Xinzhi Cao, Yinsai Guo, Wenbin Yang, Xiangfeng Luo and Shaorong Xie
Unsupervised domain adaptation object detection not only mitigates model terrible performance resulting from domain gap, but also has the ability to apply knowledge trained on a…
Abstract
Purpose
Unsupervised domain adaptation object detection not only mitigates model terrible performance resulting from domain gap, but also has the ability to apply knowledge trained on a definite domain to a distinct domain. However, aligning the whole feature may confuse the object and background information, making it challenging to extract discriminative features. This paper aims to propose an improved approach which is called intrinsic feature extraction domain adaptation (IFEDA) to extract discriminative features effectively.
Design/methodology/approach
IFEDA consists of the intrinsic feature extraction (IFE) module and object consistency constraint (OCC). The IFE module, designed on the instance level, mainly solves the issue of the difficult extraction of discriminative object features. Specifically, the discriminative region of the objects can be paid more attention to. Meanwhile, the OCC is deployed to determine whether category prediction in the target domain brings into correspondence with it in the source domain.
Findings
Experimental results demonstrate the validity of our approach and achieve good outcomes on challenging data sets.
Research limitations/implications
Limitations to this research are that only one target domain is applied, and it may change the ability of model generalization when the problem of insufficient data sets or unseen domain appeared.
Originality/value
This paper solves the issue of critical information defects by tackling the difficulty of extracting discriminative features. And the categories in both domains are compelled to be consistent for better object detection.
Details
Keywords
Peng Wu, Shaorong Xie, Hengli Liu, Ming Li, Hengyu Li, Yan Peng, Xiaomao Li and Jun Luo
Autonomous obstacle avoidance is important in unmanned surface vehicle (USV) navigation. Although the result of obstacle detection is often inaccurate because of the inherent…
Abstract
Purpose
Autonomous obstacle avoidance is important in unmanned surface vehicle (USV) navigation. Although the result of obstacle detection is often inaccurate because of the inherent errors of LIDAR, conventional methods typically emphasize on a single obstacle-avoidance algorithm and neglect the limitation of sensors and safety in a local region. Conventional methods also fail in seamlessly integrating local and global obstacle avoidance algorithms. This paper aims to present a cooperative manoeuvring approach including both local and global obstacle avoidance.
Design/methodology/approach
The global algorithm used in our USV is the Artificial Potential Field-Ant Colony Optimization (APF-ACO) obstacle-avoidance algorithm, which plans a relative optimal path on the specified electronic map before the cruise of USV. The local algorithm is a multi-layer obstacle-avoidance framework based on a single LIDAR to present an efficient solution to USV path planning in the case of sensor errors and collision risks. When obstacles are within a layer, the USV uses a corresponding obstacle-avoidance algorithm. Then the USV moves towards the global direction according to fuzzy rules in the fuzzy layer.
Findings
The presented method offers a solution for obstacle avoidance in a complex environment. The USV follows the global trajectory planed by the APF-ACO algorithm. While, the USV can bypass current obstacle in the local region based on the multi-layer method effectively. This fact was validated by simulations and field trials.
Originality/value
The method presented in this paper takes advantage of algorithm integration that remedies errors of obstacle detection. Simulation and experiments were also conducted for performance evaluation.
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Chunchao Chen, Jinsong Li, Jun Luo, Shaorong Xie and Hengyu Li
This paper aims to improve the adaptability and control performance of the controller, a proposed seeker optimization algorithm (SOA) is introduced to optimize the controller…
Abstract
Purpose
This paper aims to improve the adaptability and control performance of the controller, a proposed seeker optimization algorithm (SOA) is introduced to optimize the controller parameters of a robot manipulator.
Design/methodology/approach
In this paper, a traditional proportional integral derivative (PID) controller and a fuzzy logic controller are integrated to form a fuzzy PID (FPID) controller. The SOA, as a novel algorithm, is used for optimizing the controller parameters offline. There is a performance comparison in terms of FPID optimization about the SOA, the genetic algorithm (GA), particle swarm optimization (PSO) and ant colony optimization (ACO). The DC motor model and the experimental platform are used to test the performance of the optimized controller.
