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UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2025年第1期87卷 121-138页

作者： Zheng, Qingchun Wu, Moudong Zhu, Peihao Yang, Bin Li, Shubo Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China

This paper introduces D-Fusion SLAM, an advanced VSLAM system based on ORB-SLAM2. D-Fusion SLAM integrates depth information to enhance feature selection, aiming to improve accuracy and speed in visual SLAM applications. The system mainly comprises two modules: an image grid filtering module based on grayscale information and a feature selection module integrating depth information. These modules effectively eliminate redundant and useless features, ensuring high-quality features for pose estimation. We tested D-Fusion SLAM on the TUM dataset and compared it with ORB-SLAM2. Experimental results demonstrate that D-Fusion SLAM outperforms ORB-SLAM2, significantly enhancing the system's accuracy and robustness. © 2025, Politechnica University of Bucharest. All rights reserved.

关键词： Feature Selection

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Effect of Free-End Torsion on the Corrosion and Mechanical Properties for Mg-3Zn-0.2Ca Alloy

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Acta Metallurgica Sinica(English Letters) 2025年第1期38卷 59-70页

作者： Li-Lan Gao Jiang Ma Yan-Song Tan Xiao-Hao Sun Qi-Jun Gao De-Bao Liu Chun-Qiu Zhang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin300384China School of Materials Science and Engineering Tianjin University of TechnologyTianjin300384China

Magnesium alloys with excellent degradability and biocompatibility are promising materials for biomedical implants,saving patients the burden of second ***,their mechanical properties and corrosion resistance are significantly below the requirements for implant *** study aims to improve the mechanical and corrosion resistance properties of Mg-3Zn-0.2Ca alloy by pre-torsion treatment,and find out the optimal shear *** rod-shaped Mg-3Zn-0.2Ca alloy specimens were pre-torsion treated at different torsion *** effect of free-end torsion on Mg-3Zn-0.2Ca alloy was characterized through microstructure analysis,mechanical testing,and corrosion ***-torsion treatment can refine grain and induce twins and dislocations in Mg-3Zn-0.2Ca *** surface hardness increases with the increase in torsion *** yield strength and ultimate strength initially increase and then decrease with increasing torsion angle,while ductility decreases with increasing torsion *** with a shear strain of 30%exhibit the highest tensile strength,reaching 284.78±10.62 MPa,with an elongation of 19.37±1.66%.Furthermore,they show a significant improvement in fatigue lives both before and after *** the stress amplitude is 120 MPa,the fatigue lives for specimens without pre-torsion treatment are 54,275 cycles and 4324 cycles before and after pre-corrosion,while they increased significantly to 92,015 cycles and 5050 cycles with the 30%shear strain,***,the 30%shear strain specimens show a significant reduction in corrosion *** conclusion,pre-torsion treatment can effectively modify the microstructure of Mg-3Zn-0.2Ca alloy,enhancing both mechanical properties and corrosion *** optimal shear strain for this improvement is 30%.This study provides a practical method to enhance the mechanical properties and corrosion resistance of Mg-3Zn-0.2Ca alloy,making it more suitable for biomedical implan

关键词： Magnesium alloy Pre-torsion Microstructure Mechanical property Corrosion resistance

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Exploiting a novel perturbation structure to overcome manufacturing defect and modal overlap in mode localization MEMS gyroscope

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Nonlinear Dynamics 2025年 1-30页

作者： Zhang, Kunpeng Li, Wei Hao, Shuying Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin 300384 China

