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Indoor object segmentation based on YOLACT++

International Journal of Wireless and Mobile Computing 2023年第2期24卷 127-133页

作者： Sun, Ying Zhao, Zichen Tao, Bo Liu, Xin Yun, Juntong Liu, Ying Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Hubei Wuhan China Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of science and Technology Hubei Wuhan China Precision Manufacturing Research Institute Wuhan University of Science and Technology Hubei Wuhan China

Intelligent manufacturing originates from the research of artificial intelligence, which can not only reduce operating costs, but also improve product quality, and has become the way to cultivate new advantages in forging international competition in manufacturing. With the transformation of traditional manufacturing to intelligent manufacturing, the course of intelligent manufacturing should also be different from the traditional teaching mode, but through the survey, it has been found that the course of intelligent manufacturing still has a single teaching mode, insufficient innovative guidance for students and insufficient combination of theory and practice. In order to solve the issues mentioned above, the Project-Analysis-Evaluation (PAE) structure is proposed in this paper, and it is combined with constructivist theory and analysed through the study of indoor object instance segmentation detection. The YOLACT++ algorithm is pre-trained on SUNRGBD dataset and applied to indoor environment detection in this paper. © 2023 Inderscience Enterprises Ltd.

关键词： Operating costs

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Research on fatigue evaluation method of high-speed train axle based on axle box acceleration

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High-Speed Railway 2023年第4期1卷 233-240页

作者： Wenjing Wang Yiming Zeng Ruiguo Yan Yiyue Chen Key Laboratory of Vehicle Advanced Manufacturing Measuring and Control TechnologyMinistry of EducationBeijing Jiaotong UniversityBeijing 100044China Department of Engineering Mechanics Tsinghua UniversityBeijing 100084China

As a key safety component of the high-speed train, fatigue fracture of the axle would lead to major accidents such as derailment or overturning. The complexity of the axle dynamic stress test seriously enhances the difficulty of axle fatigue damage analysis. In this paper, the dynamic stress test of the high-speed train axle was carried out,the axle box acceleration was monitored on-track during the test, and the relationship between the axle stress spectrum and acceleration was analyzed on-track. The results show that the relationships between the axle equivalent stresses and the Root Mean Square(RMS) values of the axle box vertical acceleration and lateral acceleration exhibit a strong joint probability density distribution. The concept of the virtual surface density of wheel-rail contact is also proposed to realize the purpose of using axle box acceleration to deduce axle equivalent force. The results quantify the relationship between axle box acceleration and axle equivalent force, provide a new method for predicting the axle damage using the acceleration RMS values, and open up a new approach for structural health monitoring of high-speed train axles.

关键词： High-speed train axles Axle-box acceleration Dynamic stress of wheelset axle Fatigue damage Wheel-rail contact virtual surface density

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Optimised design of cross-shaft parameters based on response surface optimisation model with MOGA

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International Journal of Wireless and Mobile Computing 2024年第2期26卷 198-206页

作者： Xiong, Sijie Xie, Yuanmin Zou, Chunlong Mao, Yanfeng Cao, Yongcheng Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Hubei Wuhan China Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Hubei Wuhan China Precision Manufacturing Research Institute Wuhan University of Science and Technology Hubei Wuhan China Hubei University of Automotive Technology Hubei Shiyan China Technology Research and Development Hubei Jingmen Wusan Machinery Equipment Manufacturing Co. Ltd. Jingmen Hubei China

Cross-shaft is the core component of the cross-type universal coupling and has a vital transmission function. This paper proposes Sparse Grid and the Kriging interpolation to construct a response surface model to solve the problem of long design cycles, low reliability and high susceptibility to cross-shaft fatigue deformation. The critical dimensions of the cross-shaft are used as design variables, and the maximum equivalent force and deformation are reduced as the optimisation objective. Then experimental points are obtained by Sparse Grid Initialisation and then the response surface model is obtained with high accuracy by Kriging interpolation, and finally, the optimised design of the cross-shaft is completed using MOGA in this paper. Compared with the original structural solution, the maximum deformation of the cross-shaft is reduced by 0.4717 mm (22.35%), the maximum equivalent force is reduced by 130.35 Mpa (17.21%) and the mass increased by only 4.17%. © 2024 Inderscience Enterprises Ltd.

