沈阳理工大学学报 Journal of Shenyang Ligong University

针对RRT~*算法在路径规划中面临搜索效率不高、易于陷入局部最优等问题，提出一种结合强化学习的Q-RRT~*算法。该算法将Q-Learning算法和RRT~*算法相融合，首先引入转角偏向策略增强路径搜索时的导向作用、减少无效节点的生成，提升算法的搜索效率；其次通过动R搜索算法动态地调整搜索半径，进一步优化路径的质量和冗余节点的产生；最后对生成的路径使用三次B样条插值法和冗余节点删除法进一步优化路径质量。在二维和三维环境下的仿真实验结果表明，改进后的Q-RRT~*算法和RRT、RRT~*和RL-RRT算法相比，路径规划时长平均快39.7%,迭代次数平均减低27.9%,路径长度平均缩短16.3%。

In order to solve the problems of low search efficiency and tendency to fall into local optimum in RRT~* path planning, a Q-RRT~* algorithm combined with reinforcement learning was proposed, which fused the Q-Learning algorithm and the RRT~* algorithm.Firstly, the corner bias strategy was introduced to enhance the guiding effect of path search, reduce the generation of invalid nodes, and improve the search efficiency of the algorithm.Secondly, the search radius was dynamically adjusted by the dynamic R search algorithm to further optimize the quality of the path and the generation of redundant nodes.Finally the cubic B-spline interpolation method and the redundant node deletion method were used to further optimize the path quality of the generated path.Simulation results in 2D and 3D environments show that the improved Q-RRT~* algorithm is 39.7%faster on average, 27.9%less iteration and 16.3%shorter in path length than RRT,RRT~* and RL-RRT algorithms.

2025 年 04 期 v.44 ; 辽宁省教育厅高等学校基本科研项目(LJKZ0245)
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基于文本图表示学习的人格分类方法

Personality Classification Method Based on Text Graph for the Representation of Learning

刘猛;范摇珊;刘芳;张德育;贡胜男; LIU Meng;FAN Yaoshan;LIU Fang;ZHANG Deyu;GONG Shengnan;

针对网络用户的传统人格分类方法提取文本语义特征不充分、分类准确率低的问题，提出一种基于文本图表示学习的人格分类方法。该方法利用自然语言处理技术，并结合深度学习和图网络模型，设计一种自适应图卷积网络(adaptive graph convolutional network, ADGCN),通过自适应调整机制优化节点表示，平衡了节点特征的局部与全局信息。在Kaggle数据集上的测试实验表明，F1分数最高为80%,且平均F1分数达到71.14%,比传统机器学习方法和预训练模型BERT提高近20%,展现了模型计算效率上的优越性。

To solve the problems of insufficient text semantic features and low classification accuracy of traditional personality classification methods for network users, a personality classification method based on text graph representation learning is proposed.This method uses natural language processing technology, combined with deep learning and graph network model, to build a new type of network user personality classification model, and designs an adaptive graph convolutional network(ADGCN).The node representation is optimized by an adaptive adjustment mechanism, which balances the local and global information of node features.Experiments on the Kaggle dataset show that the F1 score is up to 80%,and the average F1 score reaches 71.14%,which is nearly 20% higher than the traditional machine learning method and BERT pre-training model, showing the superiority of the model's computational efficiency.

2025 年 04 期 v.44 ; 辽宁省教育厅高等学校基本科研重点项目(LJ212410144013); 沈阳市自然科学基金项目(22-315-6-10); 沈阳市中青年科技创新人才支持计划项目(RC210280)
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圆端形钢管混凝土柱局压力学性能研究

Local Compression Mechanical Properties of Circular-ended Concrete-filled Steel Tubular Columns

刘华东;汤永强; LIU Huadong;TANG Yongqiang;

