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2022 CSAA/IET International Conference on Aircraft Utility systems, AUS 2022

作者： Zhao, Tianyu Wu, Shuai Li, Wending Wang, Yi Fang, Cheng Fu, Junyong Yang, Jiaqiang Li, Chunfang School of Automation Science and Electrical Engineering Beihang University Beijing100006 China Ningbo Institude of Technology Ningbo315832 China Shanghai Aerospace Control Technology Institute Shanghai201109 China Shanghai Servo-system Engineering Research Center Shanghai20110 China Beijing Power Machineries Institution Beijing100074 China

ISBN: (数字)9781839537769

ISBN: (纸本)9781839537769

In this paper, an intelligent position control method based on independent load control is designed for digital electro-hydraulic actuator of rocket nozzle, which can achieve smooth position control of digital electro-hydraulic actuator. According to the requirements of rocket nozzle, the matching design of digital valve set is completed. Combining the independent load characteristics and energy efficiency characteristics of digital valve system, an intelligent research algorithm of position control is improved and put forward. In this paper, a complete digital electro-hydraulic actuator system model of rocket nozzle is established, and the control effect of position control algorithm is verified by simulation algorithm. The simulation results show that, compared with the input amplitude of 100mm, the following error of the system is 0.3mm, which achieves higher control precision and has better rapidity and high-frequency response characteristics. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Position control

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Video2Reward: Generating Reward Function from Videos for Legged Robot Behavior Learning

arXiv

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arXiv 2024年

作者： Zeng, Runhao Zhou, Dingjie Liang, Qiwei Liu, Junlin Li, Hui Huang, Changxin Li, Jianqiang Hu, Xiping Sun, Fuchun Artificial Intelligence Research Institute Shenzhen MSU-BIT University China College of Mechatronics and Control Engineering Shenzhen University China College of Computer Science and Software Engineering Shenzhen University China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Department of Computer Science and Technology Tsinghua University China

Learning behavior in legged robots presents a significant challenge due to its inherent instability and complex constraints. Recent research has proposed the use of a large language model (LLM) to generate reward functions in reinforcement learning, thereby replacing the need for manually designed rewards by experts. However, this approach, which relies on textual descriptions to define learning objectives, fails to achieve controllable and precise behavior learning with clear directionality. In this paper, we introduce a new video2reward method, which directly generates reward functions from videos depicting the behaviors to be mimicked and learned. Specifically, we first process videos containing the target behaviors, converting the motion information of individuals in the videos into keypoint trajectories represented as coordinates through a video2text transforming module. These trajectories are then fed into an LLM to generate the reward function, which in turn is used to train the policy. To enhance the quality of the reward function, we develop a video-assisted iterative reward refinement scheme that visually assesses the learned behaviors and provides textual feedback to the LLM. This feedback guides the LLM to continually refine the reward function, ultimately facilitating more efficient behavior learning. Experimental results on tasks involving bipedal and quadrupedal robot motion control demonstrate that our method surpasses the performance of state-of-the-art LLM-based reward generation methods by over 37.6% in terms of human normalized score. More importantly, by switching video inputs, we find our method can rapidly learn diverse motion behaviors such as walking and running. Copyright © 2024, The Authors. All rights reserved.

关键词： Robots

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Flow Boiling of Ammonia in a Diamond-Made MicroChannel Heat Sink for High Heat Flux Hotspots

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Journal of Thermal science 2020年第5期29卷 1333-1344页

作者： YANG Qi MIAO Jianyin ZHAO Jingquan HUANG Yanpei FU Weichun SHEN Xiaobin School of Aeronautic Science and Engineering Beihang UniversityBeijing 100191China Beijing Key Laboratory of Space Thermal Control Technology Beijing Institute of Spacecraft System EngineeringChina Academy of Space TechnologyBeijing 100094China

To solve the heat dissipation problem of electronic devices with high heat flux hotspots,a diamond microchannel heat sink consisting of 37 parallel triangular microchannels with channel lengths of 45 mm and hydraulic diameters of 280|im was *** flow boiling heat transfer characteristics of ammonia in the microchannels were investigated under high heat fluxes of 473.9-1000.4 W/cm^*** flow boiling experiments with saturation temperatures of 25℃,30℃,and 35℃ and mass fluxes of 98-1200 kg/m^2s were conducted,as well as subcooled flow boiling with inlet subcooling of 5℃ as a *** temperature and pressure drop measurements were *** main conclusions below can be drawn.(1)At a given heat flux,the heat source temperature first decreased and then increased with the mass flux,and there existed an optimum mass flux to optimize the cooling performance of the heat sink.(2)The heat transfer performance under the saturated inlet condition was obviously better than that under the subcooled inlet condition.(3)A larger saturation temperature leaded to weakening of both the heat transfer capacity and the stability of the microchannel heat ***,with the high heat diffusion ability of the diamond substrate and the great heat transfer capacity of ammonia flow boiling in microchannels,the heat sink can achieve a heat removal capacity of up to 1000.4 W/cm^2.

