascade control system to control the speed of the acid-pickling process of titanium plates and strips. It is very useful... Double self-adaptive fuzzy PID algorithm-based control strategy was proposed to construct quasi-cascade control system to control the speed of the acid-pickling process of titanium plates and strips. It is very useful in overcoming non-linear dynamic behavior, uncertain and time-varying parameters, un-modeled dynamics, and couples between the automatic turbulence control (ATC) and the automatic acid temperature control (AATC) with varying parameters during the operation process. The quasi-cascade control system of inner and outer loop self-adaptive fuzzy PID controller was built, which could effectively control the pickling speed of plates and strips. The simulated results and real application indicate that the plates and strips acid pickling speed control system has good performances of adaptively tracking the parameter variations and anti-disturbances, which ensures the match of acid pickling temperature and turbulence of flowing with acid pickling speed, improving the surface quality of plates and strips acid pickling, and energy efficiency. 展开更多
关键词 self-adaptive fuzzy PID algorithm microwave heating acid pickling plates and strips mixed-acid media
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Unfolding neutron spectra from water-pumping-injection multilayered concentric sphere neutron spectrometer using self-adaptive differential evolution algorithm 被引量:5
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作者 Rui Li Jian-Bo Yang +2 位作者 Xian-Guo Tuo Jie Xu Rui Shi 《Nuclear Science and Techniques》 SCIE EI CAS CSCD 2021年第3期41-51,共11页
A self-adaptive differential evolution neutron spectrum unfolding algorithm(SDENUA)is established in this study to unfold the neutron spectra obtained from a water-pumping-injection multilayered concentric sphere neut... A self-adaptive differential evolution neutron spectrum unfolding algorithm(SDENUA)is established in this study to unfold the neutron spectra obtained from a water-pumping-injection multilayered concentric sphere neutron spectrometer(WMNS).Specifically,the neutron fluence bounds are estimated to accelerate the algorithm convergence,and the minimum error between the optimal solution and input neutron counts with relative uncertainties is limited to 10^(-6)to avoid unnecessary calculations.Furthermore,the crossover probability and scaling factor are self-adaptively controlled.FLUKA Monte Carlo is used to simulate the readings of the WMNS under(1)a spectrum of Cf-252 and(2)its spectrum after being moderated,(3)a spectrum used for boron neutron capture therapy,and(4)a reactor spectrum.Subsequently,the measured neutron counts are unfolded using the SDENUA.The uncertainties of the measured neutron count and the response matrix are considered in the SDENUA,which does not require complex parameter tuning or an a priori default spectrum.The results indicate that the solutions of the SDENUA agree better with the IAEA spectra than those of MAXED and GRAVEL in UMG 3.1,and the errors of the final results calculated using the SDENUA are less than 12%.The established SDENUA can be used to unfold spectra from the WMNS. 展开更多
关键词 Water-pumping-injection multilayered spectrometer Neutron spectrum unfolding Differential evolution algorithm self-adaptive control
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Improving path planning efficiency for underwater gravity-aided navigation based on a new depth sorting fast search algorithm
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作者 Xiaocong Zhou Wei Zheng +2 位作者 Zhaowei Li Panlong Wu Yongjin Sun 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2024年第2期285-296,共12页