采用有限元软件ABAQUS对圆端形钢管混凝土柱局压力学性能及受力机理进行数值模拟,对试件受力全过程、接触力及参数进行分析。结果表明:同一截面钢管圆弧段相比平直段约束作用更强,接触力更大,且自端部向下,截面各点处的接触力逐渐减小;当局压面积比由1.44分别增大至4、9、16时,圆端形钢管混凝土柱局压承载力分别降低33.6%、54.7%、66.1%;钢管屈服强度由235 MPa增加至345、390、420 MPa时,试件刚度无明显变化,局压承载力分别提高33.7%、47.3%、56.4%;当混凝土立方体抗压强度由30 MPa分别增加至35、40、45、50 MPa时,试件刚度逐渐增大,局压承载力分别提高2.2%、4.1%、6.4%、11.2%;含钢率由0.05增加至0.1、0.15、0.2时,试件刚度增大,局压承载力分别提高57.7%、114.6%、165.3%。

A numerical simulation of the local compressive mechanical properties and force mechanism of concrete-filled steel tubular(CFST) columns with rounded ends was conducted using the finite element software ABAQUS.The entire loading process,contact forces,and relevant parameters of the specimens were analyzed.The results indicate that,within the same cross-section,the circular arc segment of the steel tube provides stronger confinement and experiences greater contact forces compared to the straight segment.Moreover,the contact forces gradually decrease from the end downwards along the column.When the local compressive area ratio increases from 1.44 to 4,9,and 16,the local compressive bearing capacity of the CFST columns with rounded ends decreases by 33.6%,54.7%,and 66.1%,respectively.As the yield strength of the steel tube increases from235 MPa to 345,390,and 420 MPa,there is no significant change in the stiffness of the specimens,but the local compressive bearing capacity increases by 33.7%,47.3%,and 56.4%,respectively.When the compressive strength of the concrete cube increases from 30 MPa to 35,40,45,and 50 MPa,the stiffness of the specimens gradually increases,and the local compressive bearing capacity improves by 2.2%,4.1%,6.4%,and 11.2%,respectively.As the steel ratio increases from 0.05 to 0.1,0.15,and 0.2,the stiffness of the specimens increases,and the local compressive bearing capacity enhances by 57.7%,114.6%,and 165.3%,respectively.

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基于标准球的直线运动2D激光雷达标定

Linear Moving 2D LiDAR Calibration Based on Standard Sphere

刘昶;罗寅;王彦博;孙丽梅; LIU Chang;LUO Yin;WANG Yanbo;SUN Limei;

在利用安装在直线运动机构上的2D激光雷达对场景进行3D扫描任务中，需对2D激光雷达的运动方向提前标定，针对该标定问题提出一种以已知直径的标准球作为标定装置的标定方法。首先利用激光雷达在直线运动机构上的不同位置对标准球进行扫描，利用扫描点和最小二乘法拟合扫描圆的方程，估计出球心在雷达坐标系下的坐标，得到雷达运动方向的初步估计；再以所有扫描点共球面作为约束，通过一个迭代过程对运动方向进行优化，得到标定的最终结果。真实实验中采用篮球作为标准球标定装置，对安装在直线运动机构上的2D激光雷达进行标定，结果显示扫描点到拟合的球面距离的平均误差为0.75 mm；采用相同装置对已知尺寸的长方体仪表箱进行测量实验，得到仪表箱高度的误差为0.13mm，角度的平均误差为0.87°，验证了本文方法的有效性。

In the 3D scene scanning task using a 2D LiDAR(light detection and ranging) mounted on a linear motion mechanism， the moving direction of the 2D LiDAR needs to be calibrated in advance. To address the calibration problem， a method using a diameter known standard sphere as calibration instrument was proposed. Firstly the standard sphere was scanned by the LiDAR at different positions of the linear motion mechanism. The coordinates of the sphere center in the LiDAR frame were estimated by fitting the scanning circle equation by Least Square Method using the scanning points. Then the moving direction was estimated initially. Secondly using the constraint that all scanning points were on the sphere， the moving direction was optimized by an iterative process. Then the final calibration results were obtained. In the real experiment， a basketball was used as the standard sphere calibration instrument. A 2D LiDAR mounted on a linear motion mechanism was calibrated using the proposed method. The results showed that the average error of the distance among the scanning points and the fitted sphere was 0.75mm. Using the same device to measure a size known cuboid instrument box， the results showed the height error of the box was 0.13mm， and the average angle error was 0.87°. The experimental results verified the effectiveness of the proposed method.