This study presents a micro-electro-mechanical system (MEMS) gyroscope featuring an innovative perturbation structure in the perturbation stiffness induced by angular velocity is applied to a serpentine coupling beam. Considering the symmetry of the initial structure of resonators and the asymmetry in stiffness resulting from initial manufacturing defects, the dynamic characteristics in the linear regime are analyzed using the complex exponential method. By integrating the backbone curve, energy balance method, amplitude-frequency response (AFR), and bifurcation analysis, we reveal the gyroscope's dynamics, mode localization phenomenon, and sensitivity performance in the geometrically nonlinear case. Subsequently, the excitation threshold at which bifurcation occurs in the out-of-phase nonlinear normal mode (NNM) is determined. Taking the excitation voltage exceeds the bifurcation threshold, the results indicate that the mode localization due to nonlinear characteristics increases the sensitivity from 0.22 ppm/°/s to 789.4 ppm/°/s when initial manufacturing defects are not considered. Furthermore, owing to the implementation of out-of-phase dual-resonator-driven, only the out-of-phase NNM is excited and forms a mode localization phenomenon, so avoiding the phenomenon of modal overlap. Accounting for the stiffness error (± 3%) caused by initial manufacturing defects, the amplitude ratio difference sensitivity improves by 314% in the nonlinear case compared to the linear case and by 103.3% relative to the nonlinear symmetric regime. The gyroscope sensitivity escalates with the rising absolute value of the stiffness error. The novel perturbation structure design for mode localization MEMS gyroscope exploits initial stiffness errors and nonlinearity to achieve a higher sensitivity output than the initial symmetric structure. © The Author(s), under exclusive licence to Springer Nature B.V. 2025.

关键词： Manufacturing defect MEMS gyroscope Modal overlap Mode localization Nonlinear normal mode Sensitivity

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Target-background feature blocks and aberrance repressed correlation filters for real-time UAV tracking

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Signal, Image and Video Processing 2025年第7期19卷 1-11页

作者： Jia, Yunwei Liu, Bo Liu, Zhenzhong Wang, Tianyang Yv, Kaiying Wang, Shuo Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

In recent years, Unmanned Aerial Vehicle (UAV) tracking technology has been widely applied in fields such as agriculture and aviation. However, due to limitations in UAV computational resources and battery life, deep learning-based tracking algorithms are difficult to deploy directly. Therefore, efficient and robust tracking methods based on Discriminative Correlation Filters (DCF) have become the mainstream for UAV tracking. The traditional DCF method updates the model with a fixed step size, making it prone to contamination, while the boundary effect further limits its tracking capability. To address the issue of model contamination, an appearance model update and masking mechanism was designed, introducing feature confidence and overall confidence thresholds to evaluate the quality of features and images. Features and images with poor quality are masked, and the learning rate is reduced to prevent model contamination. This paper proposes the Target-Background Feature Block and Aberrance Repressed Correlation Filter (TBFBARCF), which introduces target and background regularization terms into the spatial filter to mitigate boundary effects and incorporates an aberrance repression regularization term into the temporal aberrance repressed filter to reduce response map aberrance. The two filters mutually constrain each other and are jointly trained. Experiments conducted on three challenging datasets, OTB100, UAV123, and UAVDT, demonstrate that the TBFBARCF tracker outperforms 11 other DCF-based trackers. Its average precision and average success rate reach 0.756 and 0.62, respectively, and it operates at a speed of 36.6 frames per second (FPS) on a CPU platform. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Drones

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Project-guided Teaching Reform of Image Processing and Machine Vision: A Case Study of intelligent Diagnosis of Pulmonary Nodules 3

Project-guided Teaching Reform of Image Processing and Machi...

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3rd International Conference on Artificial Intelligence and Education, ICAIE 2024

作者： Zhang, Guobin Wang, Kexin Wang, Lewen Zhang, Runfeng Yang, Lu Wang, Min Liu, Zhenzhong Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China

ISBN: (纸本)9798400712692

This paper explores the innovation of teaching mode of image processing and machine vision courses under project orientation. Traditional image processing courses always lack a proper practical application, leading to some difficulties for students to understand the theoretical knowledge and apply the course content. Therefore, in order to better develop students' abilities in various aspects, this study takes the intelligent diagnosis of lung nodules as an example, and organically combines the theoretical knowledge in the textbook with the practical application in the project. In this paper we firstly discuss the content and importance of the image Processing and Machine Vision course, and review its research progress in related fields. Then we describe the design and implementation of the innovative model, and demonstrate the actual teaching effect under the new model through case studies. The final results show that this project-oriented teaching mode enhances students' learning interest, innovative thinking, practical and teamwork ability, which provides an important reference value for undergraduate talent cultivation. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： image processing and machine vision intelligent diagnosis medical image processing project guidance teaching innovation

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Innovative Application of Project Integration Technology in the Teaching Mode of Engineering Drawing Course 24

Innovative Application of Project Integration Technology in ...

