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Path Planning of Multi-Axis Robotic Arm Based on Improved RRT*

Computers, Materials & Continua 2024年第10期81卷 1009-1027页

作者： Juanling Liang Wenguang Luo Yongxin Qin School of Automation Guangxi University of Science and TechnologyLiuzhou545006China Key Laboratory of AI and Information Processing of Education Department of Guangxi Hechi UniversityHechi546300China

An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path ***,an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search ***,a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to accelerate the search speed of the ***,the planning path is processed by pruning,removing redundant points and path smoothing fitting using cubic B-spline curves to improve the flexibility of the robotic *** the six-axis robotic arm path planning simulation experiments on the MATLAB platform,the results show that the AGP-RRT∗algorithm reduces 87.34%in terms of the average running time and 40.39%in terms of the average path cost;Meanwhile,under two sets of complex environments A and B,the average running time of the AGP-RRT∗algorithm is shortened by 94.56%vs.95.37%,and the average path cost is reduced by 55.28%vs.47.82%,which proves the effectiveness of the AGP-RRT∗algorithm in improving the efficiency of multi-axis robotic arm path planning.

关键词： Multi-axis robotic arm path planning improved RRT∗algorithm dynamic target deviation threshold dynamic step size path optimization

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Integrated design and performance optimization of three-electrode sliding discharge plasma power supply

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Plasma Science and technology 2024年第11期26卷 152-161页

作者： Borui ZHENG Linwu WANG Jianbo ZHANG Shaojie QI Yuhong CHEN Haodong LIU Dongliang BIAN School of Automation and Information Engineering Xi’an University of TechnologyXi’an 710048People’s Republic of China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an 710048People’s Republic of China School of Mechanical and Precision Instrument Engineering Xi’an University of TechnologyXi’an 710048People’s Republic of China Science and Technology on Plasma Dynamics Laboratory Air Force Engineering UniversityXi’an 710038People’s Republic of China

The three-electrode sliding dielectric barrier discharge(TES-DBD) plasma actuator significantly enhances the ionization rate and momentum exchange between charged particles and neutral particles by incorporating a parallel DC electrode into the standard DBD design. This design improves the body force and induced jet velocity while allowing flexible control of the induced jet angle, overcoming the limitations of discharge extension and uncontrollable direction in traditional DBD plasma actuators. An integrated plasma power supply has been designed specifically for TES-DBD plasma actuators, streamlining the power supply management. The methodology involves designing the circuit topology for the TES-DBD power supply, followed by simulating and validating its operating principles using Multisim software. The operational performance of the power supply is evaluated through a comprehensive analysis of its electrical,thermal, and aerodynamic properties specific to TES-DBD plasma actuation.

关键词： plasma flow control dielectric barrier discharge three-electrode sliding discharge plasma power supply

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Spatiality-Aligned Graph Convolution Hashing for Unsupervised Cross-Modal Retrieval 2

Spatiality-Aligned Graph Convolution Hashing for Unsupervise...

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2nd IEEE International Conference on Signal, information and Data processing, ICSIDP 2024

作者： Li, Fang Dai, Liulian Lan, Rushi Yang, Rui Luo, Xiaonan Guangxi Key Laboratory of Image and Graphic Intelligent Processing School of Computer Science and Information Security Guilin541004 China

ISBN: (纸本)9798331515669

Unsupervised cross-modal retrieval leveraging hash learning has attracted a lot of interest from academics, primarily due to its minimal storage requirements, swift retrieval speeds, and label-free nature, making it a prime candidate for real-world applications. Nevertheless, the inherent "heterogeneous differences"and "semantic gap"within cross-modal data features pose significant challenges. Despite various attempts by scholars to address these issues, the existing solutions often fall short in terms of effectiveness. This can be attributed to several reasons: Firstly, image features, in contrast to text features, possess a plethora of attributes, making it challenging to extract features that possess strong expressive capabilities. Secondly, each modality of data exhibits not only inter-node correlations but also intricate relationships between individual nodes and their neighboring nodes. Consequently, a straightforward semantic correlation matrix is inadequate in capturing the intricate structural relationships within the data. Thirdly, the neglect of internal structural associations results in insufficient representation capabilities of binary hash codes in the Hamming space, hampering the learning of effective hash functions. To address these limitations, we introduce a Spatiality-Aligned Graph Convolution Hashing (SAGCH) algorithm. Extensive experiments demonstrate that our SAGCH method excels in both "image-to-text retrieval"and "text-to-image retrieval"tasks. © 2024 IEEE.

关键词： Semantics

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Phase unwrapping method for 3D measurement based on multi-frequency asynchronous phase shift 2

Phase unwrapping method for 3D measurement based on multi-fr...

