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2022 2nd International Conference on Advanced Materials and Mechatronics, ICAMM 2022

作者： Zhang, Haiming Liu, Zhenzhong 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 China

In order to solve the problems of low flying efficiency, poor aerodynamic performance of wing and short flying time distance existing in the research of flapping wing aircraft, a kind of albatron-like flapping wing structure with higher flying efficiency is proposed in this paper. The functions of bird wing flutter, folding and gliding are realized by two degrees of freedom control respectively. First, the flying characteristics of albatross are analyzed and the flying characteristics suitable for albatross are summarized. Propose design requirements for bionic design objectives;The bionic structure design is carried out by referring to the physical structure of wing and the flight motion law, and the key parameters such as the size and angle of connecting rod mechanism are analyzed, calculated and optimized. A clamping mechanism is designed to achieve gear stuck in order to achieve gliding kinetic energy. The three-dimensional model of the flapping wing mechanism is built by solid works, and the motion analysis is carried out by using Motion plug-in. The analysis results of key-point parameters are output, which verifies the movement law and requirements of the mechanism to achieve the design objectives. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： Wings

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Exploration of Statistical Methods for Distribution of Graduation Scores in engineering Education Professional Certification

Exploration of Statistical Methods for Distribution of Gradu...

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International Conference on Educational and Information Technology (ICEIT)

作者： Lijun Xue Haozhi Mu Yahong Xue Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology) Tianjin China

ISBN: (数字)9798350372663

ISBN: (纸本)9798350372670

According to the requirements of the engineering education professional certification, this paper analyzes the characteristics of the graduation score data table. For the unclear scores in the table, their validity is determined by synthesizing other information. Effective method for processing this data table is provided, and a computer program is developed to directly obtain the distribution table and chart of the scores of the past three years graduates. This provides a basis for analyzing the degree of achievement of graduation requirement and meets the requirements of the engineering education professional certification.

关键词： Statistical analysis engineering education Information technology Certification

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Differential Private Discrete Noise-Adding Mechanism: Conditions, Properties, and Optimization

Differential Private Discrete Noise-Adding Mechanism: Condit...

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作者： Qin, Shuying He, Jianping Fang, Chongrong Lam, James Shanghai Jiao Tong University Department of Automation Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Beijing100816 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China Shenzhen Institute of Research and Innovation Shenzhen518055 China The University of Hong Kong Department of Mechanical Engineering Hong Kong999077 Hong Kong

Differential privacy is a widely used framework for evaluating privacy loss in data anonymization. While the continuous noise-adding mechanism has been extensively studied, there is a dearth of research on discrete random mechanisms for discretely distributed data. This study addresses this gap by examining the primary differential privacy conditions and properties for general discrete random mechanisms, and investigating the trade-off between data privacy and data utility. We establish sufficient and necessary conditions for discrete ϵ-differential privacy and sufficient conditions for discrete (ϵδ)-differential privacy, with closed-form expressions for differential privacy parameters. These conditions can be applied to evaluate the differential privacy properties of discrete noise-adding mechanisms with various types of noise. Moreover, we propose an optimal discrete ϵ-differential private noise-adding mechanism under the utility-maximization framework. Here, the utility is characterized by the similarity of the statistical properties between the mechanism's input and output. Our findings suggest that the optimal class of discrete noise probability distributions in the mechanism is staircase-shaped. © 1991-2012 IEEE.

关键词： Probability distributions

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Design of enhanced pipeline repair clamp 6

Design of enhanced pipeline repair clamp

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6th International Conference on Material Strength and Applied Mechanics, MSAM 2023

作者： Zhao, Bingjie Zhang, Shuli Hu, Jun Gao, Qijun Sun, Jingquan Lu, Linping Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China CNOOC Safety Technology Services Co. Ltd Tianjin300457 China

ISBN: (纸本)9781643684345

Based on the technical requirements for emergency repair of damaged subsea oil and gas pipelines, an enhanced pipeline repair clamp is designed. In order to facilitate the installation of subsea environment, a hydraulic cylinder auxiliary installation mechanism is designed. Based on the reinforcement requirements of damaged part of pipelines, the enhanced components are designed and the slip enhanced structure is designed. Analyzed the sealing technology of the clamp, and found that double sealing technology is adopted by the clamp, resulting in higher reliability of pipeline repair sealing. The formula for calculating the key parameters of the wall thickness of the clamp is provided. The above work can provide reference for the design and application of enhanced pipeline repair clamp. © 2023 The Authors.

