检索结果-内蒙古大学图书馆

Integrating kinematic and dynamic factors with generative design for high-performance additive manufacturing structures

引用

Virtual and Physical Prototyping 2025年第1期20卷

作者： Zong, Huaizhi Lou, Bin Yuan, Haihui Wang, Dandan Zhang, Yicha Ai, Jikun Zhang, Junhui Xu, Bing State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China Robot Control Department Wuba Intelligent Technology Co. Ltd China Design & Mechanical Engineering Department Université de Technologie Belfort-Montbéliard Sevenans France

Mechanical structures often operate under dynamic loads and complex kinematic conditions, but current design methods primarily adopt static or simplified boundary conditions, leading to inaccuracy in defining the design space and the resulting solutions. To address these limitations, this paper presents a novel generative design framework that integrates kinematic and dynamic factors to establish more precise design inputs. To accurately capture the real-world mechanical states of structures, extensive kinematic and dynamic data are extracted through virtual prototyping technology. A novel design domain determination method is proposed based on kinematic relationships, while a load condition extraction approach is formulated based on material deformation theory, collectively ensuring a more realistic representation of design inputs in generative design. Furthermore, a design for additive manufacturing strategy is incorporated to refine and optimise the generative design outcomes, enhancing the structural manufacturability. The proposed method is applied to a challenging case study: designing a hydraulically actuated quadruped robot leg with complex kinematic relationships and varying dynamic load conditions. Experiment results indicate that the proposed method greatly improves structural efficiency and performance, demonstrating its potential in designing complex mechanical structures. © 2025 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group.

关键词： Design for manufacturability

来源：评论

学校读者我要写书评

暂无评论

Dissipative filtering for semi-Markov jump singularly perturbed systems with a dynamic event-triggered mechanism

引用

Journal of the Franklin Institute 2025年第9期362卷

作者： Liang, Kun Yan, Haoxuan Zhang, Chuanlin Mao, Jianliang Chen, Mengshen School of Automation Engineering Shanghai University of Electric Power Shanghai200090 China Department of Control Science and Engineering University of Shanghai for Science and Technology Shanghai200093 China Key Laboratory of Power Electronics and Motion Control of Anhui Higher Education Institutions Maanshan243032 China Anhui Province Key Laboratory of Special Heavy Load Robot Maanshan243032 China

The dissipative filter is designed in this paper via using a dynamic event-triggered approach for semi-Markov jump singularly perturbed systems. Based on the sampled-data, a novel dynamic event-triggered mechanism (ETM) is presented, where the threshold parameter dynamically adjusts according to continuously varying system output errors and modes. This approach adapts the threshold magnitude at the beginning to achieve better transient-time performance. The dynamic ETM offers more flexibility in data transmission, balancing system performance with transmission frequency. Furthermore, dissipative filter gains are designed by introducing non-singular matrices, eliminating the need for singular perturbation parameters. This method avoids ill-conditioning in the system and the singular perturbation parameter's upper bound is estimated. Sufficient conditions for stochastically stable and desired dissipative performance of the filter error system are shown using the Lyapunov theory. Finally, the effectiveness of the proposed approach is validated through a numerical example and an RC circuit system. © 2025 The Franklin Institute

关键词： Markov processes

来源：评论

学校读者我要写书评

暂无评论

MULSAM: Multidimensional Attention with Hardware Acceleration for Efficient Intrusion Detection on Vehicular CAN Bus

引用

IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems 2025年

作者： Xu, He Shi, Xiaokang Liu, Hansheng Wang, Yanwen Lu, Jiwu Zeng, Haibo Li, Renfa Wu, Di Hunan University National Engineering Research Center for Robot Visual Perception and Control Technology Hunan Changsha410082 China Hunan University College of Electrical and Information Engineering Hunan Changsha410082 China Hunan University Shenzhen Research Institute Shenzhen518000 China Virginia Tech Department of Electrical and Computer Engineering BlacksburgVA24061 United States Hunan University College of Computer Science and Electronic Engineering Hunan Changsha410082 China

