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DADAN: Dynamic-Augmented and Density-Aware Network for Accurate 3-D Object Detection With 4-D Radar

IEEE Sensors Journal 2025年第6期25卷 10272-10286页

作者： Wang, Xingzheng Li, Jiahui Wu, Jianbin Wu, Shaoyong Li, Lihua Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China Shenzhen Technology University Guangdong-Hongkong-Macao Critical Optical Components Precision Manufacturing Research Center Sino-German College of Intelligent Manufacturing Shenzhen518118 China

The cost-effective automotive 4-D radar is emerging as a feasible solution for 3-D object detection in autonomous driving scenarios. However, point clouds generated by 4-D radar are typically sparse. Current methods encounter challenges in resolving the foreground-background confusion in sparse point clouds due to: 1) the underutilization of the unique dynamic information (velocity and intensity) of 4-D radar points;and 2) the density variations of point clouds where they are near-dense-far-sparse, exacerbating the confusion. Therefore, we propose a dynamic-augmented and density-aware network (DADAN) to address these challenges by: 1) assigning high weights to foreground points based on dynamic information and enhancing their feature encoding to reduce confusion effectively;and 2) utilizing attention mechanisms along with density information to adaptively address exacerbated confusion caused by density variations. The DADAN comprises a dynamic-augmented encoding network, a density-aware backbone, and a detection head. The encoding network incorporates a dynamic-augmented encoding module (DAEM) that assigns high weights to foreground points based on velocity and intensity data to improve their feature encoding. Notably, foreground points typically exhibit distinct dynamic information compared to background points, distinguishing them from the background. The backbone network incorporates an attention mechanism along with density information to generate density-aware features. The detection head is responsible for 3-D bounding boxes and object categories. The experimental results on various public datasets demonstrate the superior performance of the proposed method compared to existing approaches. These results illustrate that the DADAN effectively addresses the issue of confusion, accurately detecting objects in complex scenes. © 2001-2012 IEEE.

关键词： Object detection

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Interturn Short-Circuit Fault Diagnosis Method of Permanent Magnet Synchronous Motor Based on Phase Current Residuals 27

Interturn Short-Circuit Fault Diagnosis Method of Permanent ...

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27th International Conference on Electrical Machines and Systems, ICEMS 2024

作者： Rao, Yao Fu, Jie Cui, Peijuan Zheng, Zaiping Wang, Wei Southeast University School of Electrical Engineering Nanjing210096 China Beijing Institute of Precision Mechatronics and Controls Innovation Center for Control Actuators Beijing100076 China

ISBN: (纸本)9784886864406

To improve the performance of interturn short-circuit fault (ISCF) detection and location in permanent magnet synchronous motor (PMSM), this paper proposes a novel fault diagnosis method based on phase current residuals. This method diagnoses ISCF by the residuals subtracting the fault current of PMSM from the healthy current constructed by Luenberger observer, which enhances the accuracy and robustness of fault diagnosis. Considering model errors exist, the negative sequence component of current residuals is constructed, and the model parameters impact is eliminated. Then, the sliding window root mean square of the negative sequence component is calculated as the fault index, compared with the threshold to determine the fault occurrence. Moreover, since the amplitudes of the three-phase current residuals are different after the ISCF, the maximum amplitude is used to locate the faulty phase. Finally, the effectiveness of the proposed fault diagnosis method is verified through simulations under various operating conditions. © 2024 The Institute of Electrical Engineers of Japan.

关键词： Permanent magnets

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Design of A Novel Primary Permanent Magnet Linear Machine with Low Thrust Ripple 7

Design of A Novel Primary Permanent Magnet Linear Machine wi...