Findings
Compared with GA, PSO and ACO, this novel optimization algorithm can enhance the control accuracy of the system. The optimized parameters ensure a system with faster response speed and better robustness.
Originality/value
A simplified FPID controller structure is constructed and a novel SOA method for FPID controller is presented. In this paper, the SOA is applied on the controller of 5-DOF manipulator, and the validation of controllers is tested by experiments.
Details
Keywords
Jun Luo, Shaorong Xie, Zhenbang Gong and Tiansheng Lu
In order to replace the conventional human maintenance of cable‐stayed bridges, a robot is designed and constructed for tasks such as cleaning, painting and rust‐detecting.
Abstract
Purpose
In order to replace the conventional human maintenance of cable‐stayed bridges, a robot is designed and constructed for tasks such as cleaning, painting and rust‐detecting.
Design/methodology/approach
Adopting a modular approach, two kinds of climbing mechanisms, plus a painting mechanism and a rust‐detecting method are designed.
Findings
A robot that can climb and maintain the cables of cable‐stayed bridges has been designed and constructed. It has been proved by experiment that the robot can overcome many disadvantages of conventional human bridge‐maintenance, and drastically improve efficiency, cost, and safety.
Research limitations/implications
The robot is of industrial size, but a new mechanism requiring less installing time will be designed for the future.
Practical implications
The robot has been applied to cables of the Nanpu Bridge and Xupu Bridge in Shanghai. More than 80 cable‐stayed bridges and six suspension bridges have been built or are being constructed across large rivers in China alone. This gives an enormous potential market.
Originality/value
The cable maintenance robot developed in this paper is the world's first special robot for the cables of cable‐stayed bridges.
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Keywords
Shaorong Xie, Peng Wu, Hengli Liu, Peng Yan, Xiaomao Li, Jun Luo and Qingmei Li
This paper aims to propose a new method for combining global path planning with local path planning, to provide an efficient solution for unmanned surface vehicle (USV) path…
Abstract
Purpose
This paper aims to propose a new method for combining global path planning with local path planning, to provide an efficient solution for unmanned surface vehicle (USV) path planning despite the changeable environment. Path planning is the key issue of USV navigation. A lot of research works were done on the global and local path planning. However, little attention was given to combining global path planning with local path planning.
Design/methodology/approach
A search of shortcut Dijkstra algorithm was used to control the USV in the global path planning. When the USV encounters unknown obstacles, it switches to our modified artificial potential field (APF) algorithm for local path planning. The combinatorial method improves the approach of USV path planning in complex environment.
Findings
The method in this paper offers a solution to the issue of path planning in changeable or unchangeable environment, and was confirmed by simulations and experiments. The USV follows the global path based on the search of shortcut Dijkstra algorithm. Both USV achieves obstacle avoidances in the local region based on the modified APF algorithm after obstacle detection. Both the simulation and experimental results demonstrate that the combinatorial path planning method is more efficient in the complex environment.
Originality/value
This paper proposes a new path planning method for USV in changeable environment. The proposed method is capable of efficient navigation in changeable and unchangeable environment.
Details
Keywords
Jiqing Chen, Shaorong Xie, Jun Luo and Hengyu Li
The purpose of this paper was to solve the shortage of carrying energy in probing robot and make full use of wind resources in the Antarctic expedition by designing a four-wheel…
Abstract
Purpose
The purpose of this paper was to solve the shortage of carrying energy in probing robot and make full use of wind resources in the Antarctic expedition by designing a four-wheel land-yacht. Land-yacht is a new kind of mobile robot powered by the wind using a sail. The mathematical model and trajectory of the land-yacht are presented in this paper.
Design/methodology/approach
The mechanism analysis method and experimental modeling method are used to establish a dual-input and dual-output mathematical model for the motion of land-yacht. First, the land-yacht’s model structure is obtained by using mechanism analysis. Then, the models of steering gear, servomotors and force of wing sail are analyzed and validated. Finally, the motion of land-yacht is simulated according to the mathematical model.