controller Area Network (CAN) protocol is an efficient standard enabling communication among Electronic control Units (ECUs). However, the CAN bus is vulnerable to malicious attacks because of a lack of defense features. In this article, a novel vehicle Intrusion Detection System (IDS) is developed. The challenge is that existing techniques of Intrusion Detection Systems (IDS) rarely consider attacks with small-batch, which are characterized by their small attack scale and concealed attack patterns, posing a significant threat to driving safety. To solve this problem, we developed an algorithm model that merges Multi-dimensional Long Short-Term Memory (MD-LSTM) and Self-Attention Mechanism (SAM), shortly named MULSAM. The MULSAM model was compared with other baseline models, including Stacked LSTM, MD-LSTM, etc. Experiments show that our approach has the best detection accuracy (98.98%) and training stability. Further, to speed up the inference of MULSAM on edge, the hardware accelerator is implemented on FPGA devices using technologies such as parallelization, modular, pipeline, and fixed-point quantization. Experiments show that our FPGA-based acceleration scheme has a better energy efficiency than the CPU platform. Even with a certain degree of quantification, the acceleration model for MULSAM still displays a high detection accuracy of 98.81% and a low latency of 1.88 ms. © 1982-2012 IEEE.

关键词： Intrusion detection

来源：评论

学校读者我要写书评

暂无评论

Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation

arXiv

引用

arXiv 2025年

作者： Liu, Jian Sun, Wei Yang, Hui Deng, Pengchao Liu, Chongpei Sebe, Nicu Rahmani, Hossein Mian, Ajmal National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering School of Robotics State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha410082 China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China Department of Information Engineering and Computer Science University of Trento Trento38123 Italy School of Computing and Communications Lancaster University LA1 4YW United Kingdom Department of Computer Science The University of Western Australia WA6009 Australia

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization to intra-class unknown objects. However, these methods require manual collection and labeling of large-scale real-world training data. To address this problem, we introduce a diffusion-based paradigm for domain-generalized category-level 9-DoF object pose estimation. Our motivation is to leverage the latent generalization ability of the diffusion model to address the domain generalization challenge in object pose estimation. This entails training the model exclusively on rendered synthetic data to achieve generalization to real-world scenes. We propose an effective diffusion model to redefine 9-DoF object pose estimation from a generative perspective. Our model does not require any 3D shape priors during training or inference. By employing the Denoising Diffusion Implicit Model, we demonstrate that the reverse diffusion process can be executed in as few as 3 steps, achieving near real-time performance. Finally, we design a robotic grasping system comprising both hardware and software components. Through comprehensive experiments on two benchmark datasets and the real-world robotic system, we show that our method achieves state-of-the-art domain generalization performance. Our code will be made public at https://***/CNJianLiu/Diff9D. Copyright © 2025, The Authors. All rights reserved.

关键词： Augmented reality

来源：评论

学校读者我要写书评

暂无评论

A data-driven subspace predictive control method for air-cooled data center thermal modelling and optimization

引用

Journal of the Franklin Institute 2023年第5期360卷 3657-3676页

作者： Li, Zhe Wang, Haoda Fang, Qiu Wang, Yaonan National Engineering Research Center for Robot Vision Perception and Control Technology Department of Control Science and Engineering Hunan University Hunan Changsha410082 China

This paper presents a data-driven predictive control method for optimizing the energy consumption of air-cooled data centers with unknown system model parameters. First, based on the measurable data of the studied system, the subspace predictive control (SPC) method is adopted to improve the energy use efficiency of the data center by regulating the power allocation of the server racks and the supply temperature of cold air, while ensuring the safe operating environment of the electronic equipment. Furthermore, a reasonable event-triggered law is designed to solve the problem of the low computational efficiency of the conventional SPC method. The simulation results illustrate that the designed event-triggered law can improve the computational efficiency of the algorithm while maintaining the control performance of the algorithm, which verifies its application prospect in practice. © 2023 The Franklin Institute

关键词： Computational efficiency

来源：评论

学校读者我要写书评

暂无评论

AN APPROACH TO NONLINEAR FEEDBACK-control WITH APPLICATIONS TO robotICS

引用

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS 1984年第6期14卷 879-884页

作者： GILBERT, EG HA, IJ Department of AeroSpace Engineering Robot Systems Division University of Michigan Ann Arbor MI USA Computer Information and Control Engineering Program Robot Systems Division College of Engineering University of Michigan Ann Arbor MI USA

A control problem involving a mechanical system with generalized coordinates q ∈ R m is considered. The error in tracking a desired input y d ∈ R p is e = E (q,y d )∈ R m . If E satisfies simple conditions, it leads to a nonlinear control law that assures e (t)→0 as t →∞. The law is robust in that small changes in it do not produce large steady-state errors or loss of stability. In this theory a unified framework is presented for treating a number of problems in the control of mechanical manipulators.

