Accurately estimating the weight of a moving vehicle at normal speed remains a challenging problem due to the complex vehicle dynamics and vehicle–pavement interaction. The weighing technique based on multiple sensors has proven to be an effective approach to this task. To improve the accuracy of weigh-in-motion (WIM) systems, this paper proposes a neural network-based method integrating identification and predication. A backpropagation neural network for signal classification (BPNN-i) was designed to identify ideal samples acquired by load sensors closest to the tire-pavement contact area. After that, ideal samples were used to predict the gross vehicle weight by using another backpropagation neural network (BPNN-e). The dataset for training and evaluation was collected from a multiple-sensor WIM (MS-WIM) system deployed in a public road. In our experiments, 96.89% of samples in the test set had an estimation error of less than 5%.
Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic manipulation skill learning from a single third-person view demonstration by using activity recognition and object detection in computer vision. To facilitate generalization across objects and environments, we propose to use a prior knowledge base in the form of a text corpus to infer the object to be interacted with in the context of a robot. We evaluate our approach in a real-world robot, using several simple and complex manipulation tasks commonly performed in daily life. The experimental results show that our approach achieves good generalization performance even from small amounts of training data.
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