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2nd International Conference on Electronic information Engineering and Computer Communication, EIECC 2022

作者： Cao, Chunyang Deng, Chengzhi Wu, Zhaoming Zhang, Xiaoxiao Hu, Cheng Jiangxi Province Key laboratory of Water Information Cooperative Sensing and Intelligent Processing School of Information Engineering Nanchang Institute of Technology 330099 China

ISBN: (纸本)9781510663121

Aiming at the problems that 3D optical measurement is easy to be affected by peripheral noise, difficult to calculate relative height and low measurement accuracy, a multi-frequency asynchronous phase shift algorithm based on time series changes was proposed. In order to improve the measurement accuracy and anti-interference ability of the system, five kinds of frequency grating projections were adopted. In order to improve the efficiency of phase undoing, the asynchronous phase shift method was used to extract the phase principal value. In view of the multi-frequency heterodyne phase solution method is prone to produce phase jump error, a phase jump error correction method based on threshold discrimination is proposed. The experimental results show that the improved algorithm has better measurement accuracy than the original algorithm, and compared with the traditional multi-frequency heterodyne method, it has strong anti-interference ability and higher measurement accuracy. © 2023 SPIE.

关键词： Error correction

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Multi-objective configuration optimization method based on antlion algorithm for customer-oriented modular process

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Journal of intelligent and Fuzzy Systems 2024年第3-4期47卷 265-277页

作者： Zhang, Qianqian Fan, Bo Sun, Lifan Information Engineering College Henan University of Science and Technology Luoyang China Henan Key Laboratory of Robot and Intelligent Systems Henan University of Science and Technology Luoyang China

Process parameter configuration needs to respond quickly in the customized manufacturing environment. A multi-objective optimization method based on antlion algorithm for product process configuration design is proposed. The weight mapping mechanism of customer demands is established to clarify the relationship between customer demands and manufacturing process, which also simplifies the process attribute analysis of customized products. The parameters to be optimized in the customization process are analyzed: product performance, process cost and production time. Based on the objective function including these parameters, a multi-objective optimization model of modular process reconstruction is established. The proposed model and algorithm can optimize these parameters in parallel and realize the rapid configuration of product modular process. In the application case of this paper, the proposed method is suitable for the whole process modular configuration of copper plate and strip. The feasibility and effectiveness of the model and algorithm in the proposed configuration scheme are verified. © 2024-IOS Press. All rights reserved.

关键词： Multiobjective optimization

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Spatiotemporal evolution laws of sector-shaped dielectric-barrier-discharge plasma actuator

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Plasma Science and technology 2024年第10期26卷 108-115页

作者： Borui ZHENG Jianbo ZHANG Shaojie QI Jianghua XU Yiche LI Yuanzhong JIN Dongliang BIAN School of Automation and Information Engineering Xi’an University of TechnologyXi’an 710048People’s Republic of China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an 710048People’s Republic of China School of Mechanical and Precision Instrument Engineering Xi’an University of TechnologyXi’an 710048People’s Republic of China Science and Technology on Plasma Dynamics Laboratory Air Force Engineering UniversityXi’an 710038People’s Republic of China

Dielectric barrier discharge(DBD)plasma actuators are widely used in active flow control due to their simple design and rapid ***,they need more effectiveness and discharge *** overcome these limitations,a sector-shaped dielectric barrier discharge(SS-DBD)plasma actuator with an adjustable jet angle was developed to enhance flow control *** flow field dynamics induced by the SS-DBD plasma actuator were quantitatively analyzed using particle image velocimetry(PIV).Experimental investigations showed that precise adjustments to the actuation voltage can modulate the maximum velocity of the induced ***,a quasi-linear relationship between the sector-shaped angles of the SS-DBD and the deflected jet angles was established,indicating that changes in the sector-shaped angles directly influence the direction of the deflected *** correlation enables precise control over jet angles,significantly enhancing flow control by adjusting the SS-DBD-PA's sector-shaped angle.

关键词： plasma flow control plasma actuator particle image velocimetry

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Lightweight Food Image Recognition With Global Shuffle Convolution

IEEE Transactions on AgriFood Electronics

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IEEE Transactions on AgriFood Electronics 2024年第2期2卷 392-402页

作者： Sheng, Guorui Min, Weiqing Yao, Tao Song, Jingru Yang, Yancun Wang, Lili Jiang, Shuqiang Ludong University Department of Information and Electrical Engineering Yantai264025 China Institute of Computing Technology Chinese Academy of Sciences Key Laboratory of Intelligent Information Processing Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China

Consumer behaviors and habits in food choices impact their physical health and have implications for climate change and global warming. Efficient food image recognition can assist individuals in making more environmentally friendly and healthier dietary choices using end devices, such as smartphones. Simultaneously, it can enhance the efficiency of server-side training, thereby reducing carbon emissions. We propose a lightweight deep neural network named Global Shuffle Net (GSNet) that can efficiently recognize food images. In GSNet, we develop a novel convolution method called global shuffle convolution, which captures the dependence between long-range pixels. Merging global shuffle convolution with classic local convolution yields a framework that works as the backbone of GSNet. Through GSNet's ability to capture the dependence between long-range pixels at the start of the network, by restricting the number of layers in the middle and rear, the parameters and floating operation operations (FLOPs) can be minimized without compromising the performance, thus permitting a lightweight goal to be achieved. Experimental results on four popular food recognition datasets demonstrate that our approach achieves state-of-the-art performance with higher accuracy and fewer FLOPs and parameters. For example, in comparison to the current state-of-the-art model of MobileViTv2, GSNet achieved 87.9% accuracy of the top-1 level on the Eidgenössische Technische Hochschule Zürich (ETHZ) Food-101 dataset with 28% reduction in the parameters, 37% reduction in the FLOPs, but a 0.7% more accuracy. © 2024 IEEE.