关键词： Manipulators Measurement uncertainty Vectors Joints Approximation methods Feedback control

来源：评论

学校读者我要写书评

暂无评论

LICFM3-SLAM: LiDAR-Inertial-Camera Fusion and Multimodal Multilevel Matching for Bionic Quadruped Inspection robot Mapping

引用

IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Zhang, Haibing Li, Lin Jiang, Andong Xu, Jiajun Shen, Huan Li, Youfu Ji, Aihong Wang, Zhongyuan Nanjing University of Aeronautics and Astronautics Laboratory of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical Engineering Nanjing210016 China Hefei CSG Smart Robot Technology Company Ltd Hefei230094 China City University of Hong Kong Department of Mechanical Engineering Hong Kong Nanjing University of Aeronautics and Astronautics Laboratory of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical Engineering State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing210016 China Jiangsu Key Laboratory of Bionic Materials and Equipment Nanjing210016 China CSG Smart Science and Technology Company Ltd Shanghai201601 China

In comparison to wheeled robots, the locomotion of bionic quadruped robots is more vigorous. Mapping systems should maintain satisfactory robustness and accuracy in various complex real-world scenarios, even when the robot’s body experiences intense shaking. To address these challenges, this study proposes a simultaneous localization and mapping (SLAM) system based on LiDAR-inertial-camera fusion and a multimodal multilayer matching algorithm (LICFM3-SLAM). First, a tightly coupled strategy is utilized to fuse LiDAR, inertial, and camera information, introducing a visual-inertial odometry (VIO) subsystem based on adaptive graph inference;thus, high-precision and robust robot state estimation is achieved. Second, inspired by human spatial cognition, the study proposes a multimodal multilayer matching algorithm and utilizes observation data obtained from the camera and LiDAR, thereby achieving accurate and robust data association. Finally, incremental poses are optimized using factor graph optimization methods;thus, a globally consistent 3-D point cloud map is constructed. The proposed system is tested on a public benchmark dataset and applied to a bionic quadruped inspection robot (BQIR), and experiments are conducted in various challenging indoor and outdoor large-scale scenarios. The results reveal that LICFM3-SLAM exhibits high robustness and mapping accuracy while meeting real-time requirements. © 1963-2012 IEEE.

关键词： SLAM robotics

来源：评论

学校读者我要写书评

暂无评论

Tackling Real-world Complexity: Hierarchical Modeling and Dynamic Prompting for Multimodal Long Document Classification

引用

IEEE Transactions on Circuits and Systems for Video Technology 2025年

作者： Liu, Tengfei Hu, Yongli Li, Mingjie Yi, Junfei Chang, Xiaojun Gao, Junbin Yin, Baocai Beijing University of Technology Beijing Key Laboratory of Multimedia and Intelligent Software Technology Beijing Institute of Artificial Intelligence School of Information Science and Technology Beijing100124 China Stanford University Department of Radiation Oncology StanfordCA94305 United States Hunan University National Engineering Laboratory of Robot Visual Perception and Control Technology College of Electrical and Information Engineering Hunan Changsha410082 China University of Technology Sydney ReLER Laboratory Australian Artificial Intelligence Institute Faculty of Engineering and Information Technology UltimoNSW2007 Australia The University of Sydney Business School The University of Sydney Discipline of Business Analytics CamperdownNSW2006 Australia

