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An Adaptive Kernel Correlation Filter Algorithm and Synchronization Error Correction Method for 3d Motion Reconstruction of Flexible Flapping Wings Using Binocular Vision

SSRN

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SSRN 2023年

作者： Hu, Shui Zhang, Jun The State Key Laboratory of Digital Medical Engineering Jiangsu Key Lab of Remote Measurement and Control School of Instrument Science and Engineering Southeast University Nanjing210096 China

To achieve precise measurements of kinematic parameters and wing deformation of flapping flexible wings, this paper presents a wing motion reconstruction method utilizing a binocular vision system (BVS) comprising two action cameras. We designed an Adaptive Kernel Correlation Filter algorithm based on target scaling prediction for wing reconstruction to improve target tracking accuracy and robustness. A binocular error correction method based on a startup time difference-induced error model was proposed, which helps the action cameras achieve the same high-precision synchronization as the external trigger mode of industrial cameras. Moreover, an infrared motion capture system is applied to assess and compensate for errors in the BVS. The experimental results show that the average error and similarity of the reconstructed 3D models are less than 1.352 mm and greater than 0.996, respectively. The results contribute to the deformation measurement and optimization of soft materials such as the flapping wings. © 2023, The Authors. All rights reserved.

关键词： Cameras

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Simultaneously realizing thermal and electromagnetic cloaking by multi-physical null medium

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Opto-Electronic Science 2024年第2期3卷 45-59页

作者： Yichao Liu Xiaomin Ma Kun Chao Fei Sun Zihao Chen Jinyuan Shan Hanchuan Chen Gang Zhao Shaojie Chen Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi ProvinceCollege of Electronic Information and Optical EngineeringTaiyuan University of TechnologyTaiyuan 030024China

Simultaneously manipulating multiple physical fields plays an important role in the increasingly complex integrated systems,aerospace equipment,biochemical productions,*** on-chip systems with high integration level,the precise and efficient control of the propagation of electromagnetic waves and heat fluxes simultaneously is particularly *** this study,we propose a graphical designing method(i.e.,thermal-electromagnetic surface transformation)based on thermal-electromagnetic null medium to simultaneously control the propagation of electromagnetic waves and thermal fields according to the pre-designed paths.A thermal-electromagnetic cloak,which can create a cloaking effect on both electromagnetic waves and thermal fields simultaneously,is designed by thermal-electromagnetic surface transformation and verified by both numerical simulations and experimental *** thermal-electromagnetic surface transformation proposed in this study provides a new methodology for simultaneous controlling on electromagnetic and temperature fields,and may have significant applications in improving thermal-electromagnetic compatibility problem,protecting of thermal-electromagnetic sensitive components,and improving efficiency of energy usage for complex onchip systems.

关键词： transformation optics multi-physical cloak null medium

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3d Motion Reconstruction of Flexible Flapping Wings Using Binocular Vision

SSRN

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SSRN 2023年

It is challenging to measure and reconstruct the motion of flexible wings due to their high flap frequency, large motion range, and complex deformation. This paper presents a wing motion reconstruction method based on a binocular vision system (BVS). Firstly, an improved Kernel Correlation Filter (KCF) algorithm and an ellipse fitting algorithm are used to accurately track and localize multiple feature points on the wings. Then, the 3D coordinates of the points are determined by stereo imaging, and the wing's 3D model is constructed by linear interpolation fitting of the points. Moreover, an infrared motion capture system (IMCS) is applied to compensate for the errors in binocular measurements. The experimental results show that the average error and similarity of the reconstructed 3D models are less than 1.352 mm and greater than 0.996, respectively. The results contribute to the deformation measurement and optimization of flexible mechanisms such as the flapping wings. © 2023, The Authors. All rights reserved.

关键词： Binocular vision

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Improved Lightweight YOLOv5 Based on GhostNet and Its Application in Target Board Detection for Ladle Nozzle Positioning

Improved Lightweight YOLOv5 Based on GhostNet and Its Applic...

