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5th World Conference on Mechanical Engineering and Intelligent Manufacturing, WCMEIM 2022

作者： Zheng, Hu Tan, Libin Yu, Xiaoliu Anhui University of Technology AnHui Province Key Laboratory of Special Heavy Load Robot Ma'anshan China Beijing Advanced Innovation Center for Intelligent China Robots and Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665473699

Aiming at the problem that the traditional fault diagnosis method is difficult to effectively extract the fault features of the high-speed train wheelset bearing signal, this paper proposes a fault diagnosis method based on the two-dimensional image method. First, the one-dimensional vibration signal is converted into a Two-dimensional grayscale image, eliminating the influence of expert experience on the feature extraction process. Then an improved network model is proposed, which can automate the process of feature extraction and fault diagnosis. Finally, this paper simulates the complex driving environment of high-speed trains by adding noise with different SNRs to the vibration signal and analyzes the influence of noise on the diagnostic ability of the method. The results show that the method is effective. © 2022 IEEE.

关键词： Failure analysis

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RA Loss: Relation-Aware Loss for Robust Person Re-identification 16th

RA Loss: Relation-Aware Loss for Robust Person Re-identific...

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16th Asian Conference on Computer Vision, ACCV 2022

作者： Wang, Kan Hu, Shuping Cheng, Jun Cheng, Jun Pang, Jianxin Tan, Huan Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Laboratory of Robot Localization and Navigation Technology UBTech Robotics Corp Ltd. Shenzhen China Institute for Infocomm Research A*STAR Singapore Singapore

ISBN: (纸本)9783031262838

Previous relation-based losses in person re-identification (ReID) typically comprise two sequential steps: they firstly sample both positive pair and negative pair and then deploy constraints to simultaneously improve intra-identity compactness and inter-identity separability. However, existing relation-based losses usually place emphasis on exploring the relation between images and therefore consider only several pairs during each optimization. This inevitably leads to different convergence status for pairs of the same kind and brings about the intra-pair variance problem. Accordingly, we propose a novel Relation-Aware (RA) loss to address the intra-pair variance via exploring the informative relation across pairs. In brief, we introduce a macro-constraint and a micro-constraint. The macro-constraint encourages the separation of positive pair and negative pair via pushing far apart the two "centers" of the positive pair and the negative pair. The "center" of each kind of pair are obtained via averaging all the pairs of the same kind. The micro-constraint further enhances the compactness by minimizing the discrepancies among pairs of the same kind. The two constraints work cooperatively to relieve the intra-pair variance and improve the quality of pedestriansąŕ representation. Results of extensive experiments on three widely used ReID benchmarks, i.e., Market-1501, DukeMTMC-ReID and CUHK03, demonstrate that the RA loss brings improvements over existing relation-based losses. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Deep learning

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Stereo Matching Algorithm Based on Improved Census Transform and Adaptive Window Optimization

Stereo Matching Algorithm Based on Improved Census Transform...

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Computer Science and Blockchain (CCSB), International Conference on

作者： Tongle Li Zucheng Huang Lile He Weijun Wang Hai Yuan Jian Wang Guangzhou Institute of Advanced Technology Robot and Intelligent Equipment Center Guangzhou Guangdong China School of Mechanical and Electrical Engineering Xi'an University of Architecture and Technology Xi'an Shaanxi China

ISBN: (数字)9798350356502

ISBN: (纸本)9798350356519

To address the issue of insufficient accuracy in local stereo matching algorithms, this paper proposes an improved stereo matching algorithm that integrates an enhanced Census transform with adaptive window optimization. Initially, by utilizing interpolated information from the mean of the central pixel along with the maximum and minimum pixel values, the encoding of the Census transform is augmented, thereby increasing the utilization of neighboring pixels and reducing the impact of noise. Subsequently, a region-based partitioning method, grounded in color similarity, is introduced. This method sets thresholds according to different region characteristics to define appropriate arm length conditions, thereby optimizing the aggregation process in low-texture and enhancing matching accuracy in such areas. Finally, disparity maps are computed and optimized using the derived disparity values. On the standard image set of the Middlebury evaluation platform, the proposed algorithm achieved an average error rate of 3.95%, demonstrating a significant improvement in matching accuracy compared to existing high-performing local stereo matching algorithms.