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运动目标检测的三帧差法算法研究

Algorithm Research on Three-Frame Difference for Detection of Moving Target

王孝艳;张艳珠;董慧颖;李媛;李小娟; WANG Xiaoyan,ZHANG Yanzhu,DONG Huiying,LI Yuan,LI Xiaojuan(Shenyang Ligong University,Shenyang 110159,China)

运动目标因速度时变性强,路径不确定等特点给运动目标检测和跟踪带来难度。常用的运动目标检测方法虽然很多,但大都会因为噪声给检测的精度带来很大的影响。通过使用三帧差法提取目标,再用数学形态学的方法对提取出的图像进行处理,可有效检测出运动目标并消除噪声。实验结果表明,这种方法计算量小,受环境变化影响小,实时性强,目标检测准确性高.

Because of the features of moving target,such as strong speed degeneration and uncertain route,it is hard to detect and track the moving target.Although there are many detecting methods for moving target,the noise of detection affects the detecting precision dramatically.In this paper,we extract target by three frame subtraction,and then process the extracting image by the method of mathematical morphology.By this method,the moving target can be detected effectively and the noise is eliminated dramatically.The experimental results show that this method has less calculation,higher real-time performance and higher accuracy for moving target detection,and can be well applied indoors or outdoors.

2011 年 06 期 v.30 ; 辽宁省教育厅基金项目(2010095)
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PC机与MCS51单片机串行通信接口电路的设计

The Design of Serial Communication Interface Circuit between PC and MCS-51 Single-Chip Microcontroller

朱立忠,冯丹 ZHU Li zhong 1,FENG Dan 2(1.Faculty of Information Science and Engineering, Shenyang Institute of Technology,Shenyang 110168,China;2.Shenyang Institute of Technology)

介绍了采取专用电平转换芯片MAX2 32实现PC机与MCS5 1单片机之间的串行通信的方法 .通过对系统的通信方式选择 89C5 1通信波特率的设置、通信的设置 ,以及对接口电路的软件和硬件的设计分析 ,展示了该电路的实用性 .

In this artical, a new method of serial communication using special purpose level conversion chip MAX232 between PC and MCS 51 single chip microcontroller is introduced. The selection of the communication mode, setting of the baud rate of the 89C51 and its setting of communication are stated in detail. Through the analysis of the hardware and software design of the interface circuit, its practicability is presented.

2003 年 02 期 ;
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PC机与MCS51单片机串行通信接口电路的设计

The Design of Serial Communication Interface Circuit between PC and MCS-51 Single-Chip Microcontroller

朱立忠,冯丹 ZHU Li zhong 1,FENG Dan 2(1.Faculty of Information Science and Engineering, Shenyang Institute of Technology,Shenyang 110168,China;2.Shenyang Institute of Technology)

2003 年 02 期 ;
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气动上下料机械手手部结构的设计与分析

Design And Analysis of the Finer's Structure of Pneumatic Manipulator

赵碧;巴鹏;徐英凤; ZHAO Bi,BA Peng,Xu Ying-feng(Shengyang Ligong Universty,Shenyang 110168,China)

以炮弹径长自动检测生产线上搬运炮弹机械手的手部结构为研究对象,采用单片机对其气压驱动装置进行顺序控制,为保证结构设计的合理性,在论述系统组成、机械手运动、坐标形式及运动范围的基础上,运用有限元分析方法对手部结构进行分析和优化改进,结构设计满足验算结果要求.

The structure of the manipulator's finger for carrying the shells at the automated production line by measuring the shell's diameter is studied.The pneumatic driving devices are controlled sequentially by single chip microcomputer.In order to guarantee the ratronality of the structure design,FEM is used to analyse and optimize the finger's structure.The structure design meets the requirement of the verification result.

2006 年 06 期 ;
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