This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapi... This study focuses on the improvement of path planning efficiency for underwater gravity-aided navigation.Firstly,a Depth Sorting Fast Search(DSFS)algorithm was proposed to improve the planning speed of the Quick Rapidly-exploring Random Trees*(Q-RRT*)algorithm.A cost inequality relationship between an ancestor and its descendants was derived,and the ancestors were filtered accordingly.Secondly,the underwater gravity-aided navigation path planning system was designed based on the DSFS algorithm,taking into account the fitness,safety,and asymptotic optimality of the routes,according to the gravity suitability distribution of the navigation space.Finally,experimental comparisons of the computing performance of the ChooseParent procedure,the Rewire procedure,and the combination of the two procedures for Q-RRT*and DSFS were conducted under the same planning environment and parameter conditions,respectively.The results showed that the computational efficiency of the DSFS algorithm was improved by about 1.2 times compared with the Q-RRT*algorithm while ensuring correct computational results. 展开更多
关键词 Depth Sorting fast Search algorithm Underwater gravity-aided navigation Path planning efficiency Quick Rapidly-exploring Random Trees*(QRRT*)
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An improved self-adaptive membrane computing optimization algorithm and its applications in residue hydrogenating model parameter estimation 被引量:1
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作者 芦会彬 薄翠梅 杨世品 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第10期3909-3915,共7页
In order to solve the non-linear and high-dimensional optimization problems more effectively, an improved self-adaptive membrane computing(ISMC) optimization algorithm was proposed. The proposed ISMC algorithm applied... In order to solve the non-linear and high-dimensional optimization problems more effectively, an improved self-adaptive membrane computing(ISMC) optimization algorithm was proposed. The proposed ISMC algorithm applied improved self-adaptive crossover and mutation formulae that can provide appropriate crossover operator and mutation operator based on different functions of the objects and the number of iterations. The performance of ISMC was tested by the benchmark functions. The simulation results for residue hydrogenating kinetics model parameter estimation show that the proposed method is superior to the traditional intelligent algorithms in terms of convergence accuracy and stability in solving the complex parameter optimization problems. 展开更多
关键词 optimization algorithm membrane computing benchmark function improved self-adaptive operator
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Enhanced self-adaptive evolutionary algorithm for numerical optimization 被引量:1
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作者 Yu Xue YiZhuang +2 位作者 Tianquan Ni Jian Ouyang ZhouWang 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2012年第6期921-928,共8页
There are many population-based stochastic search algorithms for solving optimization problems. However, the universality and robustness of these algorithms are still unsatisfactory. This paper proposes an enhanced se... There are many population-based stochastic search algorithms for solving optimization problems. However, the universality and robustness of these algorithms are still unsatisfactory. This paper proposes an enhanced self-adaptiveevolutionary algorithm (ESEA) to overcome the demerits above. In the ESEA, four evolutionary operators are designed to enhance the evolutionary structure. Besides, the ESEA employs four effective search strategies under the framework of the self-adaptive learning. Four groups of the experiments are done to find out the most suitable parameter values for the ESEA. In order to verify the performance of the proposed algorithm, 26 state-of-the-art test functions are solved by the ESEA and its competitors. The experimental results demonstrate that the universality and robustness of the ESEA out-perform its competitors. 展开更多
关键词 self-adaptive numerical optimization evolutionary al-gorithm stochastic search algorithm.
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Modified Self-adaptive Immune Genetic Algorithm for Optimization of Combustion Side Reaction of p-Xylene Oxidation 被引量:1
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作者 陶莉莉 孔祥东 +1 位作者 钟伟民 钱锋 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2012年第6期1047-1052,共6页
