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Efficient and lightweight 3D building reconstruction from drone imagery using sparse line and point clouds

虚拟现实与智能硬件(中英文) 2025年第2期7卷 111-126页

作者： Xiongjie YIN Jinquan HE Zhanglin CHENG College of Mechanical and Control Engineering Guilin University of TechnologyGuilin 541006China Shenzhen VisuCA Key Lab Shenzhen Institutes of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China

Efficient three-dimensional(3D)building reconstruction from drone imagery often faces data acquisition,storage,and computational challenges because of its reliance on dense point *** this study,we introduced a novel method for efficient and lightweight 3D building reconstruction from drone imagery using line clouds and sparse point *** approach eliminates the need to generate dense point clouds,and thus significantly reduces the computational burden by reconstructing 3D models directly from sparse *** addressed the limitations of line clouds for plane detection and reconstruction by using a new *** algorithm projects 3D line clouds onto a 2D plane,clusters the projections to identify potential planes,and refines them using sparse point clouds to ensure an accurate and efficient model *** qualitative and quantitative experiments demonstrated the effectiveness of our method,demonstrating its superiority over existing techniques in terms of simplicity and efficiency.

关键词： 3D reconstruction Line clouds Sparse clouds Lightweight models

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Bearing Fault Diagnosis with DDCNN Based on Intelligent Feature Fusion Strategy in Strong Noise

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Computers, Materials & Continua 2023年第12期77卷 3423-3442页

作者： Chaoqian He Runfang Hao Kun Yang Zhongyun Yuan Shengbo Sang Xiaorui Wang College of Electronic Information and Optical Engineering Taiyuan University of TechnologyTaiyuan030024China Key Lab of Advanced Transducers and Intelligent Control System of the Ministry of Education Taiyuan030024China

Intelligent fault diagnosis in modern mechanical equipment maintenance is increasingly adopting deep learning ***,conventional bearing fault diagnosis models often suffer from low accuracy and unstable performance in noisy environments due to their reliance on a single input ***,this paper proposes a dual-channel convolutional neural network(DDCNN)model that leverages dual data *** DDCNN model introduces two key ***,one of the channels substitutes its convolution with a larger kernel,simplifying the structure while addressing the lack of global information and shallow ***,the feature layer combines data from different sensors based on their primary and secondary importance,extracting details through small kernel convolution for primary data and obtaining global information through large kernel convolution for secondary *** experiments conducted on two-bearing fault datasets demonstrate the superiority of the two-channel convolution model,exhibiting high accuracy and robustness even in strong noise ***,it achieved an impressive 98.84%accuracy at a Signal to Noise Ratio(SNR)of−4 dB,outperforming other advanced convolutional models.

关键词： Fault diagnosis dual-data dual-channel feature fusion noise-resistance

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Coverage Path Planning of Agricultural Spraying Drones with Graph Convolutional Network 12

Coverage Path Planning of Agricultural Spraying Drones with ...

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12th RSI International Conference on Robotics and Mechatronics, ICRoM 2024

作者： Khaloujini, Amirmasood Talaeizadeh, Amin Taheri, Alireza Alastya, Aria Advanced Research Lab for Control and Agricultural Robotics Sharif University of Technology Social and Cognitive Robotics Lab. Department of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798331529734

Optimal route planning for autonomous robots is a crucial element of contemporary agriculture, especially for activities like spraying and pollination. This paper presents a Graph Convolutional Network (GCN) model especially developed to address the Coverage Path Planning (CPP). The aim of this paper is to convert the CPP problem into a Traveling Salesman Problem (TSP), so that by solving the TSP using the proposed neural network, an optimal route can be extracted for each agricultural field in the shortest possible time and with sufficient accuracy, ensuring full coverage of the field's area. The proposed model is a GCN, augmented with a transformer layer and a Multi-Layer Perceptron (MLP), was trained using datasets produced by a Genetic Algorithm (GA) Method. The model obtained a network error of 0.12 while solving TSP cases with 20 points. It showed robust generalization skills, as evidenced by validation and test errors of 0.1261 and 0.1264, respectively. Significantly, the GCN model reduces the solution time to approximately one-tenth compared to conventional approaches, a benefit that increases as the number of points increases. The effectiveness of the model in producing ideal coverage routes highlights its potential for wider use in optimization and coverage path planning, especially in dynamic and extensive agricultural environments. © 2024 IEEE.