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第43届中国控制会议

作者： Fengfei Si Yiming Fang Hao Ju Dongliang Zhao Jingliang Xin Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Engineering Research Center of the Education Ministry for Intelligent Control System and Intelligent Equipment Yanshan University Tangshan Branch HBIS Company Limited

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The detection of the target board of ladle nozzle positioning is the basis of automatic loading and unloading of ladle nozzle by ladle robot in continuous casting. Due to the complex situation of high temperature, dust, backlight and so on, the target board of ladle nozzle positioning is prone to false detection or low detection accuracy, and it is difficult to take into account the contradiction between rapidity and detection accuracy. Therefore, this paper proposes an improved lightweight algorithm GVP-YOLOv5(YOLOv5 with GhostNet, VoVGSCSP and Pruning), which takes into account both detection accuracy and rapidity, to detect the target board for ladle nozzle positioning. Firstly, Ghost module is used to improve the backbone network of YOLOv5 as the backbone feature extraction network to reduce the number of parameters and calculation of the backbone. Then in the neck, the GSConv module is used to design a thin neck structure, which can ensure the multi-scale feature fusion capability and further reduce the complexity of the network. Finally, the model pruning technology is used to prune the whole model, and the channels with small scaling factor are removed to compress the model to the greatest extent, so as to meet the requirements of industrial field application deployment. The experimental results show that the lightweight GVP-YOLOv5 algorithm proposed in this paper can complete the real-time detection of the target board in complex industrial scenarios. Compared with the original YOLOv5s algorithm, the number of parameters in the model is reduced by 82.6%, and the size of the model is significantly reduced to 19.4%. At the same time, the detection accuracy is maintained at more than 95% on mAP@50:95 and the detection speed is effectively improved.

关键词： Target board detection Ladle nozzle positioning YOLOv5 lightweight GhostNet thin neck structure channel pruning

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

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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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Hierarchy-based extended CBBA for multi-robot task assignment

Hierarchy-based extended CBBA for multi-robot task assignmen...

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2022 Chinese Automation Congress, CAC 2022

作者： Liu, Jiajun Xia, Weiguo Li, Fuqiang Wang, Peng China National Aeronautical Radio Electronic Research Institute National Key Laboratory of Science and Technology on Avionics System Integration China Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering China

ISBN: (纸本)9781665465335

This paper studies the task assignment problem of a multi-robot system with complex constraints including the robot speed limit, the task execution time window constraints, the arrival time, the trip cost, and different priorities of the tasks. A new bidding function is then designed for each robot. Based on the k-means algorithm, a hierarchy-based extended consensus-based bundle algorithm (CBBA) is proposed to find the optimal solution for the task allocation problem. Finally, simulation examples are presented to show the feasibility of the proposed algorithm and comparisons with existing algorithms show that the proposed algorithm can reduce the task assignment time with guaranteed reward values. © 2022 IEEE.

关键词： Multipurpose robots

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Research on Lightweight Small Object Detection Method with Fusion Attention Mechanism

Research on Lightweight Small Object Detection Method with F...

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2023 China Automation Congress, CAC 2023

作者： Dai, Haowen Liu, Bingyou Wan, Guoyang Qi, Jingjing Wan, Luanfei School of Electrical Engineering Anhui Polytechnic University Wuhu China Anhui Polytechnic University The Key Lab. of Advanced Perception and Intelligent Control of High-End Equipment Ministry of Education Wuhu China Anhui Dar Intelligent Control System Co. Ltd. Wuhu China Wuhu Institute of Technology Wuhu China

ISBN: (纸本)9798350303759

In the task of small object detection, due to the relatively small size of the objects, complex situations such as occlusion and overlap may arise in high-density scenes. These factors can significantly increase the issues of missed detections and false detections in object detection tasks. To address the aforementioned issues, this paper proposes a lightweight small object detection model, YOLOv5s-MGC. Firstly, we introduce an improved Mobilenetv3 network to replace the backbone network of YOLOv5s, aiming to improve the network's capability for effective feature extraction. Secondly, we incorporate the GSConv module into the feature fusion network to reduce model parameters and strengthen the network's ability in fusing feature information. Finally, we have integrated Convolutional Block Attention Module (CBAM) at the forefront of the detection heads, achieving the fusion of fine-grained features. We assessed our approach on the openly accessible dataset 'SHWD' and contrasted the results with the baseline YOLOv5s and various SOTA object detection models. Precisely, our method attains an accuracy of 91.1%, exceeding the baseline module by 1.6%. Furthermore, the module size is reduced to 1.97MB and it achieves a 52.4 FPS. In comparison to other prevailing algorithms, YOLOv5s-MGC enables efficient and accurate small object detection. © 2023 IEEE.