关键词： high heat flux flow boiling microchannel ammonia multipoint heat sources

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Colored Knowledge Petri Nets and Logical Inference 18

Colored Knowledge Petri Nets and Logical Inference

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18th IEEE International Conference on Networking, Sensing and control, ICNSC 2021

作者： Tan, Kaicheng Luo, Jiliang Zhang, Hongbin Lin, Xinjie Zheng, Enhui Huaqiao University College of Information Science and Engineering Xiamen361021 China Fujian Engineering Research Center of Motor Control and System Optimal Schedule Xiamen361021 China China Jiliang University Unmanned System Application Technology Research Institute Hangzhou310018 China

ISBN: (纸本)9781665440486

It is difficult to visualize and comprehend a knowledge Petri net since its size polynomially grows with the number of logical symbols. In order to tackle the issue, a colored-Petrinet based approach is proposed to perform the logical inference. First, a correlative symbol set is defined to represent the set of symbols that have relations via sentences in a knowledge base, and the semantic constraints are similarly categorized into several correlative constraint sets. Second, the generalized symbols and generalized semantic constraints are defined according to the coefficient matrix of a semantic constraint set, which have the same constraint on multiple sets of correlative symbols. Third, an algorithm is constructed to design a colored knowledge Petri net based on generalized symbols and generalized semantic constraints. Fourth, an inference engine is proposed based on the newly defined transition-firing rules, and can be used to infer or reveal hidden facts. The wumpus world problem is taken as an example to illustrate and verify the proposed method. © 2021 IEEE.

关键词： Petri nets

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区域场地土壤跨介质污染物多源清单:中国场地土壤污染防治的新策略

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science Bulletin 2024年第5期69卷 566-569页

作者：李晔何天豪丁方方李小飞黄晔何尔凯蔡虹明史沛丽柳检李岩曲瑞娟郑旺谢云峰刘杏梅赵玲刘敏 Key Laboratory of Geographic Information Science(Ministry of Education) School of Geographic SciencesEast China Normal UniversityShanghai 200241China School of Environmental Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China College of Environmental Natural Resource Sciences Zhejiang UniversityHangzhou 310058China Technical Centre for Soil Agriculture and Rural Ecology and EnvironmentMinistry of Ecology and EnvironmentBeijing 100012China Institute of Surface-Earth System Science School of Earth System ScienceTianjin UniversityTianjin 300072China State Key Laboratory of Pollution Control and Resources Reuse School of the EnvironmentNanjing UniversityNanjing 210023China

China has experienced rapid economic development and industrialization during the past four decades,leading to widespread distribution of various types of industrial facilities[1].With the understanding of soil contamination induced by industrial sites and rapid urbanization,abandoned industrial sites are generally reclassified for urban land[2].The remained brownfield sites(the sites of abandoned,idle,or under used industrial and commercial facilities where expansion or redevelopment is hindered by environmental contamination)exhibit great health risks to the residents due to that pollutants were continuously discharged intothe surrounding environments[3].

关键词：土壤污染防治 environments facilities

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Research on UAV Detection Technology of Gm-APD Lidar Based on YOLO Model

Research on UAV Detection Technology of Gm-APD Lidar Based o...

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2021 IEEE International Conference on Unmanned systems, ICUS 2021

作者： DIng, Yuanxue Qu, Yanchen Zhang, Qing Tong, Jiahui Yang, Xianhui Sun, Jianfeng Harbin Institute of Technology National Key Laboratory of Science and Technology on Tunable Laser Institution of Opto-Electronics Harbin China Beijing Electromechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9780738146577

