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2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Pang, Jichao Liu, Dan Tang, Xiaoqing Chen, Yan Huang, Qiang Arai, Tatsuo Liu, Xiaoming Key Laboratory of Biomimetc Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Mechatronical Engineerin Beijing Institute of Technology Beijing100081 China The University of Electro-Communications Center for Neuroscience and Biomedical Engineering Tokyo182-8585 Japan

ISBN: (纸本)9798350372601

In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accurately aligned seriously affects the precise grasping of the microhand. However, few researchers have presented practical ways for precisely aligning the tip positions of a 6-DOF microhand's two end- effectors. This paper proposes a novel, inexpensive, lightweight, robust, and easy-to-use microhand dual end-effectors clamping device that can precisely and quickly align the two end-effectors of a 6-DOF microhand. First, we describe the microhand dual end-effectors clamping device's lightweight structural design. After that, we simplify the microhand dual end-effectors clamping device model and create a mathematical model to determine the relationship between the end-effectors' tip position and the rotation angles of screw No.1, screw No.2, screw No.3 of the microhand dual end-effectors clamping device. Through experimentation, we are able to attain precise alignment of the two end-effectors tip positions of the 6-DOF microhand, so we confirm that our mathematical model is true. Finally, we use the impulse response of PZT in the microhand's lower module to confirm the stability of the microhand dual end- effectors clamping device. We believe that the proposed the microhand dual end-effectors clamping device has great potential in industrial and biological applications as a universal tool for precise alignment of the tip positions of the two end-effectors of a 6-DOF microhand. © 2024 IEEE.

关键词： Clamping devices

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Chaos Raman distributed optical fiber sensing

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Light(Science & Applications) 2023年第10期12卷 2105-2121页

作者： Chenyi Wang Jian Li Xinxin Zhou Zijia Cheng Lijun Qiao Xiaohui Xue Mingjiang Zhang College of Physics Taiyuan University of TechnologyTaiyuan 030024 ShanxiChina Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education Taiyuan University of TechnologyTaiyuan 030024 ShanxiChina College of Electrical Information and Optical Engineering Taiyuan University of TechnologyTaiyuan030024ShanxiChina Shanxi-Zheda Institute of Advanced Materials and Chemical Engineering Taiyuan 030032 ShanxiChina

The physics principle of pulse flight positioning is the main theoretical bottleneck that restricts the spatial resolution of the existing Raman distributed optical fiber sensing *** to the pulse width of tens of nanoseconds,the spatial resolution of the existing Raman distributed optical fiber sensing scheme with kilometer-level sensing distance is limited to the meter level,which seriously restricts the development of the optical time-domain reflection *** this paper,a chaos laser is proposed in the context of the physical principle of the Raman scattering effect,and a novel theory of chaos Raman distributed optical fiber sensing scheme is *** scheme reveals the characteristics of chaos Raman scattering light excited by a chaotic signal on the sensing ***,the chaos time-domain compression demodulation mechanism between the temperature variation information and chaos correlation peak is ***,the position of the temperature variation signal is precisely located using the delay time of the chaos correlation peak combined with the chaos pulse flight *** on this novel optical sensing mechanism,an experiment with 10 cm spatial resolution and 1.4 km sensing distance was conducted,and the spatial resolution was found to be independent of the sensing *** the limit of the existing spatial resolution theory,the spatial resolution of the proposed scheme is 50 times higher than that of the traditional *** scheme also provides a new research direction for optical chaos and optical fiber sensing.

关键词： fiber optical scattering

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An automatic docking method for large-scale sections based on real-time pose measuring and assembly deviation control

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Optoelectronics Letters 2023年第11期19卷 686-692页

作者： QIAO Zhifeng FU Kang LIU Zhenzhong 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

Aiming at the problem of poor accuracy consistency of large sections’docking assembly,an automatic docking method using multiple laser trackers to measure the position and posture of the docking sections in real time was *** the solution of the pose of the docking section,real-time pose measurement of the docking section was realized by establishing a global coordinate system and a coordinate fusion method of three or more laser *** the automatic control of the docking process,the real-time communication protocol and the circular negative feedback control strategy of measurement-adjustment-re-measurement are adopted,and the fully-automated docking of large sections is ***,an experimental verification system was set up,and the docking of the large-scale section reduction models was realized under the requirements of docking accuracy,and the effectiveness of the automatic docking scheme was successfully verified.