With the rapid growth of internet content, multimodal long document data has become increasingly prominent, drawing significant attention from researchers. However, most existing methods primarily focus on scenarios where all modalities are present, often overlooking more challenging and realistic cases involving missing image modality. To address this limitation, we propose a robust multimodal long document classification (MLDC) framework that integrates hierarchical modeling and dynamic prompting to handle complex multimodal long document data. Our approach begins by leveraging hierarchical modeling combined with an Adaptive Correlation Multimodal Transformer (ACMT) to effectively capture relationships between text and images at both section and sentence levels. We also introduce a Dynamic Prompt Generation (DPG) module at both levels to enhance the model's robustness in handling missing image data. By evaluating sample uncertainty, the DPG module dynamically adjusts both the number of prompts and the prompts themselves, allowing the model to better adapt to the varying needs of different samples. Finally, a Hierarchical Heterogeneous Graph (HHG) is introduced to enhance feature interactions across levels, further improving the coherence and accuracy of the model. Extensive experiments on four multi-modal long document datasets demonstrate that our model shows superior performance compared to existing state-of-the-art MLDC classification methods in various conditions. © 1991-2012 IEEE.

关键词： dynamic prompt generation hierarchical heterogeneous graph Multimodal long document classification

来源：评论

学校读者我要写书评

暂无评论

Navigation control for an exploration rover with microwave Doppler sensors (Fabrication of second prototype rover and experiments)

Navigation control for an exploration rover with microwave D...

引用

2013 IEEE 3rd International Conference on System engineering and Technology, ICSET 2013

作者： Isogai, Masahiro Ito, Michihide Nawa, Yasuhiko Aiki, Kunio Aichi University of Technology Department of Electronic Control and Robot Engineering Gamagori Japan

ISBN: (纸本)9781479910304

In this study, fist, we conducted a study on the navigation control for a rover using microwave Doppler sensors. Microwave Doppler sensors commonly used in automatic-door systems have been used in a rover navigation system. A collimated microwave beam with an angular width of ±3° at a frequency of 24 GHz was emitted from a sensor (A) on a dish antenna 30 cm in diameter. Another sensor (B), which works as a detector, was installed on the rover. The rover was programmed to make a right turn when the microwave signal was above a specified level and to make a left turn when the signal was than that level. The rover started from a point 70 m away and approached to within 1.5 m of sensor A. This navigation method is useful when GPS is not usable. Second, we proposed a method to avoid irregular surfaces on a ground because the prototype rover we have previously developed could not be navigated owing to the cut of the microwave beam by large irregularity of ground surfaces. In this study, second prototype rover with a function of avoiding the irregular ground surfaces was fabricated and we confirmed the effectiveness of the proposed method through some experiments. © 2013 IEEE.

关键词： Rovers

来源：评论

学校读者我要写书评

暂无评论

Measurement of surface stress-strain distribution inside a grain of carbon steel via optical microscope

引用

Measurement 2025年 255卷

作者： I Dewa Made Oka Dharmawan Jinyi Lee Department of Control Instrumentation and Robot Engineering Graduate School of Chosun University Gwangju 61452 Republic of Korea Interdisciplinary Program in IT-BIO Convergence System Chosun University Gwangju 61452 Republic of Korea Department of Electronic Engineering Chosun University Gwangju 61452 Republic of Korea

The advancement of alloys and steel in engineering highlights the critical need for robust methods to ensure structural integrity. While traditional Non-Destructive Testing and Evaluation (NDT/E) techniques provide valuable insights, they often fail to detect pre-existing stress conditions that contribute to fatigue cracks. Recent approaches have addressed this limitation by analyzing stress and strain at the grain level using advanced measurement systems—often based on diffraction techniques—integrated with Finite Element Method (FEM) and Digital Image Correlation (DIC) platforms. However, the application of these techniques for in-service inspections remains limited by challenges in accessibility, cost, and scalability. To overcome these issues, an integrated 2D surface system combining optical microscopy with DIC and grain-level analysis within the FEM framework is proposed. This method enables efficient visualization of grain-level deformation and stress distribution, thereby providing deeper insights into the microstructural behavior of polycrystalline materials under external loads. The proposed methodology is theoretically outlined and validated through simulations and experimental analyses, demonstrating its potential as a practical solution for in-service inspections. Ultimately, this approach is expected to advance inspection techniques by offering an accessible and scalable tool for monitoring microstructural behavior and identifying potential failure mechanisms through surface analysis.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：