关键词： Computer science Accuracy Costs Image color analysis Error analysis Transforms Encoding Colored noise Optimization Standards

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A Novel SEA-based Haptic Interface for robot-Assisted Vascular Interventional Surgery

A Novel SEA-based Haptic Interface for Robot-Assisted Vascul...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yonggan Yan Shuxiang Guo Chuqiao Lyu Jian Guo Jian Wang Pengfei Yang Yongwei Zhang Yongxin Zhang Jianmin Liu Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd Shenzhen China Neurovascular Center Changhai Hospital Naval Medical University Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

robot-assisted vascular interventional surgery can isolate interventionists and X-ray radiation, and improve surgical accuracy. However, the leader side outside the operating room still has problems such as incomplete collection of operating information and unrealistic tactile feedback. The main objective of this paper is to design a haptic interface that can simultaneously capture the force-position information of the interventionists and generate force to assist the interventionists in performing surgeries on the leader side. It can capture the interventionists’ delivery displacement, twisting angle, clamping force, and provide real-time force feedback. A leader-follower bidirectional force feedback control strategy was proposed. Based on this strategy, on the one hand, the interventionist perceives the multi-modal information fed back from the follower side, makes judgments, and actively adjusts the surgical operation. On the other hand, the interventionist controls the grasping state of the instruments remotely to control the safety operating force threshold. Finally, the experimental setup was built and a series of evaluation experiments were performed. The experimental results verified the feasibility of the designed haptic interface. It can generate dynamic and accurate force feedback and realize leader-follower grasping force control.

关键词： Accuracy Instruments Force Force feedback Dynamics Surgery Grasping

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Design and Property Analysis of an Ultra-Low Range Pirani Vacuum Gauge for Rocket-sounding

Design and Property Analysis of an Ultra-Low Range Pirani Va...

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2024 Applied Optics and Photonics China: Laser technology and Applications, AOPC 2024

作者： Zheng, Dezhi Han, Lijing Chun, Hu Wang, Yikai Peng, Peng Advanced Research Institute of Multidisciplinary Sciences Beijing Institute of Technology Beijing100081 China State Key Laboratory of CNS/ATM Beijing Institute of Technology Beijing100081 China MIIT Key Laboratory of Complex-field Intelligent Exploration Beijing Institute of Technology Beijing100081 China Institute of Information and Electronics Beijing Institute of Technology Beijing100081 China Yangtze Delta Region Academy of Beijing Institute of Technology Jiaxing314000 China Chongqing Caeri Robot Technology Co. Ltd Certification Department Chongqing400722 China

ISBN: (数字)9781510687745

ISBN: (纸本)9781510687738

Near-space atmospheric models play a crucial role in the advancement of hypersonic weapons. Current atmospheric models calculate air pressure using altitude back-calculation, but this method often falls short of providing the accuracy required for enhancing aircraft performance. This paper introduces an ultra-low pressure sensor based on Pirani's principle for in-situ sounding rockets. The sensor is constructed on a silicon substrate and employs gold wires as the sensing element, featuring an initial resistance of 1100 Ω. It uses a photosensitive polyimide (PSPI) as the micro-hot plate material, which has an area of 1 mm x 1 mm. To meet the environmental requirements under high overload conditions, an aluminum film is integrated into the structure to improve its resistance to such overloads. Additionally, this paper conducts an analysis of the thermal conductivity model to enhance the structural integrity and performance of the Pirani vacuum sensor. Finally, This paper presents a comprehensive model correlating physical dimensions with detection performance and performs an analysis of thermal stress utilizing simulation software. Additionally, it includes an examination of electromagnetic coupling and thermal field effects on the designed Pirani vacuum sensor. During the rocket launch for deploying a probe sensor for sounding, the sensor experiences a longitudinal overload of 200g. Finite element analysis indicates that the stress exerted on the sensor is 3.2 MPa, significantly lower than the PSPI/Al composite film's Young's modulus. The simulation results indicate that the sensor measurement range can reach 0.037-3634Pa. When the measuring range is 0.1 to 100 Pa, the sensitivity reaches 136.7/log(P). And for a measuring range of 100 to 1000 Pa, the sensitivity is 24.9/log(P). The sensor’s sensitivity, range, and stress characteristics are adequate to meet the requirements for rocket sounding. This sensor offers a valuable approach for full-altitude in-situ detectio