关键词： Repair

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Optimization of Extreme Learning Machine Based on Improved Beetle Antennae Search for Slot Die Coating Prediction

Optimization of Extreme Learning Machine Based on Improved B...

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第35届中国控制与决策会议

作者： Haonan Yang Ding Liu Jun-Chao Ren Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology

In the actual production of slot die coating,the minimum coating thickness and the maximum substrate moving speed could only be judged by production experience,and there was no accurate prediction model due to the nonlinear characteristics of fluid ***,building a reasonable and efficient prediction model for slot die coating is now an urgent and challenging *** this paper,an optimized extreme learning machine(ELM) based on improved beetle antennae search(IBAS) algorithm is proposed for slot die coating *** optimized ELM model can well learn the nonlinear characteristics of the system and make accurate predictions,thus solving the traditional inaccurate empirical *** the prediction accuracy of ELM depends on the selection of weights and biases,the IBAS optimization algorithm is used to quickly search for the optimal value of weights and biases in the ELM *** algorithm improves the generation mechanism of antennae on the basis of the original algorithm,so that the algorithm can converge *** the same time,the search strategy of the algorithm is improved to avoid falling into the local optimal *** predicting the production data of slit coating,the feasibility and effectiveness of IBAS-ELM model are proved.

关键词：

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sEMG-vision Tra: A Gesture Recognition Method Based on Surface EMG Signal-Vision Fusion

sEMG-vision Tra: A Gesture Recognition Method Based on Surfa...

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IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI

作者： Weili Ding Shuhui Zhang Han Liu Engineering Research Center of Intelligent Control System and Intelligent Equipment Ministry of Education Laboratory of Intelligent Rehabilitation and Neromodulation of Hebei Province Institute of Electrical Engineering Yanshan University Qinhuangdao People's Republic of China College of Computer Science and Software Engineering Shenzhen University Shenzhen People's Republic of China

ISBN: (数字)9798350379167

ISBN: (纸本)9798350379174

To address the challenges of gesture recognition accuracy within human-computer interaction technologies, and to overcome the limitations of single-modal biometric feature recognition - which often falls short in practical applications, this paper introduces a multimodal feature fusion classification algorithm, sEMG-vision Tra. This algorithm aims to integrate different types of biometric data, thereby enhancing the robustness and effectiveness of gesture recognition. Initially, we utilize the Mediapipe framework to extract skeletal point data from images of the human hand. The next process involves calculating distance and angle features between skeletal points, as well as extracting time-domain features from surface electromyographic (sEMG) signals. Following this, features from these two modalities are concatenated along the feature dimension and then linearly projected onto the target dimension. To effectively capture the intricate interrelationships among these features, we employ a multi-layer Transformer encoder for encoding the combined features. The encoded features are subsequently mapped to the final output dimension. The effectiveness of our approach is demonstrated through validation on a custom dataset. This algorithm's key contribution lies in the fusion of two distinct modal features, images and EMG signals, to achieve a more holistic and precise feature representation. By this, it significantly enhances our ability to capture the essential information for applications like gesture recognition or human-computer interaction. The algorithm showcases exceptional performance, achieving a noteworthy accuracy rate of 95.56% on a custom dataset.

关键词： Human computer interaction Biometrics Visualization Accuracy Gesture recognition Feature extraction Transformers Electromyography Classification algorithms Time-domain analysis

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DSLO: Deep Sequence LiDAR Odometry Based on Inconsistent Spatio-temporal Propagation

DSLO: Deep Sequence LiDAR Odometry Based on Inconsistent Spa...