关键词： Object detection

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Broadband source-surrounded cloak for on-chip antenna radiation pattern protection

arXiv

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arXiv 2025年

作者： Chen, Hanchuan Sun, Fei Liu, Yichao Fei, Hongming Chen, Zhihui Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi Province College of Physics and Optoelectronic Engineering Taiyuan University of Technology Taiyuan030024 China

As the frequency range of electromagnetic wave communication continues to expand and the integration of integrated circuits increases, electromagnetic waves emitted by on-chip antennas are prone to scattering from electronic components, which limits further improvements in integration and the protection of radiation patterns. Cloaks can be used to reduce electromagnetic scattering;however, they cannot achieve both broadband and omnidirectional effectiveness simultaneously. Moreover, their operating modes are typically designed for scenarios where the source is located outside the cloak, making it difficult to address this problem. In this work, we propose a dispersionless air-impedance-matched metamaterial over the 2-8 GHz bandwidth that achieves an adjustable effective refractive index ranging from 1.1 to 1.5, with transmittance maintained above 93%. Based on this metamaterial, we introduce a broadband source-surrounded cloak that can guide electromagnetic waves from a broadband source surrounded by the cloak in any propagation direction to bypass obstacles and reproduce the original wavefronts outside the cloak. Thereby protecting the radiation pattern from distortion due to scattering caused by obstacles. Our work demonstrates significant potential for enhancing the integration density of integrated circuits and improving the operational stability of communication systems. Copyright © 2025, The Authors. All rights reserved.

关键词： Directional patterns (antenna)

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Robust Platoon control of Industrial Heavy-Load Autonomous Vehicles 12

Robust Platoon Control of Industrial Heavy-Load Autonomous V...

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12th International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2022

作者： Liu, Zhe Li, Xiang Wang, Hesheng MoE Key Lab of Artificial Intelligence Ai Institute Shanghai Jiao Tong University China School of Mechanical Engineering and Electronic Information China University of Geosciences China 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

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Platoon control of autonomous industrial vehicles contributes to improving the safety and reliability of cargo transportation in complex industrial scenarios, increasing traffic efficiency and saving energy. The platoon control of autonomous heavy-load industrial vehicles is much harder, as the high robustness requirements, low hardware ability and complex un-structural environments. This paper considers the platoon control task from the view-point of practical industrial applications. Firstly, the longitudinal dynamic model of the heavy-load industrial vehicle is transferred into a first-order damping acceleration response model by introducing the low-level feedback linearization control and compensations. Secondly, the synchronization control concept is introduced and a fully distributed control law is presented, which only requires the coupling information of the two nearest neighbors. In particular, in order to ensure the practical applicability, the information processing delays, data samplings and external control disturbances are explicitly modelled and the global stability analysis approach is presented. Finally, we provide real experiments using full-scale industrial heavy-load vehicles to demonstrate our effectiveness and robustness. © 2022 IEEE.

关键词： Accident prevention

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Research on the Milling Process Damping and Stability Considering Additional Vibration 16th

Research on the Milling Process Damping and Stability Consid...

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16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

作者： Qu, Haodong Tang, Xiaowei Ma, Tao Peng, Fangyu Yan, Rong Zhang, Lei School of Mechanical Science and Engineering Huazhong University of Science and Technology No. 1037 LuoYu Road Wuhan China State Key Laboratory of Smart Manufacturing for Special Vehicles and Transmission System Baotou China State Key Lab of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology No. 1037 LuoYu Road Wuhan China

ISBN: (纸本)9789819964796

Chatter is a critical factor that impacts both the efficiency and quality of the milling, and the process damping can suppress its occurrence. Process damping is caused by the interference between the machined surface and the flank face of the tool, which is manifested as an effect on the damping term of the system. In this paper, a method of applying additional vibration for workpiece is proposed, and the influence of additional vibration on process damping and milling stability boundary is studied. The calculation and simulation show that the proposed chatter suppression method is reasonable, and applying appropriate additional vibration can make the milling stability boundary higher and improve the machining efficiency. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Milling (machining)

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