关键词： Traveling salesman problem

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PI-Based Set-Point Learning control for Batch Processes with Unknown Dynamics and Nonrepetitive Uncertainties

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IEEE Transactions on Automatic control 2024年第6期70卷 3649-3664页

作者： Hao, Shoulin Liu, Tao Rogers, Eric Wang, Youqing Paszke, Wojciech Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Eduction The Institute of Advanced Measurement and Control Technology Dalian116024 China Beijing University of Chemical Technology College of Information Science and Technology Beijing100029 China University of Zielona Góra Institute of Automation Electronic and Electrical Engineering Zielona Góra65-246 Poland

For industrial batch processes with unknown dynamics subject to nonrepetitive initial conditions and disturbances, this paper develops a novel adaptive data-driven set-point learning control (ADDSPLC) scheme based on only the measured process input and output data, which has two loops, one for the dynamics within a batch and the other for the batch-to-batch dynamics. In the former case, a model-free tuning strategy is firstly presented for determining the closed-loop PI controller parameters. For the latter case, a set-point learning control law with adaptive set-point learning gain and gradient estimation is developed for batch run optimization. Robust convergence of the output tracking error is rigorously analyzed together with the boundedness of adaptive learning gain and real-time updated set-point command. Moreover, another iterative extended state observer based (ADDSPLC) scheme is developed with rigorous convergence and boundedness analysis, to enhance the robust tracking performance against nonrepetitive uncertainties. Finally, two illustrative examples from the literature are used to demonstrate the effectiveness and superiority of the new schemes over the recently developed data-driven learning control designs. © 1963-2012 IEEE.

关键词： Batch data processing

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Research on Characteristics of Three-Chamber Hydraulic Cylinder Driving Loader Boom 8th

Research on Characteristics of Three-Chamber Hydraulic Cylin...

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8th International Conference on Advances in Construction Machinery and Vehicle Engineering, ICACMVE 2023

作者： Zhu, Huidian Feng, Jiangjiang Yang, Jing Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education and Shanxi Province Taiyuan University of Technology Taiyuan030024 China

ISBN: (纸本)9789819718757

When the loader boom is lifted and lowered, the hydraulic pump operates at high peak power levels. In this process, the hydraulic valve port dissipates the gravitational potential energy of the boom. Consequently, the dissipated energy is converted into thermal energy, resulting in elevated hydraulic oil temperature and reduced energy efficiency. This paper proposes a gravitational potential energy recovery system based on three-chamber cylinder and a hydraulic accumulator. The system utilizes the hydraulic accumulator to balance the weight of the loading boom and achieve energy recovery for the boom. The co-simulation model of wheel loader based on the three-chamber cylinder was built in SimulationX, then the energy consumption was analyzed under two kinds of typical operating modes. The simulation results illustrate that when the initial pressures of accumulators are 6 and 8 MPa with heavy-load and without load, the system has the highest energy utilization rate. By establishing a loader prototype and investigating the operating characteristics and energy efficiency of the boom driven by a two-chamber cylinder and a three-chamber cylinder, the experimental results illustrate that the new system operates smoothly, reducing energy consumption by 39.24% and peak power by 27.41%. © The Author(s) 2024.

关键词： Potential energy

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General Kinetostatic Modeling and Deformation Analysis of a Two-Module Rod-Driven Continuum Robot with Friction Considered

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Chinese Journal of Mechanical Engineering 2023年第3期36卷 110-122页

作者： Peiyi Wang Xinhua Yang Xiangyang Wang Sheng Guo School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518005China

Continuum robots actuated by flexible rods have large potential applications,such as detection and operation tasks in confined environments,since the push and pull actuation of flexible rods withstand tension and compressive force,and increase the structure's *** this paper,a generalized kinetostatics model for multi-module and multi-segment continuum robots considering the effect of friction based on the Cosserat rod theory is ***,the model is applied to a two-module rod-driven continuum robot with winding ropes to analyze its deformation and load *** different in-plane configurations under the external load term as S1,S2,C1,and C2 are *** a bending plane as an example,the tip deformation along thex-axis of these shapes is simulated and compared,which shows that the load capacity of C1 and C2 is generally larger than that of S1 and ***,the deformation experiments and simulations show that the maximum error ratio without external loads relative to the total length is no more than 3%,and it is no more than 4.7%under the external *** established kinetostatics model is proven sufficient to accurately analyze the rod-driven continuum robot with the consideration of internal friction.

