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Identification and classification of promoters using the attention mechanism based on long short-term memory

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Frontiers of Computer Science 2022年第4期16卷 103-109页

作者： Qingwen Li Lichao Zhang Lei Xu quan Zou Jin Wu Qingyuan Li Institute of Fundamental and Frontier Sciences University of Electronic Science and Technology of ChinaChengdu610054China State Key Laboratory of Brain and Cognitive Science Institute of BiophysicsChinese Academy of SciencesBeijing100101China Forestry and Fruit Tree research Institute Wuhan Academy of Agricultural SciencesWuhan430075China School of intelligent Manufacturing and equipment Shenzhen Institute of Information TechnologyShenzhen518172China School of Electronic and Communication Engineering Shenzhen PolytechnicShenzhen518055China School of Management Shenzhen PolytechnicShenzhen518055China

A promoter is a short region of DNA that can bind RNA polymerase and initiate gene *** is usually located directly upstream of the transcription initiation *** promoters have been proven to be the main cause of many human diseases,especially diabetes,cancer or Huntington’s ***,the classification of promoters has become an interesting problem and has attracted the attention of many researchers in the field of *** studies have been conducted in order to solve this problem,but their performance still needs further *** this research,we segmented the DNA sequence in a k-mers manner,then trained the word vector model,inputted it into long short-term memory(LSTM)and used the attention mechanism to *** method can achieve 93.45%and 90.59%cross-validation accuracy in the two layers,*** results are better than others based on the same data set,and provided some ideas for accurately predicting *** addition,this research suggested that natural language processing can play a significant role in biological sequence prediction.

关键词： promoter bioinformatics natural language processing attention mechanism

基于异构无人系统的水渠网络自主巡检路径规划

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农业机械学报 2023年第7期54卷 79-87,155页

作者：陈洋李赢华铁丹邱权武汉科技大学冶金自动化与检测技术教育部工程研究中心武汉430081 武汉科技大学机器人与智能系统研究院武汉430081 北京石油化工学院人工智能研究院北京102617

引入无人自主系统实现水渠网络智能化巡检对水利工程的建设、监控与维护具有重要意义。采用无人机、无人车协作执行水渠巡检任务时,无人机在水渠上空完成巡检工作,无人车可作为无人机的运载平台和能量补给站,有助于实现大规模水渠网络... 详细信息

引入无人自主系统实现水渠网络智能化巡检对水利工程的建设、监控与维护具有重要意义。采用无人机、无人车协作执行水渠巡检任务时,无人机在水渠上空完成巡检工作,无人车可作为无人机的运载平台和能量补给站,有助于实现大规模水渠网络的快速自主巡检。但是,受到水渠网络、道路网络的双重约束,无人系统的路径规划面临较大困难。针对上述问题,本文以最小化完成整个巡检任务时间为目标,首先基于度约束提出了水渠网络分割方法,将巡检任务分配给无人机,使无人机在巡检各子区域时不需要起飞或降落进行充电。然后基于遗传算法为无人机和无人车计算最优运动路径。最后,通过实例验证,当无人机以速度60 km/h、无人车以速度40 km/h匀速工作时,按人工步行巡检速度2 km/h计算,无人系统的巡检速度为人工巡检的8.4~9.8倍。

关键词：水渠巡检路网路径规划遗传算法

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矮化密植果园多臂采摘机器人任务规划

农业工程学报 2021年第2期37卷 1-10页

作者：李涛邱权赵春江谢丰北京市农林科学院北京农业智能装备技术研究中心北京100097 北京市农林科学院北京农业信息技术研究中心北京100097 江苏大学农业工程学院镇江212000

为提高矮化密植果园多机械臂采摘机器人的协同作业效率,该研究对存在重叠访问域的多臂协同采摘机器人任务规划进行分析,将多臂协同任务规划问题归纳为异步重叠访问域的多旅行商问题,给出了基于遗传算法的优化求解方法。试验结果表明:该... 详细信息

为提高矮化密植果园多机械臂采摘机器人的协同作业效率,该研究对存在重叠访问域的多臂协同采摘机器人任务规划进行分析,将多臂协同任务规划问题归纳为异步重叠访问域的多旅行商问题,给出了基于遗传算法的优化求解方法。试验结果表明:该研究所提任务规划算法在求解4个机械臂采摘43.90颗果实的任务规划问题时,分别在500和2000次迭代后收敛,相比于随机遍历算法,作业遍历时长可缩短40.97%和54.98%;采摘90颗果实,单机械臂的遍历时长约为该方法的4.28倍;采摘3.不同分布条件下的28颗果实,相比于顺序规划法和随机遍历法,该方法的作业遍历时长分别缩短10.69%和27.18%、20.45%和23.3.%以及12.94%和21.69%。综上,基于遗传算法的任务规划方法能够协调规划多臂采摘机器人系统的作业任务,确保各个机械臂避免发生冲突,以较短时间遍历所有目标果实,提升作业效率。研究结果可为其他多机械臂采摘机器人任务规划提供参考。

关键词：机器人控制收获任务规划协同作业旅行商问题遗传算法

Map Construction Fusing Environmental Information and Motion Constraints

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Map Construction Fusing Environmental Information and Motion...