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7th IEEE Student Conference on Electric Machines and Systems, SCEMS 2024

作者： Chai, Jiawei Xu, Jiajia Gui, Xianguo Gao, Qiang School of Electrical Engineering & Automation Harbin Institute of Technology Harbin China Innovation Center for Control Actuators Beijing Institute of Precision Mechatronics and Controls Beijing China

ISBN: (纸本)9798350366945

In order to reduce thrust ripple, this paper proposes a new primary permanent magnet linear machine with uneven pole (UP-PPMLM). Firstly, the proposed structure and advantages compared to conventional structure are introduced. Then, the expressions of air-gap flux density by permanent magnets (PMs) and armature reaction are derived. Finally, by using finite element method (FEM), the new topology reasonability is proved. Meanwhile, the performances of proposed machines are compared to conventional topology, and the result confirms the electromagnetic performances of the proposed machine have been greatly improved. © 2024 IEEE.

关键词： Permanent magnets

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HTEC foot:A novel foot structure for humanoid robots combining static stability and dynamic adaptability

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Defence Technology(防务技术) 2025年第2期44卷 30-51页

作者： Jintao Zhang Xuechao Chen Zhangguo Yu Lianqiang Han Zhifa Gao Qingrui Zhao Gao Huang Ke Li Qiang Huang School of Mechatronical Engineering Beijing Institute of TechnologyNo.5South StreetZhongguancunHaidian DistrictBeijing100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationNo.5South StreetZhongguancunHaidian DistrictBeijing100081China School of Information Science and Technology Beijing University of TechnologyNo.100PingleyuanChaoyang DistrictBeijing100124China Innovation Center for Control Actuators Beijing Institute of Precision Mechatronics and ControlsDonggaodiFengtai DistrictBeijing100076China

Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental *** this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics ***,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human ***,the kinematics and REH dynamics of the HTEC model were *** on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was ***,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid *** foot static stability is *** enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone *** proposed design method and structure,the mobility of the humanoid robot is improved.

关键词： Humanoid robot Bionic structure Passive foot structure Rigid-elastic hybrid dynamics model Optimal stiffness matching

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Interturn Short-Circuit Fault Diagnosis Method of Permanent Magnet Synchronous Motor Based on Phase Current Residuals

Interturn Short-Circuit Fault Diagnosis Method of Permanent ...

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International Conference on Electrical Machines and Systems (ICEMS)

作者： Yao Rao Jie Fu Peijuan Cui Zaiping Zheng Wei Wang School of Electrical Engineering Southeast University Nanjing China Innovation Center for Control Actuators Beijing Institute of Precision Mechatronics and Controls Beijing China

ISBN: (数字)9784886864406

ISBN: (纸本)9798350379105

关键词： Fault diagnosis Accuracy Fault detection Observers Permanent magnet motors Robustness Indexes Root mean square Fault currents

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Finite-Time Attitude control for Coupled Spacecraft with Input Constraints 42

Finite-Time Attitude Control for Coupled Spacecraft with Inp...

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42nd Chinese control Conference, CCC 2023

作者： Zhu, Wanwan Yukai, Yang School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China China University of Mining and Technology Engineering Research Center of Intelligent Control for Underground Space Ministry of Education Xuzhou221116 China Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789887581543

In this paper, a finite-time saturated attitude control algorithm is proposed for coupled spacecraft under flexible vibration, liquid sloshing, model uncertainty and external disturbance. By adding a feedback term, a saturated super-twisting sliding mode control algorithm is designed to realize coupled spacecraft attitude control in finite time. The main feature of the proposed control algorithm is that it is continuous and control torque to regulate the coupled spacecraft system affected by lumped uncertainty in finite time. Finally, the simulation results are given to verify the effectiveness of the proposed control algorithm. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Attitude control

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Design of A Novel Primary Permanent Magnet Linear Machine with Low Thrust Ripple

Design of A Novel Primary Permanent Magnet Linear Machine wi...