关键词： coordinate deviation system

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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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Defect detection and repair algorithm for structures generated by topology optimization based on 3D hierarchical fully convolutional network

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Biomimetic Intelligence & Robotics 2024年第2期4卷 24-31页

作者： Zhiyu Wan Hai Lan Sichao Lin Houde Dai School of Advanced Manufacturing Fuzhou UniversityJinjiang 362251China Quanzhou Institute of Equipment Manufacturing Haixi InstitutesChinese Academy of SciencesJinjiang 362216China Fujian Key Laboratory of Special Intelligent Equipment Safety Measurement and Control Fujian Special Equipment Inspection and Research InstituteFuzhou 350008China

Customized 3D-printed structural parts are widely used in surgical *** satisfy the mechanical properties and kinematic functions of these structural parts,a topology optimization technique is adopted to obtain the optimal structural layout while meeting the constraints and ***,topology optimization currently faces some practical challenges that must be addressed,such as ensuring that structures do not have significant defects when converted to additive manufacturing *** address this problem,we designed a 3D hierarchical fully convolutional network(FCN)to predict the precise position of the defective *** on the prediction results,an effective repair strategy is adopted to repair the defective structure.A series of experiments is conducted to demonstrate the effectiveness of our *** to the 2D fully convolutional network and the rule-based detection method,our approach can accurately capture most defect structures and achieve 89.88%precision and 95.59%***,we investigate the impact of different ways to increase the receptive field of our model,as well as the trade-off between different defect-repairing *** results of the experiment demonstrate that the hierarchical structure,which increases the receptive field,can substantially improve the defect detection *** the best of our knowledge,this paper is the first to investigate 3D defect prediction and repair for topology optimization in conjunction with deep learning algorithms,providing practical tools and new perspectives for the subsequent development of topology optimization techniques.

关键词： Topology optimization Additive manufacturing Deep learning 3D semantic segmentation Defect detection

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Design of the unmanned vehicle steer-by-wire sensor fault-tolerant control experimental platform 9

Design of the unmanned vehicle steer-by-wire sensor fault-to...

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9th International Conference on Electromechanical control Technology and Transportation, ICECTT 2024

作者： Siyuan, Yin Miaohua, Huang Bo, He Yongkang, Hu Ruoying, Liu Tianyue, Zou Wuhan University of Technology Hubei Key Laboratory of Advanced Technology for Automotive Components Wuhan430070 China Wuhan University of Technology Hubei Collaborative Innovation Center for Automotive Components Technology Wuhan430070 China Wuhan University of Technology Hubei Research Center for New Energy & Intelligent Connected Vehicle Wuhan430070 China

ISBN: (纸本)9781510682399

Addressing the issue of insufficient real-vehicle validation in the current research on fault-tolerant control of steer-by-wire (SBW) system sensors, an experimental platform for fault-tolerant control of unmanned vehicle SBW sensors was designed based on the Robot Operating System (ROS), controller Area Network (CAN) communication, and serial communication. The platform was utilized to validate the effectiveness of the fault-tolerant control system for autonomous vehicle SBW sensors through experimental testing and analysis of the results. The outcomes demonstrated that the designed platform successfully accomplished various functions, including the installation and configuration of analytical redundant sensors, software fault injection, actuation of SBW, the implementation of analytical redundancy and fault-tolerant control systems. © 2024 SPIE.

关键词： Robot Operating System

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Research on the hazards of SAS failures and fault injection techniques in the FTC system of unmanned SBW vehicles 8

Research on the hazards of SAS failures and fault injection ...