关键词： Sounding rockets

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Design and analysis of truss deployable antenna mechanism based on a novel symmetric hexagonal profile division method

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Chinese Journal of Aeronautics 2021年第8期34卷 87-100页

作者： Jinwei GUO Yongsheng ZHAO Yundou XU Yongjie LI Jiantao YAO Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

As the deployment,supporting,and stability mechanisms of satellite antennas,space-deployable mechanisms play a key role in the field of *** order to design truss deployable antenna supporting mechanisms with large folding rate,high accuracy,easy deployment and strong stability,aiming at the geometric division of the parabolic reflector,a novel method based on symmetric hexagonal division and its corresponding modular truss deployable antenna mechanism is proposed,and the original method based on asymmetric triangular division and its corresponding mechanisms are presented for comparative ***,the screw theory is employed to analyze the mobility of different ***,the improved three-dimensional mesh method is used to divide the reflector surface of a large parabolic antenna designed by the two different methods,and the profile accuracy and the type of links are taken as the evaluation indexes to quantitatively analyze the division ***,a three-dimensional model of the modular deployable mechanism based on the symmetric hexagonal design is developed,and the deployable mechanisms with different configurations based on the two design methods are compared and analyzed from the mechanical *** research results provide a good theoretical reference for the design of deployable truss antenna mechanisms and their application in the aerospace field.

关键词： Mobility Modular mechanism Profile division Screw theory Truss deployable antenna

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Distance Transform Guided Medical Image Segmentation With Channel Information Exchange 23

Distance Transform Guided Medical Image Segmentation With Ch...

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Proceedings of the 2023 6th International Conference on Algorithms, Computing and Artificial Intelligence

作者： Han Yang Minxia Xu Bin Cai Pengpeng Liang Zhiyong Sun Bo Song Erkang Cheng Laboratory of Bionic Sensing and Advanced Robot Technology Institute of Intelligent Machines Hefei Institutes of Physical Science Chinese Academy of Sciences China and University of Science and Technology of China China Hangzhou Institute for Advanced Study University of Chinese Academy of Sciences China School of Computer and Artificial Intelligence Zhengzhou University China Laboratory of Bionic Sensing and Advanced Robot Technology Institute of Intelligent Machines Hefei Institutes of Physical Science Chinese Academy of Sciences China

ISBN: (纸本)9798400709203

Medical image segmentation plays an important role in the computer-aided screening of many diseases. Different from popular deep learning-based segmentation methods that mainly focus on the whole target, recent studies pay more attention to target contour by making use of the distance transform of the object boundary. In this paper, to learn both the object content and the boundary information, we incorporate a regression task that estimates a distance map of target contour into a CNN-based segmentation network. The segmentation task and the regression task share most parts of the backbone network. Moreover, we introduce a channel information exchange module that dynamically exchanges feature maps between the segmentation and the regression tasks. The proposed information exchange module is parameter-free and controlled by the batch normalization scaling factor. In addition, the output feature maps of the two tasks are further integrated to provide fused segmentation *** evaluate our method on three popular datasets, including the 2D ultrasound thyroid nodule segmentation dataset, the 3D MRI left atrial segmentation dataset and 2017 MM-WHS whole heart segmentation Challenge datasets. Experimental results show that our method achieves promising performance compared to the state-of-the-art approaches.

关键词： channel information exchange distance transform regression medical image segmentation

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The Design of An Intelligent Self-Reconfigurable Single-Module robot

The Design of An Intelligent Self-Reconfigurable Single-Modu...