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IEEE Student Conference on Electric Machines and Systems

作者： Jiawei Chai Jiajia Xu Xianguo Gui Qiang Gao School of Electrical Engineering & Automation Harbin Institute of Technology Harbin China Innovation Center for Control Actuators Beijing Institute of Precision Mechatronics and Controls Beijing China

ISBN: (数字)9798350366945

ISBN: (纸本)9798350366952

关键词： Electric machines Air gaps Force Modulation Armature Permanent magnets Finite element analysis Topology Electromagnetics Optimization

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Optimized design and performance testing of hydraulic electrostatic actuator

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International Journal of Smart and Nano Materials 2024年第4期15卷 811-834页

作者： Yuze Ye Qingsong He Changli Yang Xiaodong Xu Lin Xie Diyi Liu Bo Zeng Zhijian Leng Jiangsu Key Laboratory of Bionic Materials and Equipment College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina Key Laboratory of Advanced Technology for Small and Medium-Sized UAV Ministry of Industry and Information TechnologyUnmanned Aerial Vehicles Research InstituteNanjing University of Aeronautics and AstronauticsNanjingChina State Key Laboratory of Mechanics and Control of Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjingChina Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and ControlsBeijingChina Technology Center CCCC Second Harbor Engineering CompanyWuhanChina

Hydraulic electrostatic actuators have become a research hotspot for their inherent flexibility and safety of human-machine *** paper aims to combine the characteristics of dielectric elastomers and fluid actuators,enhancing the dielectric constant and breakdown field strength by modifying Al_(2)O_(3)on the surface of nanostructured BaTiO3 and in order to develop a hydraulic electrostatic actuator with silicone rubber as the matrix ***-factor experiments were firstly conducted to confirm the range of three factors affecting the actuation strain of the actuator:BaTiO_(3)@Al_(2)O_(3)content,thickness of the silicone rubber elastomer film,and pre-stretching ratio *** response surface methodology was used to study the interactive influence of the above three influencing factors on the actuation *** was obtained that A has an insignificant influence on the actuation strain,AB has a significant influence on the actuation strain,and B,C,AC,and BC have a highly influence on the actuation *** actuation strain as the optimization objective yielded the combination results of each factor:BaTiO_(3)@Al_(2)O_(3)content of 2.57%,thickness of 0.60 mm,and pre-stretching ratio coefficient of *** strain tests were conducted with optimized parameters under *** experimental results of the actuation strain test show that the relative error between the test value and the model prediction value of 16.47%is less than 5%,and the optimization model results are *** optimized hydraulic electrostatic actuator was tested for actuation strain and electrical performance under different *** experiment showed that the maximum actuation strain of the hydraulic electrostatic actuator was 17.20%under a load of 100 *** critical breakdown current of the actuator ranged from 115μA to 130μA,and the maximum electromechanical conversion efficiency of the actuator under different loads was 67.93%.Finally,a joint actuati

关键词： Hydraulic electrostatic actuator BaTiO_(3)@Al_(2)O_(3) response surface experiments actuation strain

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Experimental Validation of Suspension Structure through Vibration Equivalence

Experimental Validation of Suspension Structure through Vibr...

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IEEE International Conference on mechatronics and Automation

作者： Ke Li Man Huang Linfan Yu Yinan Liu Yanbo Wang Xiaogang Xiong Yunjiang Lou The School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen China Lab of Aerospace Sero Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls Beijing China Innovation Center for Control Actuators Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Given the challenges in controlling the large suspension structure during physical vibration tests due to its large mass, volume, and complex connection structure, we propose an experimental platform system using an equivalent mass block vibration load. This system treats the airborne cantilever structure as a combination of a spring damping system and an equivalent mass block. By dynamically modeling the cantilever structure under the influence of a head auxiliary support manipulator, we derive vibration response functions and control laws for suppressing vibrations at the suspension structure’s auxiliary support point. Building on this model, we establish a vibration load simulation platform by deriving an equivalent dynamic model and control law based on displacement similarities between the mass block and auxiliary support point. Through experiments involving vibration response and suppression control of the mass block, we validate the equivalence of our simulation system.

关键词： Vibrations Damping mechatronics Automation Dynamics Buildings Structural beams

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Finite-time attitude control for coupled spacecraft with input constraints

Finite-time attitude control for coupled spacecraft with inp...

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第42届中国控制会议

作者： Wanwan Zhu Yang Yukai School of Information and Control Engineering China University of Mining and Technology Engineering Research Center of Intelligent Control for Underground Space Ministry of Education China University of Mining and Technology Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission

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