In recent years, immune genetic algorithm (IGA) is gaining popularity for finding the optimal solution for non-linear optimization problems in many engineering applications. However, IGA with deterministic mutation fa... In recent years, immune genetic algorithm (IGA) is gaining popularity for finding the optimal solution for non-linear optimization problems in many engineering applications. However, IGA with deterministic mutation factor suffers from the problem of premature convergence. In this study, a modified self-adaptive immune genetic algorithm (MSIGA) with two memory bases, in which immune concepts are applied to determine the mutation parameters, is proposed to improve the searching ability of the algorithm and maintain population diversity. Performance comparisons with other well-known population-based iterative algorithms show that the proposed method converges quickly to the global optimum and overcomes premature problem. This algorithm is applied to optimize a feed forward neural network to measure the content of products in the combustion side reaction of p-xylene oxidation, and satisfactory results are obtained. 展开更多
关键词 self-adaptive immune genetic algorithm artificial neural network measurement p-xylene oxidation process
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Dynamic self-adaptive ANP algorithm and its application to electric field simulation of aluminum reduction cell 被引量:1
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作者 王雅琳 陈冬冬 +2 位作者 陈晓方 蔡国民 阳春华 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第12期4731-4739,共9页
Region partition(RP) is the key technique to the finite element parallel computing(FEPC),and its performance has a decisive influence on the entire process of analysis and computation.The performance evaluation index ... Region partition(RP) is the key technique to the finite element parallel computing(FEPC),and its performance has a decisive influence on the entire process of analysis and computation.The performance evaluation index of RP method for the three-dimensional finite element model(FEM) has been given.By taking the electric field of aluminum reduction cell(ARC) as the research object,the performance of two classical RP methods,which are Al-NASRA and NGUYEN partition(ANP) algorithm and the multi-level partition(MLP) method,has been analyzed and compared.The comparison results indicate a sound performance of ANP algorithm,but to large-scale models,the computing time of ANP algorithm increases notably.This is because the ANP algorithm determines only one node based on the minimum weight and just adds the elements connected to the node into the sub-region during each iteration.To obtain the satisfied speed and the precision,an improved dynamic self-adaptive ANP(DSA-ANP) algorithm has been proposed.With consideration of model scale,complexity and sub-RP stage,the improved algorithm adaptively determines the number of nodes and selects those nodes with small enough weight,and then dynamically adds these connected elements.The proposed algorithm has been applied to the finite element analysis(FEA) of the electric field simulation of ARC.Compared with the traditional ANP algorithm,the computational efficiency of the proposed algorithm has been shortened approximately from 260 s to 13 s.This proves the superiority of the improved algorithm on computing time performance. 展开更多
关键词 finite element parallel computing(FEPC) region partition(RP) dynamic self-adaptive ANP(DSA-ANP) algorithm electric field simulation aluminum reduction cell(ARC)
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基于改进Canny-FAST算法的折叠翼几何尺寸自动化测量
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作者 蔡引娣 孙梓盟 +3 位作者 李世雄 牛超 葛太坤 高鑫巍 《光学精密工程》 北大核心 2025年第3期466-475,共10页
为了实现非标复杂构件折叠翼几何尺寸的高精度、高效率测量,提出一种基于改进Canny-FAST算法的折叠翼几何尺寸自动化测量方法,解决了传统人工测量方法存在的测量精度低、重复性差及效率低等问题。通过在传统CannyFAST算法中引入Douglas-... 为了实现非标复杂构件折叠翼几何尺寸的高精度、高效率测量,提出一种基于改进Canny-FAST算法的折叠翼几何尺寸自动化测量方法,解决了传统人工测量方法存在的测量精度低、重复性差及效率低等问题。通过在传统CannyFAST算法中引入Douglas-Peucker算法的方式以简化折叠翼轮廓特征,解决了传统Canny-FAST算法在提取特征复杂轮廓角点时提取精度低、稳定性不好等问题,提高了折叠翼几何尺寸的测量精度。基于提出方法研制了折叠翼几何尺寸自动化测量系统,通过建立该系统中测量模块和运动模块的自动交互通讯,实现折叠翼几何尺寸高精度、高稳定性和高效率的自动化测量。经实验表明,自研的折叠翼几何尺寸自动化测量系统长度测量精度优于65μm,角度测量精度优于0.049°,满足折叠翼几何尺寸测量精度要求。 展开更多