智能网联汽车数据交互与综合应用公共服务平台研究与构建

2021中国智能自动化大会(CIAC2021)

作者： Na Sun Zhengqiang Fan quan qiu Tao Li Chunjiang Zhao beijing research center of {3. equipment for agriculture Beijing Academy of Agriculture and Forestry Sciences College of Engineering and Technology Southwest University College of Mechanical and Electronic Engineering Northwest A&F University beijing research center for Information Technology in {3. Beijing Academy of Agriculture and Forestry Sciences

Robots are expected to replace humans in performing scientific expedition tasks, which greatly reduces the essential impact of human basic survival on scientific expedition activities, and improve the space-time coverage of scientific expedition activities in polar regions. However, the polar regions have complex topographic features, such as the edge of the glacier on the Qinghai-Tibet Plateau is steep and the inland is relatively flat, which undoubtedly brings great challenges to realize the safe and autonomous navigation of unmanned ground vehicles. For glacier area of the Qinghai-Tibet Plateau, accurately converting environmental information into the map that robots can understand is an important part of path planning, that is, mapping. This paper proposes a method of constructing an occupancy grid map for large-scale point cloud data, taking into account the movement constraints and terrain information of the mobile platform. By dividing and rasterizing the sub-point cloud, the state of the raster can be judged according to the normal, elevation and other information. Finally, we carried out path planning based on the A* on the raster map.

关键词： Global path planning Metric map Terrain A* Glacier

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汽车工程学报 2024年第5期14卷 829-838页

作者：邱彬李广友薛晓卿谢荣琼清华大学汽车安全与节能国家重点实验室北京100084 工业和信息化部装备工业发展中心北京100846 中国汽车技术研究中心有限公司天津300300 北京赛目科技有限公司北京100081

为加快推动智能网联汽车数据资源的集聚共享和开发利用,提出建立采用“国家-区域-企业”三级多中心架构的“智能网联汽车数据交互与综合应用公共服务平台”。该平台基于行业统一的数据采集与传输标准规范,广泛应用大数据、云计算、区块... 详细信息

为加快推动智能网联汽车数据资源的集聚共享和开发利用,提出建立采用“国家-区域-企业”三级多中心架构的“智能网联汽车数据交互与综合应用公共服务平台”。该平台基于行业统一的数据采集与传输标准规范,广泛应用大数据、云计算、区块链等现代信息技术,能高效实现千万量级车辆数据的实时采集与分析处理,为促进行业数据的挖掘利用提供基础支撑平台。基于平台采集存储的数据资源,探索开展了车辆测试评价、安全运行监测、分析挖掘等多场景综合应用,验证了平台实际应用的先进性和可行性。

关键词：智能网联汽车数据平台大数据技术多场景综合应用

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research and application of approximate rectangular section control technology in hot strip mills

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Journal of Iron and Steel research International 2021年第3期28卷 279-290页

作者： Hai-nan He Jian Shao Xiao-chen Wang quan Yang Yang Liu Dong Xu You-zhao Sun National Engineering research center for Advanced Rolling Technology University of Science and Technology BeijingBeijing100083China

Profile requirements of silicon steel strip are extremely high and the thickness difference of cold-rolled products is usually less than 7μm,and the profile quality of hot-rolled strip is the key to ensure the thickness difference of cold-rolled *** order to produce the silicon steel strip with high-precision shape,the concept of quasi-rectangular rolling during hot continuous rolling was put forward;the equipment configuration and technical method of approximate rectangular section control were *** the roughing multi-target load distribution technology and the roll configuration technology for uniform wear of a 4-high rolling mill,the strip crown of transfer bar was reduced and the profile control stability was *** variable contact back-up roll technology on all stands in the finishing rolling process,equipped with symmetry variable taper work roll and long-stroke intelligent shifting strategy in the downstream stands,and using side rolling lubrication technology can make the roll wear more uniform,reduce the edge drop of silicon steel strip,improve the profile quality,and make the strip section of finishing exit"quasi-rectangular".In addition,induction furnace and side heater were also equipped to guarantee the temperature uniformity of the strip,so as to improve the stability of profile *** whole control technology is based on the 1580-mm hot continuous rolling production line,designed,and developed according to the characteristics of equipment and products,and has been successfully applied,which can obtain the approximate rectangular strip section satisfying the flatness quality,and improve the strip section precision of silicon steel and other products.