关键词： Multiobjective optimization

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Modelling and Dynamic Characteristics for a Non-metal Pressurized Reservoir with Variable Volume

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Chinese Journal of Mechanical Engineering 2022年第2期35卷 159-173页

作者： Pei Wang Jing Yao Baidong Feng Mandi Li Dingyu Wang School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Advanced Manufacturing Forming Technology and Equipment Qinhuangdao 066004China Hebei Provincial Key Laboratory of Heavy Fluid Power Transmission and Control Yanshan UniversityQinhuangdao 066004China

With the increasing demand to reduce emissions and save energy,hydraulic reservoirs require new architecture to optimize their weight,space,and *** open reservoirs are large,heavy,and easily polluted,and threaten the operation of hydraulic systems.A closed reservoir provides the advantages of small volume and light weight,compared to open *** this study,a non-metallic pressure reservoir with variable volume is designed and manufactured for closed-circuit hydraulic *** reservoir housing is made of rubber,and the Mooney-Rivlin model is chosen based on the rubber strain *** FEA simulation for the reservoir is performed using ANSYS Workbench to obtain the structural *** major contribution is the establishment of mathematical models for this reservoir,including the volume equation changing with height,flow equation,and force balance equation,to explore the output characteristics of this *** on these results,simulation models were built to analyze the output characteristics of the ***,the test rig of a conventional hydraulic system was transformed into a closed-circuit asymmetric hydraulic system for the reservoir,and preliminary verification experiments were conducted on *** results demonstrate that the designed reservoir can absorb and discharge oil and supercharge pump inlet to benefit system *** changes in the volume and pressure with displacements under different volume ratios and frequencies were obtained,which verified the accuracy of the mathematical *** to its lightweight design and small volume,the reservoir can replace conventional open reservoirs,and this lays a foundation for future theoretical research on this reservoir.

关键词： Hydraulic reservoir Variable volume Pressure reservoir Non-metal Lightweight

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Neural Dynamics for Cooperative Motion control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1605-1620页

作者： Yufeng Lian Xingtian Xiao Jiliang Zhang Long Jin Junzhi Yu Zhongbo Sun the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE the College of Information Science and Engineering Northeastern UniversityShenyang 110819 the National Mobile Communications Research Laboratory Southeast UniversityNanjing 210096China the School of Information Science and Engineering Lanzhou UniversityLanzhou 730000China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

关键词： Cooperative motion control noise-tolerant zeroing neural network(NTZNN) omnidirectional mobile manipulator(OMM) repetitive motion planning

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Interaction Quantification of MTDC Systems Connected with Weak AC Grids

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CSEE Journal of Power and Energy Systems 2024年第5期10卷 2088-2099页

作者： Wanning Zheng Jiabing Hu Li Chai Bing Liu Zixia Sang Engineering Research Center of Metallurgical Automation and Measurement Technology Wuhan University of Science and TechnologyWuhan 430081China State Key Laboratory of Advanced Electromagnetic Engineering and Technology and School of Electrical and Electronic EngineeringHuazhong University of Science and TechnologyWuhan 430074China College of Control Science and Engineering Zhejiang UniversityHangzhou 310027China State Grid Hubei Economic Research Institute Wuhan 430077China

The small-signal stability of multi-terminal high voltage direct current(HVDC)systems has become one of the vital issues in modern power *** among voltage source converters(VSCs)have a significant impact on the stability of the *** paper proposes an interaction quantification method based on the self-/en-stabilizing coefficients of the general N-terminal HVDC system with a weak AC network ***,we derive the explicit formulae of self-/en-stabilizing coefficients for any N-terminal HVDC system,which can quantify the interactions through different paths *** relation between the self-/en-stabilizing coefficients and the poles of the system can be used to evaluate the impact of the interactions on the system stability ***,we employ the obtained formulae to analyze the parameter sensitivity and explain how a parameter affects the stability of the system through different paths of ***,extensive examples are given to demonstrate the effectiveness of the proposed method.

关键词： Interactions multi-terminal HVDC self-/enstabilizing coefficients small-signal stability

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Optimization-based conformal path planning for in situ bioprinting during complex skin defect repair

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Bio-Design and manufacturing 2025年第1期8卷 1-19,I0001页

作者： Wenxiang Zhao Chuxiong Hu Yunan Wang Shize Lin Ze Wang Tao Xu State Key Laboratory of Tribology in Advanced Equipment Department of Mechanical EngineeringTsinghua UniversityBeijing 100084China Beijing Key Laboratory of Precision and Ultra-Precision Manufacturing Equipment and Control Tsinghua UniversityBeijing 100084China Center for Bio-intelligent Manufacturing and Living Matter Bioprinting Research Institute of Tsinghua University in ShenzhenTsinghua UniversityShenzhen 518057China

The global demand for effective skin injury treatments has prompted the exploration of tissue engineering *** three-dimensional(3D)bioprinting has shown promise,challenges persist with respect to achieving timely and compatible solutions to treat diverse skin *** situ bioprinting has emerged as a key new technology,since it reduces risks during the implantation of printed scaffolds and demonstrates superior therapeutic ***,maintaining printing fidelity during in situ bioprinting remains a critical challenge,particularly with respect to model layering and path *** study proposes a novel optimization-based conformal path planning strategy for in situ bioprinting-based repair of complex skin *** strategy employs constrained optimization to identify optimal waypoints on a point cloud-approximated curved surface,thereby ensuring a high degree of similarity between predesigned planar and surface-mapped 3D ***,this method is applicable for skin wound treatments,since it generates 3D-equidistant zigzag curves along surface tangents and enables multi-layer conformal path planning to facilitate the treatment of volumetric ***,the proposed algorithm was found to be a feasible and effective treatment in a murine back injury model as well as in other complex models,thereby showcasing its potential to guide in situ bioprinting,enhance bioprinting fidelity,and facilitate improvement of clinical outcomes.