In recent years, unmanned aerial vehicle (UAV) technology has developed rapidly, which plays an important role in both military and civil fields. While it brings convenience to all walks of life, there are also a lot of security problems. Therefore, it is necessary to study anti-UAV technology, but the detection of UAV is an important basis of anti-UAV technology. In this paper, by combining the three-dimensional range profile collected by Gm-APD (Geiger mode Avalanche Photo Diode) lidar with the deep learning method, a UAV detection method based on the improved YOLOv3 (You Only Look Once v3) network is proposed. Firstly, the data of UAV in low altitude real scene is collected by Gm-APD lidar, and range profile information is generated. Then, the YOLOv3 network is improved, and the SPP module can be added to combine the local features of the target with the global features to improve the detection accuracy. It is suitable for the detection of UAVs. Finally, the trajectory of the UAV is drawn based on the distance information. The experimental results show that the improved method can effectively detect UAV targets, and is better than the previous method, YOLOv3-Tiny method and YOLOv4 method. The farthest detection distance is 238m, the detection speed is fast, and the purpose of real-time detection and positioning can be achieved. Therefore, this method can be applied to anti-UAV technology and has important research significance. © 2021 IEEE.

关键词： Optical radar

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Frequency Perception Network for Camouflaged Object Detection

arXiv

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arXiv 2023年

作者： Cong, Runmin Sun, Mengyao Zhang, Sanyi Zhou, Xiaofei Zhang, Wei Zhao, Yao School of Control Science and Engineering Key Laboratory of Machine Intelligence and System Control Ministry of Education Shandong University Jinan Shandong China School of Automation Hangzhou Dianzi University Zhejiang Hangzhou China Institute of Information Science Beijing Key Laboratory of Advanced Information Science and Network Technology Beijing Jiaotong University Beijing China Institute of Information Engineering Chinese Academy of Sciences Beijing China

Camouflaged object detection (COD) aims to accurately detect objects hidden in the surrounding environment. However, the existing COD methods mainly locate camouflaged objects in the RGB domain, their performance has not been fully exploited in many challenging scenarios. Considering that the features of the camouflaged object and the background are more discriminative in the frequency domain, we propose a novel learnable and separable frequency perception mechanism driven by the semantic hierarchy in the frequency domain. Our entire network adopts a two-stage model, including a frequency-guided coarse localization stage and a detail-preserving fine localization stage. With the multi-level features extracted by the backbone, we design a flexible frequency perception module based on octave convolution for coarse positioning. Then, we design the correction fusion module to step-by-step integrate the high-level features through the prior-guided correction and cross-layer feature channel association, and finally combine them with the shallow features to achieve the detailed correction of the camouflaged objects. Compared with the currently existing models, our proposed method achieves competitive performance in three popular benchmark datasets both qualitatively and quantitatively. The code will be released at https://***/rmcong/FPNet_ACMMM23. © 2023, CC BY-NC-SA.

关键词： Frequency domain analysis

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Progress in quantitative research on the relationship between atmospheric oxidation and air quality

引用

Journal of Environmental sciences 2023年第1期123卷 350-366页

作者： Yuesi Wang Xin Jin Zirui Liu Gehui Wang Guiqian Tang Keding Lu Bo Hu Shanshan Wang Guohui Li Xinqin An Chao Wang Qihou Hu Lingyan He Fenfen Zhang Yuanhang Zhang State Key Laboratory of Atmospheric Boundary Layer Physics and Atmospheric Chemistry(LAPC) Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing 100029China College of Earth and Planetary Sciences University of Chinese Academy of SciencesBeijing 100049China 3 State Key Joint Laboratory or Environmental Simul ation and Pollution Control College of Environmental Sciences and EngineeringPeking UniversityBeijing 100871China State Key Joint Laboratory of Environmental Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing 100084China Key Lab of Geophysical Information System of the Ministry of Education School of Geographic SciencesEast China Normal UniversityShanghai 200241China Shanghai Key Laboratory of Atmospheric Particle Pollution and Prevention(LAP3) Department of Environmental Science and EngineeringFudan UniversityShanghai 201203China Key Lab of Aerosol Chemistry and Physics State Key Laboratory of Loess and Quaternary GeologyInstitute of Earth EnvironmentChinese Academy of SciencesXi’an 710061China Institute of Atmospheric Composition and Environmental Meteorology Chinese Academy of Meteorological SciencesBeijing 100081China Key Lab of Environmental Optics and Technology Anhui Institute of Optics and Fine MechanicsHefei Institutes of Physical ScienceChinese Academy of SciencesHefei 230031China