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7th International Conference on Educational Technology Management, ICETM 2024

作者： Zhang, Runfeng Ming, Yankun Zhang, Guobin Liu, Zhenzhong Wu, Jianguo Tang, Yuxin National Demonstration Center for Exerimenta Mechanica and Electrica Engineering Education Lianin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin Tianjin China Tianjin Hanhailanfan Marine Technology Co. Ltd. Tianjin University of Technology Tianjin Tianjin China

ISBN: (纸本)9798400717468

Taking underwater robots project as an example, this paper discusses the innovation of the teaching mode of engineering drawing courses under the guidance of a project. The traditional engineering drawing course often lacks the link of practice and project application, which leads to the lack of students’ understanding and application ability of the course content. Therefore, this study proposes a teaching mode based on project guidance. By using underwater robots as teaching cases, theoretical knowledge and practical application are combined to promote the cultivation of students’ comprehensive abilities. This paper first reviews the research progress in related fields, then introduces the design and implementation methods of the teaching mode in detail, and analyzes the actual effect of the model through the underwater robot case. The results show that the teaching mode of engineering drawing courses under the guidance of the project has a positive impact on students’ learning interest, practical ability and teamwork ability. The results of this study will provide practical and feasible solutions for the innovation of the teaching mode of engineering drawing courses, and also provide a reference for the reform of undergraduate teaching mode in the construction of "New Engineering Education". © 2024 Copyright held by the owner/author(s).

关键词： Students

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Development and Implementation of a Wisdom Course Utilizing the "teaching-Innovation-Competition" Model within the Virtual Teaching and Research Section of mechatronic Engineering Major in China 3

Development and Implementation of a Wisdom Course Utilizing ...

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3rd International Conference on Artificial Intelligence and Education, ICAIE 2024

作者： Chen, Wei Ma, Wenpeng Hu, Wenhua Liu, Fulong Zhang, Xiaotao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology) Tianjin University of Technology Tianjin China

ISBN: (纸本)9798400712692

A new teaching model of teaching-innovation-competition is presented and a wisdom course based on this model is developed for mechatronics engineering majors, mainly to deal with several existing problems such as limited experimentation and lack of innovative inspiration in Chinese universities. This study elaborates the course objectives and structure of curriculum system, including digitalized teaching content, project-driven teaching means, innovation platform, web-based resource support, team competition and diversified evaluation method. Through a teaching case study within mechatronic engineering major, the teaching mechanism and achievements are demonstrated. The study results indicate that the proposed teaching mode based on the virtual teaching and research section, significantly improves students' innovation ability and the teaching effects, compared to traditional teaching methods. This teaching mode can also be extended to other majors for reference. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Construction and Practice of Wisdom Course mechatronic Engineering Major Teaching-Innovation-Competition Mode Virtual Teaching and Research Section

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Logistics Demand Forecasting and Scheduling Optimization Using K-Means Clustering and Deep Q-Network

Logistics Demand Forecasting and Scheduling Optimization Usi...

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Electronics, Energy systems and Power Engineering (EESPE), IEEE International Conference on

作者： Kun Liang Hang Zhang School of Management Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

ISBN: (数字)9798350389579

ISBN: (纸本)9798350389586

With the rapid development of e-commerce and supply chain management, logistics demand forecasting and scheduling optimization have become key links in improving logistics efficiency and service quality. To meet this challenge, this paper proposes a logistics demand forecasting and scheduling optimization method that combines K-Means clustering with deep Q network (DQN). Cluster analysis is used to reduce data complexity, and deep reinforcement learning is used to achieve intelligent scheduling. First, the background, challenges and research motivation of logistics demand forecasting and scheduling optimization are introduced. Secondly, the research results in related fields are reviewed, and the shortcomings of current research are pointed out. Then, the K-Means clustering algorithm, deep $\mathbf{Q}$ network theory and specific models of logistics demand prediction and scheduling optimization are elaborated. Then, the performance of the proposed method is designed and tested. The experimental results show that the proposed method can significantly improve the accuracy of logistics demand prediction, up to 0.93, optimize scheduling strategies, reduce logistics costs, and improve customer satisfaction.