关键词： In situ bioprinting Path planning Robot control Skin injury repair

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Current Status and Future Perspectives of the Active Knee Joint Rehabilitation Device

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Recent Patents on Engineering 2022年第4期16卷 11-29页

作者： Jiang, Jingang Gao, Ziwen Song, Shichang Yu, Xiaoyang Zeng, Yang Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China School of International Studies Harbin Institute of Technology Harbin150001 China School of Measurement-Control Tech and Communications Engineering Harbin University of Science and Technology Harbin150080 China

Background: Today, living standards and medical technology are improving, and the aging global population is increasing. However, more and more older adults are suffering from knee diseases. This will seriously affect patients’ daily life and their mental state. In many studies, repeti-tive physical exercises and motor activities in real-world environments have been shown to help im-prove knee muscle strength and restore damaged nerves. Therefore, physical knee therapy is very nec-essary. The use of rehabilitation training devices for movement therapy has shown great potential. Objective: This study aimed at exploring the structural features, functions, and development status of the knee rehabilitation training device. Methods: This review explores the structure and function of various current knee rehabilitation devices based on structural and kinematic properties of the knee joint in relation to requirements of physical knee rehabilitation. This paper aims to present a systematic guideline and outline a refer-ence for future designers of rehabilitation devices. Results: By analyzing the structure and movement of the knee joint and combining the strategies of physical knee rehabilitation, movement requirements during knee rehabilitation training are con-cluded. According to the structure, drive form, transmission mode, and rehabilitation environment of knee rehabilitation devices, the devices are classified and compared;some typical features are summarized;some current problems are analyzed, and the future trends and development directions of rehabilitation devices are discussed. Conclusion: Current rehabilitation equipment has a variety of structures and functions, but a good balance between weight and volume is hardly maintained. The protection of the body needs to be further improved. Many knee rehabilitation devices are only concepts, not physical objects, and lack clinical trial data. Power sources and drives are large and heavy, which can compress the knee jo

关键词： Digital storage

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Hierarchical Cooperative control of Connected Vehicles:From Heterogeneous Parameters to Heterogeneous Structures

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1590-1602页

作者： Manjiang Hu Lingkun Bu Yougang Bian Hongmao Qin Ning Sun Dongpu Cao Zhihua Zhong the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan UniversityChangsha 410082China Wuxi Intelligent Control Research Institute Hunan UniversityWuxi 214115China the School of Vehicle and Mobility Tsinghua UniversityBeijing 100084China

As one of the typical applications of connected vehicles(CVs),the vehicle platoon control technique has been proven to have the advantages of reducing emissions,improving traffic throughout and driving *** this paper,a unified hierarchical framework is designed for cooperative control of CVs with both heterogeneous model parameters and *** separating neighboring information interaction from local dynamics control,the proposed framework is designed to contain an upper-level observing layer and a lower-level tracking control layer,which helps address the heterogeneity in vehicle parameters and *** the proposed framework,an observer is designed for following vehicles to observe the leading vehicle's states using neighboring communication,while a tracking controller is designed to track the observed leading vehicle using local feedback ***-loop stability in the absence and presence of communication time delay is analyzed,and the observer is further extended to a finite time convergent one to address string stability under general communication *** simulation and field experiment verify the effectiveness of the proposed method.

关键词： Communication delay connected vehicle(CV) heterogeneity string stability vehicle platoon

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Mobilenetv2-SSD Target Detection Method Based on Multi-scale Feature Fusion 8th

Mobilenetv2-SSD Target Detection Method Based on Multi-scale...

引用

8th International Conference on Cognitive Systems and Information Processing, ICCSIP 2023

作者： Li, Boao Jiang, Du Tang, Xinjie Sun, Ying Weng, Yaoqing Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Wuhan430081 China Research Center for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Wuhan430081 China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Wuhan430081 China Precision Manufacturing Research Institute Wuhan University of Science and Technology Wuhan430081 China Hubei Longzhong Laboratory Hubei Xiangyang441000 China

ISBN: (纸本)9789819980208

Most of the deep learning networks used in target detection algorithms are very complex, which poses difficulties for edge devices with limited storage capacity and computing power, such as mobile terminals. A MobileNetv2-SSD target detection algorithm based on multi-scale feature fusion is proposed in this paper. We use MobileNetv2 to improve the SSD algorithm by replacing the original network’s backbone network VGG16 with the lightweight network MobileNetv2 to perform the model streamlining. The problem of accuracy loss due to model compression is improved by the designed feature fusion module and finally tested on the dataset. The experimental results show that the mAP and FPS are 90.37% and 50FPS, respectively, and the detection accuracy is improved by 3.24% compared with the original SSD network, the detection speed is 1.9 times of the original one, and the size of the model is only 28.5M, which is only 30.5% of the original model. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Computer vision

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