Findings
The mathematical model is used to analyze linear motion and steering motion. Compared with the simulation results and the actual experimental tests, the feasibility and reliability of the proposed land-yacht modeling are verified. It can travel according to the given signal.
Practical implications
This land-yacht can be used in the Antarctic, outer planet or for harsh environment exploration.
Originality/value
A land-yacht is designed, and the contribution of this research is the development of a mathematical model for land-yacht robot. It provides a theoretical basis for analysis of the land-yacht’s motion.
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Thyago Celso Cavalcante Nepomuceno, Victor Diogho Heuer de Carvalho, Thiago Poleto and Ciro José Jardim Figueiredo
This article presents a methodological application of decision support with the purpose of identifying and better aligning sustainable banking strategies. Those strategies are…
Abstract
Purpose
This article presents a methodological application of decision support with the purpose of identifying and better aligning sustainable banking strategies. Those strategies are based on best practices declared by employees and conducted during efficient periods affecting sustainable production, the health quality of clients, the organization’s profitability and social impact on the local community across different sectors.
Design/methodology/approach
The approach involves a two-phase process: first, it employs directional data envelopment analysis (DEA) to benchmark knowledge based on employee opinions gathered through interviews to evaluate strategies related to banking services; then, using the best-worst method and ELECTRE outranking incorporating elements of fuzzy set theory based on an experienced decision-maker’s input, sustainable banking strategies are ranked according the different perspectives for leveraging outputs from the first step.
Findings
The outcomes yield a ranking of strategies, emphasizing the crucial role of technology in banking services while highlighting the need for more agile services to ensure customer satisfaction. This underscores the necessity of aligning with the market perspective, as fintech companies are reshaping the socio-technological-environmental landscape of financial services.
Research limitations/implications
The research combined DEA and multicriteria analysis in the context of the banking sector, providing a comprehensive and analytically robust approach translated as a decision-making framework for promoting sustainability by aligning operational efficiency and social responsibility. These tools can guide banks in adopting more sustainable practices that benefit the institution, society and the environment.
Practical implications
Decisions in the banking sector encompass a wide array of concepts, from internal technical factors to customer feedback on service processes and offerings. The proposed approach considers decision analysis in complex environments, and the application developed in this study considered not only internal banking activity-oriented concepts but also the preferences of human agents developing them and the managerial perspective focused on issues involving components associated with sustainability.
Originality/value
By integrating DEA with multicriteria analysis, this study paves the way for a more efficient, environmentally conscious and socially responsible management scenario in the Brazilian banking sector. This research assesses operational efficiency and offers a comprehensive framework for selecting and implementing sustainable practices in the banking sector.
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Keywords
Mohamed Bechir Chenguel and Nadia Mansour
After almost 10 years, people wonder if green finance has been able to attain its objectives in terms of controlling climate change. Persistent global warming and climate…
Abstract
Purpose
After almost 10 years, people wonder if green finance has been able to attain its objectives in terms of controlling climate change. Persistent global warming and climate deregulation manifested by melting glaciers, droughts and floods, are all of these determinants that have called into question the efficiency of green finance.
Design/methodology/approach
Green finance is a way to support climate action through investments. It has proven that this is a viable financial instrument and that it can be used by governments and private companies to plan for the future of our planet.
Findings
Based on an analysis of articles published in top international journals from 2016 to 2022, about the relationship between green technology and financial services in China, this paper aims to present an overview of green finance, its importance for the planet, its objectives and its instruments.
Research limitations/implications
This study’s contribution is to shed light on the aspects that may have limited its effectiveness, such as the absence of incentives, the absence of climate costs and above all the absence of finance green standards.
Originality/value
The results have shown that there is still a significant gap in green finance before inclusive green growth can be achieved. Inclusive green growth. All stakeholders need to increase the level of investment in green finance. The green investment financing gap is the result of inconsistencies in sustainability and policies. Therefore, governments must intervene to impose appropriate policies and regulations to compel the financial sector to engage in sustainable development. All of these factors make the concept of green finance just an illusion.