关键词 折叠翼 图像拼接 自动化 Canny-fast算法 DOUGLAS-PEUCKER算法
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基于Fast ICA算法的供水管网漏失量估算
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作者 赵桓 吕谋 +1 位作者 刘志壮 王兴 《中国给水排水》 北大核心 2025年第15期91-96,共6页
针对日益严峻的城镇供水管网漏损问题,对漏失量与用户水量的变化特征及源信号相互独立特征进行深入分析,并基于Fast ICA算法建立漏失量估算模型,对观测漏失信号进行白化处理、寻优迭代及信号幅值还原;然后,以北方某生活小区为研究区域,... 针对日益严峻的城镇供水管网漏损问题,对漏失量与用户水量的变化特征及源信号相互独立特征进行深入分析,并基于Fast ICA算法建立漏失量估算模型,对观测漏失信号进行白化处理、寻优迭代及信号幅值还原;然后,以北方某生活小区为研究区域,构建供水管网实验模型,在实验室条件下验证Fast ICA算法用于管网漏失量估算的可行性;最后,将Fast ICA漏失量估算模型应用于DS山庄工程实例的供水管网漏失分析中,并与小波变换理论在实际供水环境下的适用性进行比较。结果表明,与小波变换算法相比,Fast ICA模型计算出的漏失量与真实漏失量相对误差更小,变化趋势相似性更高。 展开更多
关键词 供水管网 盲源分离 fast ICA算法 小波变换 漏失量估算
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基于多目标FAST算法的超声滚挤压工艺参数优化
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作者 徐诗博 王晓强 +2 位作者 田英健 王彪 石青松 《锻压技术》 北大核心 2025年第4期69-76,共8页
为提升轴承套圈的表层性能,以42CrMo高强度钢为研究对象,开展4因素5水平正交试验,基于正交试验数据建立表层性能的指数回归预测模型,并利用方差分析验证了模型的可靠性。通过多目标FAST算法对指数回归预测模型进行优化,得到超声滚挤压... 为提升轴承套圈的表层性能,以42CrMo高强度钢为研究对象,开展4因素5水平正交试验,基于正交试验数据建立表层性能的指数回归预测模型,并利用方差分析验证了模型的可靠性。通过多目标FAST算法对指数回归预测模型进行优化,得到超声滚挤压的最优工艺参数范围及其表层性能的最优取值范围,并进行了试验验证。结果表明:当迭代次数达到900时,表层性能随迭代次数的增加无明显改善,优化后42CrMo高强度钢表层性能的试验值与预测值的误差均控制在10%以内,转速最优为140~210 r·min^(-1)、进给速度为12~20 mm·min^(-1)、振幅为20~25μm、静压力为450~600 N;表面粗糙度最优为0.43~0.49μm、残余压应力为950~1050 MPa、硬度为700~720 HV。研究内容对实际的工程应用具有一定的指导意义。 展开更多
关键词 超声滚挤压 正交试验 表层性能 指数回归 多目标fast算法
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Generalized Self-Adaptive Genetic Algorithms
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作者 Bin Wu Xuyan Tu +1 位作者 Jian Wu Information Engineering School, University of Science and Technology Beijing, Beijing 100083, China Department of Information and Control Engineering, Southwest Institute of Technology, Mianyang 621002, China 《International Journal of Minerals,Metallurgy and Materials》 SCIE EI CAS CSCD 2000年第1期72-75,共4页
In order to solve the problem between searching performance and convergence of genetic algorithms, a fast genetic algorithm generalized self-adaptive genetic algorithm (GSAGA) is presented. (1) Evenly distributed init... In order to solve the problem between searching performance and convergence of genetic algorithms, a fast genetic algorithm generalized self-adaptive genetic algorithm (GSAGA) is presented. (1) Evenly distributed initial population is generated. (2) Superior individuals are not broken because of crossover and mutation operation for they are sent to subgeneration directly. (3) High quality im- migrants are introduced according to the condition of the population schema. (4) Crossover and mutation are operated on self-adaptation. Therefore, GSAGA solves the coordination problem between convergence and searching performance. In GSAGA, the searching per- formance and global convergence are greatly improved compared with many existing genetic algorithms. Through simulation, the val- idity of this modified genetic algorithm is proved. 展开更多
关键词 generalized self-adaptive genetic algorithm initial population IMMIGRATION fitness function
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Differential Evolution Algorithm Based Self-adaptive Control Strategy for Fed-batch Cultivation of Yeast
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作者 Aiyun Hu Sunli Cong +2 位作者 Jian Ding Yao Cheng Enock Mpofu 《Computer Systems Science & Engineering》 SCIE EI 2021年第7期65-77,共13页