关键词： Approximate rectangular section Hot strip mill Transfer bar Roll contour Shifting strategy Profile control

Performance analysis and test of a maize inter-row self-propelled thermal fogger chassis

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International Journal of Agricultural and Biological Engineering 2018年第5期11卷 100-107页

作者： Liqing Chen Pinpin Wang Peng Zhang quan Zheng Jin He Qingjie Wang College of Engineering Anhui Agricultural UniversityHefei 230036China Anhui intelligent Agricultural Machinery equipment Engineering Laboratory Hefei 230036China College of Engineering China Agricultural UniversityBeijing 100083China

In view of the difficulties in weeding and plant protection in the middle and late period of maize planting,this paper proposed a self-propelled thermal fogger *** to the theoretical calculation and agronomic requirements for maize planting,the structure and working principles of the self-propelled thermal fogger chassis were *** this basis,the multi-body dynamics model of chassis structure was established,and the chassis traction,steering and obstacle surmounting performances were also *** the rationality and the feasibility of the design were verified through the furrow running test and test equipped with thermal *** results showed that,the traction performance improves with the decrease of soil deformation index and increase of cohesion,and when track pre-tensioning force was about 1000 N,the machine had a good traction performance;with the decrease of the soil deformation index and the increase of cohesive force,the stability of the single side brake turn of the chassis becomes better;on the contrary,with the increase of the tightness of the crawler,the steering radius turns smaller and the steering stability becomes *** heavy clay,with the pre-tensioning of 1000 N,the machine has better steering stability and smaller turning *** obstacle-surmounting simulation result shows that on sandy soil road,the maximum climbing angle for the chassis is 42°,the height of vertical obstacle crossing is 170 mm and the trench width is 440 *** study provides a reference for the design of plant protection machinery in the middle and late stages of maize planting.

关键词： maize inter-rows intelligent chassis traction performance steering performance obstacle surmounting performance

基于人-机-环境因素的未来交通事故风险研究

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系统仿真学报 2019年第3期31卷 566-574页

作者：袁泉高岩裘晨璐清华大学汽车安全与节能国家重点实验室北京100084 公安部交通管理科学研究所无锡214151

基于人-机-环境系统工程理论,调研自动驾驶车辆和中国交通事故形态的发展趋势,综合考虑人、车、路因素的变化,推测未来可能出现的新的交通事故形态场景。关注探究最近发生的自动驾驶车辆事故案例。未来新的影响因素比如多种自动驾驶车... 详细信息

基于人-机-环境系统工程理论,调研自动驾驶车辆和中国交通事故形态的发展趋势,综合考虑人、车、路因素的变化,推测未来可能出现的新的交通事故形态场景。关注探究最近发生的自动驾驶车辆事故案例。未来新的影响因素比如多种自动驾驶车辆与有人驾驶车辆共存、人机驾驶行为切换、智能交通系统的信息安全性问题等,都可能引发事故。其中,人的因素和环境影响依然重要;弱势道路使用者是自动驾驶车辆的重点避撞对象。对相关的法规制定、事故预防和处理的应对措施提出了建议。

关键词：自动驾驶车辆人-机-环境因素交通事故智能交通

基于自适应系数卡尔曼滤波的农业移动机器人组合定位

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农业机械学报 2022年第S01期53卷 36-43页

作者：邱权胡青含樊正强孙娜张喜海北京石油化工学院人工智能研究院北京102617 东北农业大学电气与信息学院哈尔滨150030 北京市农林科学院智能装备技术研究中心北京100097 西北农林科技大学机械与电子工程学院陕西杨凌712100 西南大学工程技术学院重庆400715

基于全球导航卫星系统(Global navigation satellite system,GNSS)的定位导航技术在半结构化、半开放式农业应用场景的部分区域,可能由于存在作物遮挡而导致GNSS接收信号出现短暂丢失的情况,进而影响机器人定位导航精度,甚至对作物和工... 详细信息

基于全球导航卫星系统(Global navigation satellite system,GNSS)的定位导航技术在半结构化、半开放式农业应用场景的部分区域,可能由于存在作物遮挡而导致GNSS接收信号出现短暂丢失的情况,进而影响机器人定位导航精度,甚至对作物和工作人员造成伤害。针对这一问题,本文开展了农业遮挡环境下的GNSS与惯性导航系统(Inertial navigation system,INS)的组合定位方法研究。搭建了用于多传感器定位导航实验的农业机器人系统,该系统由履带式移动平台、GNSS、INS等硬件和ROS(Robot operation system)操作系统、远程操控界面等软件构成。提出了引入自适应系数的GNSS/INS组合定位卡尔曼滤波算法,当GNSS无法进行差分定位或定位数据产生跃变时,通过自适应卡尔曼滤波能够切换到INS定位,从而实现机器人自身位置、姿态的最优估计。在典型农业遮挡场景(果园)进行了实地组合定位实验,并通过GNSS单通道定位、INS单通道定位、常规卡尔曼滤波融合定位、引入自适应系数的卡尔曼滤波定位等4种定位方法的对比,验证了本文提出算法的有效性。现场实验表明:定位过程中,当100 m×20 m的实验区域内出现3. m×6 m的高遮挡区域时,与GNSS定位信息测量方法、INS航迹推算定位方法以及常规卡尔曼滤波组合定位方法相比,自适应系数卡尔曼滤波组合定位方法定位精度分别提升62.1%、48.5%、47.7%。

关键词：农业移动机器人组合定位全球导航卫星系统惯性导航系统自适应系数卡尔曼滤波