关键词： Training Accuracy Costs Computational modeling Customer satisfaction Demand forecasting Clustering algorithms Predictive models Scheduling Logistics

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Research on Robust Measurement Method of Heart Rate Using Remote Photoplethysmography Based on Adversarial Learning Network with High and Low Frequency Features

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IEEE Transactions on Circuits and systems for Video Technology 2025年

作者： Zhai, Dezhao Chen, Wei Ding, Yinghao Yu, Ming Li, Qinwei Wu, Hang Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology China People's Liberation Army Systems Engineering Institute Academy of Military Sciences Tianjin300161 China Civil Aviation University of China Tianjin Key Laboratory for Advanced Signal Processing Tianjin300300 China Nankai University School of Artificial Intelligence Tianjin300381 China

Remote Photoplethysmography (rPPG) is a non-contact method for measuring heart rate (HR) through facial video, breaking the constraints of contact measurements and offering broad application prospects. However, in real monitoring scenarios, the distance of subjects and facial illumination often vary. This leads to degradation of rPPG signals due to changes in facial resolution and light intensity. This paper presents the High and Low Frequency Feature Adversarial Learning Network (HLFF-AL), which utilizes feature space interpolation and composite feature capture to perform multi-band global and local signal extraction. By adopting an adversarial learning strategy, it enhances the capability to capture semantic information of rPPG under varying resolutions and lighting, bridging the differences in rPPG signal generation due to resolution changes. While maintaining accuracy in HR measuring, the robustness of the network is improved to achieve robust measurement of HR via rPPG. Even under high-resolution conditions, the Mean Absolute Error (MAE) for the three public datasets - unchanging lighting (COHFACE, UBFC-rPPG) and varying lighting (BUAA-MIHR) - reached 1.10 bpm, 1.64 bpm, and 4.41 bpm, respectively, with a mere 0.29 bpm difference in MAE between high and low resolutions on the BUAA-MIHR dataset. This demonstrates that HLFF-AL can predict more robust rPPG signals in various resolutions and lighting scenarios, achieving competitive results compared to state-of-the-art methods. © 1991-2012 IEEE.

关键词： Heart

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Non-reciprocity of energy transfer derived from cubic stiffness-induced nonlinear phenomena

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Results in Physics 2025年 73卷

作者： Kong, Na Sun, Min Chen, Jianen Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin 300384 China School of Science Tianjin Chengjian University Tianjin 300384 China

Introducing purely nonlinear elastic elements can induce rich dynamic behaviors, such as bifurcations, jumps and isolated resonance curves, to linear systems. Therefore, these elements are suitable for constructing strong non-reciprocity of vibration energy transfer. First, the energy transfer along reciprocal directions in a three-degree-of-freedom system is investigated, where three oscillators are connected by cubic springs. The semi-analytical solutions of the system are obtained using the complexification-averaging method and the least squares method. The results are compared against numerical solutions obtained by the Runge-Kutta method. The excitation amplitude range that produces strong non-reciprocity of vibration energy is analyzed. The jump phenomenon under combined excitation is investigated, and a trigger method for constructing non-reciprocity using an impulse is proposed. Then, an oscillator chain with cubic stiffness and scaling parameters is embedded into a multi-degree-of-freedom linear oscillator system to further explore the effect of cubic stiffness. Energy transfer along two directions is compared by exciting the leftmost oscillator and the rightmost oscillator. Moreover, the trigger effect of the impulse on non-reciprocity is demonstrated. The results show significant differences in vibration energy transfer within three distinct frequency bands. The critical points between reciprocal and non-reciprocal states are obtained, and the three stages of reciprocity related to excitation amplitude are analyzed. Lastly, the modulation effect of the cubic stiffness on non-reciprocity is conducted by comparing the energy of the output oscillator. © 2025 The Authors

关键词： Cubic stiffness Energy transfer Jump phenomenon Non-reciprocity

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