In the fed-batch cultivation of Saccharomyces cerevisiae,excessive glucose addition leads to increased ethanol accumulation,which will reduce the efficiency of glucose utilization and inhibit product synthesis.Insuffi... In the fed-batch cultivation of Saccharomyces cerevisiae,excessive glucose addition leads to increased ethanol accumulation,which will reduce the efficiency of glucose utilization and inhibit product synthesis.Insufficient glucose addition limits cell growth.To properly regulate glucose feed,a different evolution algorithm based on self-adaptive control strategy was proposed,consisting of three modules(PID,system identification and parameter optimization).Performance of the proposed and conventional PID controllers was validated and compared in simulated and experimental cultivations.In the simulation,cultivation with the self-adaptive control strategy had a more stable glucose feed rate and concentration,more stable ethanol concentration around the set-point(1.0 g·L^(-1)),and final biomass concentration of 34.5 g-DCW·L^(-1),29.2%higher than that with a conventional PID control strategy.In the experiment,the cultivation with the self-adaptive control strategy also had more stable glucose and ethanol concentrations,as well as a final biomass concentration that was 37.4%higher than that using the conventional strategy. 展开更多
关键词 Saccharomyces cerevisiae Ethanol accumulation differential evolution algorithm self-adaptive control
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基于WOA-VMD-FastICA爆破振动信号降噪技术研究
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作者 张仕泽 柴修伟 +3 位作者 常志锋 肖浩 吴经霜 陈天弢 《爆破》 北大核心 2025年第4期166-177,共12页
由于受爆区周围多源异性信号的影响,爆破实测采集到的振动信号多含高频高斯噪声。为解析爆破振动信号的真实性和准确性,提出基于鲸鱼优化算法(WOA)-变分模态分解(VMD)-快速独立成分分析(FastICA)联合算法对爆破振动信号进行降噪处理,利... 由于受爆区周围多源异性信号的影响,爆破实测采集到的振动信号多含高频高斯噪声。为解析爆破振动信号的真实性和准确性,提出基于鲸鱼优化算法(WOA)-变分模态分解(VMD)-快速独立成分分析(FastICA)联合算法对爆破振动信号进行降噪处理,利用WOA算法求得VMD分解所需模态数量K和惩罚系数α的最佳值之后,对爆破振动信号进行VMD分解,将分解出的IMF进行FastICA盲源分离,计算各个独立成分的功率谱熵值并去除大于阈值的异常值后对信号进行重构,输出滤波后的信号。通过频谱分析以及对比不同算法,选用波形相似系数、信噪比和均方根差来量化算法的可行性。结果表明:爆破振动信号在WOA-VMD-FastICA联合算法下信噪比最大,均方根差最小并且具有良好的波形相似性,相较于CEEMD-FastICA、CEEMDAN-FastICA以及EWT-FastICA算法来看,信噪比分别提升了21.5%、35.97%、62.4%,均方根差分别减少24.24%、39.55%、63%,降噪效果优势明显,为矿山爆破振动信号降噪研究提供新思路。 展开更多
关键词 爆破振动 鲸鱼优化算法(WOA) 变分模态分解(VMD) 快速独立成分分析(fastICA) 信号降噪
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Particle Swarm Optimization Algorithm Based on Chaotic Sequences and Dynamic Self-Adaptive Strategy
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作者 Mengshan Li Liang Liu +4 位作者 Genqin Sun Keming Su Huaijin Zhang Bingsheng Chen Yan Wu 《Journal of Computer and Communications》 2017年第12期13-23,共11页
To deal with the problems of premature convergence and tending to jump into the local optimum in the traditional particle swarm optimization, a novel improved particle swarm optimization algorithm was proposed. The se... To deal with the problems of premature convergence and tending to jump into the local optimum in the traditional particle swarm optimization, a novel improved particle swarm optimization algorithm was proposed. The self-adaptive inertia weight factor was used to accelerate the converging speed, and chaotic sequences were used to tune the acceleration coefficients for the balance between exploration and exploitation. The performance of the proposed algorithm was tested on four classical multi-objective optimization functions by comparing with the non-dominated sorting genetic algorithm and multi-objective particle swarm optimization algorithm. The results verified the effectiveness of the algorithm, which improved the premature convergence problem with faster convergence rate and strong ability to jump out of local optimum. 展开更多
关键词 Particle SWARM algorithm CHAOTIC SEQUENCES self-adaptive STRATEGY MULTI-OBJECTIVE Optimization
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Self-Adaptive Algorithms for the Split Common Fixed Point Problem of the Demimetric Mappings
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作者 Xinhong Chen Yanlai Song +1 位作者 Jianying He Liping Gong 《Journal of Applied Mathematics and Physics》 2019年第10期2187-2199,共13页
The split common fixed point problem is an inverse problem that consists in finding an element in a fixed point set such that its image under a bounded linear operator belongs to another fixed-point set. In this paper... The split common fixed point problem is an inverse problem that consists in finding an element in a fixed point set such that its image under a bounded linear operator belongs to another fixed-point set. In this paper, we present new iterative algorithms for solving the split common fixed point problem of demimetric mappings in Hilbert spaces. Moreover, our algorithm does not need any prior information of the operator norm. Weak and strong convergence theorems are given under some mild assumptions. The results in this paper are the extension and improvement of the recent results in the literature. 展开更多