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Electronic technology and Information Science (ICETIS), International Conference on

作者： Zezheng Xing Qiuwei Zheng Lang Xiong Yundou Xu Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging & Stamping Technology Science (Yanshan University) Ministry of Education of China Qinhuangdao China

ISBN: (数字)9798350388343

ISBN: (纸本)9798350388350

Self-reconfigurable robot is a typical modular robot, which is composed of a large number of identical modules based on cell design idea. Perform a job by combining it as a whole while working. At present, the carrying capacity of the self-reconfigurable robot is limited and the degree of intelligence is not high, which leads to the limited working ability of the self-reconfigurable robot. Therefore, an intelligent single-module self-reconfigurable robot is designed in this paper. Firstly, a high stiffness bidirectional butt locking mechanism is designed for the connection between modules. Secondly, aiming at the task of quick survey of fire rescue environment, the identification and distance detection of ignition point and rescue personnel are designed in the fire environment. The BI _ A * algorithm is used to complete the single-module path planning of the self-reconfigurable robot, and the Multi_ Bi _ A * algorithm is proposed for the optimal path planning of the collection of multi-module self-reconfigurable robots. Finally, the functional verification of the prototype is completed by using a single three-room model experiment platform.

关键词： Surveys Target recognition Prototypes Programming Multitasking Stability analysis Path planning

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Research on the Process-based Generation Method of Multi-ships Collision Avoidance Test Scenarios Database for Maritime Autonomous Surface Ships 33rd

Research on the Process-based Generation Method of Multi-shi...

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33rd International Ocean and Polar Engineering Conference, ISOPE 2023

作者： Wang, Xinyu Wang, Yihang Bian, Hui Ma, Jilin Zhao, Xuan Qinhuangdao Branch China Classification Society Hebei China School of Mechanical Engineering Yanshan University Hebei China Parallel Robot and Mechatronic System Laboratory Hebei Province Hebei China Key Laboratory of Advanced Forging & Stamping Technology and Science Hebei China Science & Technology Innovation and Test Center Beijing China

ISBN: (纸本)9781880653807

This paper proposes a process-based method for generating virtual test scenarios for near-shore maritime autonomous surface ships (MASS) collision avoidance tests. The method includes a scenario complexity index to provide different difficulty levels of virtual test scenarios for different test requirements, reducing the test volume while ensuring coverage and reliability requirements. The scenario database generated by this method reflects the frequency of real-world scenarios and meets the requirements of virtual test realism. This method can improve the efficiency and reliability of MASS testing, with potential future improvements in the complexity evaluation matrix and statistical analysis of vessel maneuvering ability. © 2023 by the International Society of Offshore and Polar Engineers (ISOPE).

关键词： Ships

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Kinematic,Workspace and Force Analysis of A Five-DOF Hybrid Manipulator R(2RPR)R/SP+RR

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Chinese Journal of Mechanical Engineering 2022年第5期35卷 232-243页

作者： Yundou Xu Fan Yang Youen Mei Dongsheng Zhang Yulin Zhou Yongsheng Zhao Laboratory of Parallel Robot and Mechatronic System of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 006004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Tencent Robotics X Tencent HoldingsShenzhen 518057China

In the present study,the over-constrained hybrid manipulator R(2RPR)R/SP+RR is considered as the research *** this paper,kinematics of the hybrid manipulator,including the forward and inverse position,are ***,the workspace is checked based on the inverse position solution to evaluate whether the workspace of the hybrid manipulator meets the requirements,and the actual workspace of the hybrid robot is *** that,the force analysis of the over-constrained parallel mechanism is carried out,and an ADAMS-ANSYS rigid-flexible hybrid body model is established to verify the *** on the obtained results from the force analysis,the manipulator structure is ***,the structure optimization is carried out to improve the robot ***,calibration and workspace verification experiments are performed on the prototype,cutting experiment of an S-shaped aluminum alloy workpiece is completed,and the experiment verifies the machining ability of the *** work conducts kinematics,workspace,force analyses,structural optimization design and experiments on the over-constrained hybrid manipulator R(2RPR)R/SP+RR,providing design basis and technical support for the development of the novel hybrid manipulator in practical engineering.

关键词： Hybrid manipulator Over-constrained Kinematic analysis Stiffness analysis

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