Atmospheric oxidizing capacity(AOC)is an essential driving force of troposphere chemistry and self-cleaning,but the definition of AOC and its quantitative representation remain *** by national demand for air pollution control in recent years,Chinese scholars have carried out studies on theories of atmospheric chemistry and have made considerable progress in AOC *** paper will give a brief review of these ***,AOC indexes were established that represent apparent atmospheric oxidizing ability(AOIe)and potential atmospheric oxidizing ability(AOIp)based on aspects of macrothermodynamics and microdynamics,respectively.A closed study refined the quantitative contributions of heterogeneous chemistry to AOC in Beijing,and these AOC methods were further applied in Beijing-Tianjin-Hebei and key areas across the *** addition,the detection of ground or vertical profiles for atmospheric OH·,HO_(2)·,NO_(3)·radicals and reservoir molecules can now be obtained with domestic instruments in diverse ***,laboratory smoke chamber simulations revealed heterogeneous processes involving reactions of O_(3)and NO_(2),which are typical oxidants in the surface/interface atmosphere,and the evolutionary and budgetary implications of atmospheric oxidants reacting under multispecies,multiphase and multi-interface conditions were ***,based on the GRAPES-CUACE adjoint model improved by Chinese scholars,simulations of key substances affecting atmospheric oxidation and secondary organic and inorganic aerosol formation have been *** numerical simulations of AOIe and AOIp were performed,and regional coordination of AOC was *** optimized plan for controlling O_(3)and PM2.5was analyzed by scenario simulation.

关键词： Atmospheric oxidizing capacity(AOC) Quantitative index Free radicals Observation and modeling Air quality

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Localization Method of Underwater Robot Based on Sonar Image 5

Localization Method of Underwater Robot Based on Sonar Image

引用

5th International Conference on Information Communication and Signal Processing, ICICSP 2022

作者： Li, Lirong Mei, Bing Chen, Peng Yu, Liang Gong, Pengcheng Hubei University of Technology Hubei Key Laboratory for High-efficiency Utilization of Solar Energy and Operation Control of Energy Storage System Wuhan China Hubei University of Technology Hubei Engineering Research Center for Safety Monitoring of New Energy and Power Grid Equipment Wuhan China School of Mechanical Engineering Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai China School of Computer Science & Engineering Wuhan Institute of Technology Wuhan China

ISBN: (纸本)9781665485890

In this paper, we propose a positioning algorithm based on sonar images, which is mainly used for the positioning of underwater robots, so that the robots can obtain the position information in real time when operating underwater and avoid colliding with the underwater walls. First, the underwater space was detected with multibeam sonar, and the sonar images of the underwater space wall were found to have line segment characteristics;Composite denoising, threshold segmentation and Canny edge detection are applied to the sonar image to extract the contours of the underwater spatial wall. Then the characteristic line segments of the underwater spatial wall are detected based on the LSD (Line Segment Detector) line segment detection algorithm. In terms of line segment classification, a method is proposed to effectively classify line segments using the origin of the sonar image and the slope of the detected line segment. To further demonstrate the effectiveness of the localization algorithm in this paper, the specific steps of the algorithm are illustrated with the example of underwater rectangular space. © 2022 IEEE.

关键词： Image segmentation

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Optical Evanescent Field for Direct Observation of Sub-100nm Particle Motion on Glass Surface

Optical Evanescent Field for Direct Observation of Sub-100nm...

引用

Robotics, engineering, science, and Technology (RESTCON), International Conference on

作者： Panart Khajornrungruang Thitipat Permpatdechakul Keisuke Suzuki Aran Blattler Yutaka Terayama Daiki Goto Pipat Phaisalpanumas Natthaphon Bun-Athuek Amornphun Phunopas Dept. of Intelligent and Control System Faculty of Computer Science and Systems Engineering Mechanical Science and Technology Division Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Interdisciplinary Informatics Graduate School of Computer Science and Systems Engineering Mechanical Information Science and Technology Division Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Production and Robotics Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand Dept. of Intelligent and Control System Graduate School of Computer Science and Systems Engineering Mechanical Science and Technology Course Kyushu Institute of Technology Iizuka-Shi Fukuoka Japan Dept. of Industiral Engineering Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand Dept. of Mechanical Engineering Technology College of Industrial Technology King Mongkut’s University of Technology North Bangkok Bangsue Bangkok Thailand

To directly investigate the dynamic nanoscale phenomenon on the surface being processed in wet conditions such as precision polishing, and cleaning in semiconductor industrial, an optical method for visualization and observation of each sub-100 nm sized particle that is moving on an interface such as a silica glass surface by applying an evanescent field have been proposing. Subsequently, we developed an experimental apparatus equipped with an optical microscopy system for verifying the moving particle observation method in a laboratory scale. This article introduces some experimentally direct observation results of duplicated wet processes.

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