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8th International Conference on Traffic Engineering and Transportation System, ICTETS 2024

作者： Yin, Siyuan Huang, Miaohua He, Bo Hu, Yongkang Liu, Ruoying Zou, Tianyue Wuhan University of Technology Hubei Key Laboratory of Advanced Technology for Automotive Components Wuhan430070 China Wuhan University of Technology Hubei Collaborative Innovation Center for Automotive Components Technology Wuhan430070 China Wuhan University of Technology Hubei Research Center for New Energy & Intelligent Connected Vehicle Wuhan430070 China

ISBN: (数字)9781510686298

ISBN: (纸本)9781510686281

The commercial deployment of unmanned vehicles remains impeded by safety concerns, with failures in the steering angle sensor (SAS) of the steer-by-wire (SBW) system posing significant risks to operational safety. This paper addresses the gaps in the existing literature regarding the analysis of the hazards associated with SAS failures and the deficiency in research on fault injection strategies during experimental validation. By conducting a thorough examination of the typical faults and their consequences in SAS, we have developed a software-based fault injection strategy for the purposes of testing the efficacy of fault-tolerant control (FTC) systems. Experimental results from a real vehicle platform confirm the validity of the proposed fault injection strategy and the robustness of the FTC system. © 2024 SPIE.

关键词： Magnetic levitation vehicles

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Multiscale Feature Fusion Module for Prohibited Item Detection

Multiscale Feature Fusion Module for Prohibited Item Detecti...

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6th International Conference on intelligent Computing and Signal Processing (ICSP)

作者： Ruiqi Xu Chirui Zhang School of Automation China University of Geosciences Wuhan Hubei China Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan Hubei China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan Hubei China

ISBN: (数字)9798350376548

ISBN: (纸本)9798350376555

X-ray security check is a prevalent placement measure that plays a vital role in ensuring public safety. However, detecting prohibited items poses a complex challenge due to their variable sizes within X-ray images. In this study, we tackle this issue by curating a novel dataset through the integration of open-source data and introducing a Multiscale Feature Fusion Module. This module facilitates robust detection by amalgamating features across different scales. Extensive experiments verified that the superiority of our method compared to existing methods on the prohibited items test set constructed in this paper demonstrates extremely well the practical effectiveness of our proposed method.

关键词： Signal processing Feature extraction Public security Security Data mining X-ray imaging

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High Precision Tracking control Method Based on Model-Following control and Equivalent-Input-Disturbance 3

High Precision Tracking Control Method Based on Model-Follow...

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3rd International Workshop on intelligent Systems, IWIS 2023

作者： Jiang, Ruoyu She, Jinhua School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Engineering Tokyo University of Technology Tokyo192-0982 Japan

ISBN: (纸本)9798350305043

This paper presents a high-precision control method based on the model-following control (MFC) and equivalent-input-disturbance (EID) approaches. The MFC approach ensures that the output of the plant tracks the output of a desired nominal model. The EID estimates and eliminates an external disturbance. The combination of these two methods effectively achieves high-precision tracking. The validity of this method is demonstrated by a vibration-suppression example through simulations. © 2023 IEEE.

关键词： Equivalent-input-disturbance model-following control vibration suppression

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Bifurcation control and circuit simulation of a fractional-order synthetic gene networks 41

Bifurcation control and circuit simulation of a fractional-o...

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第41届中国控制会议

作者： Feng Liu Feiyue Zhuo Shujiang Sun Zhi-Hong Guan Hua O Wang School of Automation China University of Geosciences Engineering Research Center of Ministry of education for intelligent technology of earth exploration Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Artificial Intelligence and Automation Department of Mechanical Engineering Boston University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper presents a ring synthetic gene network model described by fractional differential equations,studies the conditions of Hopf bifurcation in the model,and discusses the limit cycle oscillation phenomenon due to the existence of bifurcation,which causes the system to become unstable,and then We propose a method to control the bifurcation behavior in the system,so that the system can be stable over a large *** addition,the dynamic behavior of the fractional-order model is simulated by triggering a genetic oscillator(a single inhibitory gene) composed of a transistor composed of linear and nonlinear electronic *** circuit simulation results well verify the theoretical analysis conclusion,and the circuit simulation model can well demonstrate the biological characteristics of gene regulatory networks.

关键词： Synthetic gene networks fractional-order bifurcation control circuit simulation

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