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IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Huixin Zhang Guangming Wang Xinrui Wu Chenfeng Xu Mingyu Ding Masayoshi Tomizuka Wei Zhan Hesheng Wang Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China Department of Engineering University of Cambridge Cambridge U.K. UC Berkeley Berkeley CA USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper introduces a 3D point cloud sequence learning model based on inconsistent spatio-temporal propagation for LiDAR odometry, termed DSLO. It consists of a pyramid structure with a spatial information reuse strategy, a sequential pose initialization module, a gated hierarchical pose refinement module, and a temporal feature propagation module. First, spatial features are encoded using a point feature pyramid, with features reused in successive pose estimations to reduce computational overhead. Second, a sequential pose initialization method is introduced, leveraging the high-frequency sampling characteristic of LiDAR to initialize the LiDAR pose. Then, a gated hierarchical pose refinement mechanism refines poses from coarse to fine by selectively retaining or discarding motion information from different layers based on gate estimations. Finally, temporal feature propagation is proposed to incorporate the historical motion information from point cloud sequences, and address the spatial inconsistency issue when transmitting motion information embedded in point clouds between frames. Experimental results on the KITTI odometry dataset and Argoverse dataset demonstrate that DSLO outperforms state-of-the-art methods, achieving at least a 15.67% improvement on RTE and a 12.64% improvement on RRE, while also achieving a 34.69% reduction in runtime compared to baseline methods. Our implementation will be available at https://***/IRMVLab/DSLO.

关键词： Point cloud compression Solid modeling Laser radar Accuracy Three-dimensional displays Runtime Logic gates Robot sensing systems Real-time systems Odometry

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LHMap-loc: Cross-Modal Monocular Localization Using LiDAR Point Cloud Heat Map

arXiv

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arXiv 2024年

作者： Wu, Xinrui Xu, Jianbo Hu, Puyuan Wang, Guangming Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom

— Localization using a monocular camera in the pre-built LiDAR point cloud map has drawn increasing attention in the field of autonomous driving and mobile robotics. However, there are still many challenges (e.g. difficulties of map storage, poor localization robustness in large scenes) in accurately and efficiently implementing cross-modal localization. To solve these problems, a novel pipeline termed LHMap-loc is proposed, which achieves accurate and efficient monocular localization in LiDAR maps. Firstly, feature encoding is carried out on the original LiDAR point cloud map by generating offline heat point clouds, by which the size of the original LiDAR map is compressed. Then, an end-to-end online pose regression network is designed based on optical flow estimation and spatial attention to achieve real-time monocular visual localization in a pre-built map. In addition, a series of experiments have been conducted to prove the effectiveness of the proposed method. Our code is available at: https://***/IRMVLab/LHMaploc. Copyright © 2024, The Authors. All rights reserved.

关键词： Optical radar

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10-Hertz squeezed light source generation on the cesium D_(2)line using single photon modulation

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Frontiers of physics 2023年第3期18卷 167-174页

作者： Guan-Hua Zuo Yu-Chi Zhang Gang Li Peng-Fei Zhang Peng-Fei Yang Yan-Qiang Guo Shi-Yao Zhu Tian-Cai Zhang State Key Laboratory of Quantum Optics and Quantum Optics Devices Collaborative Innovation Center of Extreme OpticsInstitute of Opto-ElectronicsShanxi UniversityTaiyuan 030006China College of Physics and Electronic Engineering Shanxi UniversityTaiyuan 030006China Department of Physics Zhejiang UniversityHangzhou 310027China Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi ProvinceCollege of Physics and OptoelectronicsTaiyuan University of TechnologyTaiyuan 030024China

Generation of squeezed light source is a promising technique to overcome the standard quantum limit in precision ***,we demonstrate an experimental generation of quadrature squeezing resonating on the cesium D_(2)line down to 10 Hz for the first *** maximum squeezing in audio frequency band is 5.57 ***,we have presented a singlephoton modulation locking to control the squeezing angle,while effectively suppressing the influence of laser noise on low-frequency *** whole system operates steadily for *** generated low-frequency squeezed light source can be applied in quantum metrology,light–matter interaction investigation and quantum memory in the audio frequency band and even below.

关键词： squeezed state optical parametric amplifier low-frequency squeezing

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A Real-time Local Planner Design for Smart Wheelchairs Based on Koopman Bilinear Model Predictive control

A Real-time Local Planner Design for Smart Wheelchairs Based...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Guanfeng Yu Han Zhang Zehao Wang Jingchuan Wang Department of Automation Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities.

关键词： Pedestrians Accuracy systematics Wheelchairs Estimation Predictive models Real-time systems

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