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In the grinding industry, accurate prediction of the mill load is the key to enhancing plant profitability and reducing mill failures. After the condition changes, the model is usually mismatched, and the true label cannot be obtained in time. To solve this problem, we propose a multi-source unsupervised domain adaptation model based on deep learning and fusion features (MUDA_DF), which is suitable for predicting multiple mill load parameters. Considering that the information contained in the data of a single working condition is insufficient to completely cover the information of the unmodeled working condition, we introduce multiple source domains into the model, which can improve the generalization of the model. Since the special features of the source domain also contain useful information, we use the features after the fusion of special features and common features for regression prediction. By designing multiple loss functions, we achieve the prediction of three mill load parameters in unknown operating conditions: material-to-ball volume ratio (MBVR), pulp density (PD), and charge volume ratio (CVR). Experiments were carried out on data sets collected by a laboratory ball mill. Compared with the traditional mill load soft measurement method, the R 2 of this method can reach above 0.9 and the highest can reach 0.99, which proves the effectiveness of this method. • An unsupervised domain-adaptive mill load prediction method is proposed. • Applying multi-source domains to mill load regression prediction. • Applying deep learning to mill load regression prediction. • Extract common and special features simultaneously. [Display omitted] [ABSTRACT FROM AUTHOR]

Point cloud registration precision degrades when the scene contains symmetric structures or repeated patches. Also, the common operation of continuous downsampling in existing registration methods causes the loss of detailed information and leads to further registration precision degradation. In this paper, we propose a high precision point cloud registration network (HPNet) to learn discriminative features by considering both multi-scale information and position information. We first propose a multi-scale feature extraction module similar to the feature pyramid that allows the extracted features to contain multi-scale information. Then, an information interaction is performed on the features to learn global contextual information by using Transformer with a hybrid position encoding, which takes into account both absolute and relative positions of points. Finally, the features obtained from the information interaction module are directly used to predict the point correspondences. Comprehensive experiments on 3DMatch, 3DLoMatch, ModelNet, and ModelLoNet datasets demonstrate the state-of-the-art performance of the proposed method and the implementation of HPNet in SLAM shows its effectiveness in real application. [Display omitted] • Point cloud registration loses detail information during continuous downsampling. • Feature fusion of low-level detail information and high-level semantic information. • Hybrid position encoding consider both absolute and relative positions. positions. • Point cloud registration algorithms applied to SLAM. [ABSTRACT FROM AUTHOR]

The development of the building energy management systems (BEMS) enable users to intelligently control Heating, Ventilation, Air-conditioning and Cooling (HVAC) systems based on digital information. In order to reduce the power consumption cost of the HVAC system while ensuring user satisfaction, a novel HVAC control system for building system based on a multi-step predictive deep reinforcement learning (MSP-DRL) algorithm is proposed in this paper. In the proposed method, the outdoor ambient temperature is predicted first by a featured deep learning method named GC-LSTM, where the Long Short-term Memory (LSTM) is enhanced by the generalized correntropy (GC) loss function to deal with the non-Gaussian characteristics of the collected outdoor temperature. In addition, the proposed temperature prediction model is combined with a reinforcement learning algorithm named Deep Deterministic Policy Gradient (DDPG) aiming to flexibly adjust the output power of the HVAC system under the dynamic changing of electricity prices. Finally, comprehensive simulation based on real world data is delivered. Numerical results show that the GC-LSTM algorithm is more accurate than other counterparts prediction algorithms, and the proposed HVAC control system based on the multi-step prediction deep reinforcement learning algorithm is effective and could save over 12% cost compared to other approaches, where the user comfort is maintained simultaneously. • A multi-step predictive deep reinforcement learning algorithm is proposed. • A GC-LSTM algorithm is adopted in multi-step outdoor temperature prediction. • A model-free DDPG algorithm is adopted to manage HVAC system for building system. • The proposed method performs well in the HVAC system. [ABSTRACT FROM AUTHOR]