关键词 HILBERT Space Demimetric Mapping SPLIT Common Fixed Point PROBLEM self-adaptive algorithm
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四足机器人室内导航的多模块优化Fast-SLAM算法研究
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作者 周淑凯 张俊杰 +2 位作者 田恬 薛闻雨 汤玉东 《现代信息科技》 2025年第18期169-173,共5页
针对四足机器人在室内环境中存在的定位精度不足、建图效率较低及系统鲁棒性不强等问题,文章提出了一种多模块优化的Fast-SLAM算法框架。在前端里程计阶段,基于范围流模型构建激光点云帧间运动约束,融合自适应迭代加权最小二乘法以提升... 针对四足机器人在室内环境中存在的定位精度不足、建图效率较低及系统鲁棒性不强等问题,文章提出了一种多模块优化的Fast-SLAM算法框架。在前端里程计阶段,基于范围流模型构建激光点云帧间运动约束,融合自适应迭代加权最小二乘法以提升位姿估计的精度与计算效率;在状态估计阶段,引入模糊自适应扩展卡尔曼滤波器,通过动态调整测量噪声协方差增强系统的鲁棒性;在粒子滤波阶段,采用结合极大似然估计与梯度搜索的位姿优化方法,有效降低了重采样误差并提升建图效率。在真实四足机器人平台上对该算法进行部署与验证,实验结果表明,其在平均轨迹误差、计算时间等方面相较于传统方法具有显著提升,展现出良好的环境适应性与工程应用潜力。 展开更多
关键词 室内导航 fast-SLAM 范围流算法 扩展卡尔曼滤波 粒子滤波
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A semi-implicit partition algorithm for fluid-structure coupling problems based on modal force prediction-correction
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作者 Kangdi LI Zili XU +2 位作者 Shizhi ZHAO Lu CHENG Yu FANG 《Chinese Journal of Aeronautics》 2025年第5期275-286,共12页
The implicit partition algorithm used to solve fluid–structure coupling problems has high accuracy,but it requires a long computation time.In this paper,a semi-implicit fluid–structure coupling algorithm based on mo... The implicit partition algorithm used to solve fluid–structure coupling problems has high accuracy,but it requires a long computation time.In this paper,a semi-implicit fluid–structure coupling algorithm based on modal force prediction-correction is proposed to improve the computational efficiency.In the pre-processing stage,the fluid domain is assumed to be a pseudo-elastic solid and merged with the solid domain to form a holistic system,and the normalized modal information of the holistic system is calculated and stored.During the sub-step cycle,the modal superposition method is used to obtain the response of the holistic system with the predicted modal force as the load,so that the deformation of the structure and the updating of the fluid mesh can be achieved simultaneously.After solving the Reynolds-averaged Navier-Stokes equations in the fluid domain,the predicted modal force is corrected and a new sub-step cycle is started until the converged result is obtained.In this method,the computation of the fluid equations and the updating of the dynamic mesh are done implicitly,while the deformation of the structure is done explicitly.Two numerical cases,vortex induced oscillation of an elastic beam and fluid–structure interaction of a final stage blade,are used to verify the efficiency and accuracy of the proposed algorithm.The results show that the proposed method achieves the same accuracy as the implicit method while the computational time is reduced.In the case of the vortex-induced oscillation problem,the computational time can be reduced to 18.6%.In the case of the final stage blade vibration,the computational time can be reduced to 53.8%. 展开更多
关键词 Fluid-structure interaction fast mesh deformation Semi-implicit partition algorithm Prediction-correction method FLUTTER
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基于轻量级Fast-Unet网络的绝缘子图像分割方法
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作者 袁新平 王忠军 路辉 《兵工自动化》 北大核心 2025年第6期23-27,共5页
为快速查找图像中绝缘子缺陷,降低电力事故的发生几率,基于轻量级Fast-Unet网络设计一种绝缘子图像分割算法。对绝缘子航拍图像进行预处理,使其实现重构归一化,通过转换图像元素,计算元素共生概率,从而获取图像的颜色、纹理、形状特征;... 为快速查找图像中绝缘子缺陷,降低电力事故的发生几率,基于轻量级Fast-Unet网络设计一种绝缘子图像分割算法。对绝缘子航拍图像进行预处理,使其实现重构归一化,通过转换图像元素,计算元素共生概率,从而获取图像的颜色、纹理、形状特征;细化通道空间信息特征值,组成一个初始的网络结构,生成分割结果树状图;通过计算图像的模块度和相对模块度,建立轻量级Fast-Unet网络分割模型。实验结果表明:该分割算法在无噪声图像中的综合质量平均值为0.72,在简单背景和复杂背景图像中的综合质量平均值分别为0.57和0.46,可见降噪处理对图像分割的质量起到了正向作用。 展开更多
关键词 轻量级fast-Unet网络 绝缘子串 绝缘子图像 图像分割算法 图像预处理
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