关键词： Carbon dioxide

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AMA-Net: Adaptive Masking Attention Network for Agricultural Crop Classification From UAV Images

IEEE Transactions on AgriFood Electronics

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IEEE Transactions on AgriFood Electronics 2025年第1期3卷 246-253页

作者： Wang, Xu Wang, Deyi He, Zhaoshui Lin, Zhijie Xie, Shengli Guangdong Mechanical and Electrical Polytechnic School of Electronics and Communication Guangzhou510550 China Guangdong University of Technology School of Automation Guangzhou510006 China Key Laboratory for IoT Intelligent Information Processing and System Integration of Ministry of Education Guangzhou510006 China Guangdong Provincial Key Laboratory of Intelligent Systems and Optimization Integration Guangzhou510006 China

Agriculture crop classification is helpful for agricultural production. However, it is challenging to classify crops from the agriculture image suffering from these problems: 1) Crops are often masked in complex backgrounds;2) There is high similarity between crop categories. To address these problems, an adaptive masking attention network (AMA-Net) is proposed for agriculture crop identification from natural images, where the adaptive masking (AM) module is developed to distinguish the crop from the complex background by selectively eliminating redundant information of feature maps, and the fair attention module is devised to identify similar crops between categories by modeling the fine-grained features. Experiments conducted on the benchmark show the effectiveness and superiority of the proposed AMA-Net, achieving the performance of 96.65%, 96.65%, 97.13%, and 96.72% on the accuracy, precision, recall, and F1-score, respectively, which is better than other state-of-the-art methods. © 2023 IEEE.

关键词： Crops Agriculture Accuracy Visualization Training Production Autonomous aerial vehicles Attention mechanisms Adaptive systems Support vector machines

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Accelerated Primal-Dual Projection Neurodynamic Approach With Time Scaling for Linear and Set Constrained Convex Optimization Problems

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1485-1498页

作者： You Zhao Xing He Mingliang Zhou Tingwen Huang Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing College of Electronic and Information EngineeringSouthwest UniversityChongqing 400715China School of Computer Science Chongqing UniversityChongqing 400044China Department of Mathematics Texas A&M University at QatarDoha 23874Qatar IEEE

The Nesterov accelerated dynamical approach serves as an essential tool for addressing convex optimization problems with accelerated convergence *** previous studies in this field have primarily concentrated on unconstrained smooth con-vex optimization *** this paper,on the basis of primal-dual dynamical approach,Nesterov accelerated dynamical approach,projection operator and directional gradient,we present two accelerated primal-dual projection neurodynamic approaches with time scaling to address convex optimization problems with smooth and nonsmooth objective functions subject to linear and set constraints,which consist of a second-order ODE(ordinary differential equation)or differential conclusion system for the primal variables and a first-order ODE for the dual *** satisfying specific conditions for time scaling,we demonstrate that the proposed approaches have a faster conver-gence *** only requires assuming convexity of the objective *** validate the effectiveness of our proposed two accel-erated primal-dual projection neurodynamic approaches through numerical experiments.

关键词： Accelerated projection neurodynamic approach lin-ear and set constraints projection operators smooth and nonsmooth convex optimization time scaling.

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Adaptive Multi-Step Evaluation Design With Stability Guarantee for Discrete-Time Optimal Learning Control

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1797-1809页

作者： Ding Wang Jiangyu Wang Mingming Zhao Peng Xin Junfei Qiao IEEE Faculty of Information Technology the Beijing Key Laboratory of Computational Intelligence and Intelligent Systemthe Beijing Laboratory of Smart Environmental Protectionand the Beijing Institute of Artificial IntelligenceBeijing University of TechnologyBeijing 100124China

This paper is concerned with a novel integrated multi-step heuristic dynamic programming(MsHDP)algorithm for solving optimal control *** is shown that,initialized by the zero cost function,MsHDP can converge to the optimal solution of the Hamilton-Jacobi-Bellman(HJB)***,the stability of the system is analyzed using control policies generated by ***,a general stability criterion is designed to determine the admissibility of the current control *** is,the criterion is applicable not only to traditional value iteration and policy iteration but also to ***,based on the convergence and the stability criterion,the integrated MsHDP algorithm using immature control policies is developed to accelerate learning efficiency ***,actor-critic is utilized to implement the integrated MsHDP scheme,where neural networks are used to evaluate and improve the iterative policy as the parameter ***,two simulation examples are given to demonstrate that the learning effectiveness of the integrated MsHDP scheme surpasses those of other fixed or integrated methods.

关键词： Adaptive critic artificial neural networks Hamilton-Jacobi-Bellman(HJB)equation multi-step heuristic dynamic programming multi-step reinforcement learning optimal control

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