关键词： Rod-driven continuum robot Kinetostatic model Cosserat rod theory Deformation and stiffness analysis

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Time-synchronous-averaging-spectrum based on super-resolution analysis and application in bearing fault signal identification

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第7期25卷 573-585页

作者： Zengle REN Yuan WANG Huiyue TANG Xin'an CHEN Wei FENG Guangdong Provincial Key Laboratory of Construction Robotics and Intelligent Construction Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen518055China Shenzhen EBORAIL Technology Co. Ltd.Shenzhen518038China National Supercomputing Center in Shenzhen Shenzhen518055China State Key Lab of Rail Traffic Control and Safety Beijing Jiaotong UniversityBeijing100044China University of Chinese Academy of Sciences Beijing100190China Shenzhen University of Advanced Technology Shenzhen518107China

Time-synchronous-averaging(TSA)is based on the idea of denoising by averaging,and it extracts the periodic components of a quasiperiodic signal and keeps the extracted waveform *** paper studies the mathematical properties of TSA,where three propositions are given to reveal the nature of *** paper also proposes a TSA-spectrum based on super-resolution analysis and it decomposes a signal without using any base *** contrast to discrete Fourier transform spectrum(DFT-spectrum),which is a spectrum in frequency domain,TSA-spectrum is a period-based spectrum,which can present more details of the cross effects between different periodic components of a quasiperiodic ***,a case study is carried out using bearing fault analysis to illustrate the performance of TSA-spectrum,where the rotation speed fluctuation of the shaft is estimated,which is about 0.12 ms *** extracted fault signals are presented and some insights are *** believe that this paper can provide new motivation for TSA-spectrum to be widely used in applications involving quasiperiodic signal processing(QSP).

关键词： Time-synchronous-averaging(TSA) Spectrum Quasiperiodic signal processing(QSP) Super-resolution analysis Bearingfaultdetection

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ESO-Based Data Driven Set-Point Learning control for Nonlinear batch Processes with PD-Type Feedback control Structure Subject to Nonrepetitive Uncertainties* 13

ESO-Based Data Driven Set-Point Learning Control for Nonline...

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13th IEEE Data Driven control and Learning Systems Conference, DDCLS 2024

作者： Ahmad, Naseem Hao, Shoulin Liu, Tao Gong, Yihui Zhang, Jiyan Wang, Haixia Zhu, Yong Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian116024 China Institute of Advanced Control Technology Dalian University of Technology Dalian116024 China School of Biomedical Engineering Dalian University of Technology Dalian116024 China

ISBN: (纸本)9798350361674

In this paper, an extended state observer (ESO) based data-driven set-point learning control (DDSPLC) scheme is proposed for nonlinear batch processes configured with an inherent PD-type control loop, so as to actively suppress the adverse effect of nonrepetitive external disturbances and nonidentical initial resetting conditions, by only utilizing the available process input/output data. The controlled process is firstly reformulated as an iterative dynamic linearization data model (IDLDM) with an extra generalized disturbance, where the unknown pseudo partial derivative and the generalized disturbance are, respectively, estimated by a projection-like algorithm and iterative ESO along the batch direction. By virtue of the estimated PPD and generalized disturbance, a set-point learning updating law with adaptive learning gain is then developed to optimize the tracking performance from batch-to-batch, by tuning the set-point command of the closed-loop PD-type control. Robust convergence analysis for the established closed-loop learning system is analyzed rigorously. The effectiveness and superiority of the proposed scheme are verified by an illustrative example. © 2024 IEEE.

关键词： State estimation

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RBFNN-Based ADRC Design for Continuous-Time Systems with Unknown Nonlinear Dynamics Subject to Time-Varying Disturbance 42

RBFNN-Based ADRC Design for Continuous-Time Systems with Unk...

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42nd Chinese control Conference, CCC 2023

作者： Yan, Shuai Hao, Shoulin Yu, Haichen Liu, Tao Yan, Bin Gong, Yihui Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian116024 China Institute of Advanced Control Technology Dalian University of Technology Dalian116024 China

ISBN: (纸本)9789887581543

In this paper, a radial basis function neural network (RBFNN) based active disturbance rejection control (ADRC) scheme is proposed for continuous-time systems with unknown nonlinear dynamics and time-varying disturbance. By using RBFNN to online approximate the unknown nonlinear dynamics, a novel nonlinear extended state observer (ESO) is firstly designed to estimate the total disturbance consisting of time-varying external disturbance and RBFNN approximation error. Then, an anti-disturbance feedback control law together with a tracking differentiator is designed to counteract the total disturbance in a feedforward manner. The bounded convergence of the closed-loop system and ESO as well as the estimation errors of the weighting vector are rigorously analyzed based on the Lyapunov stability theory. A case study is carried out to demonstrate the effectiveness and merit of the proposed design, in contrast to the conventional ADRC. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Continuous time systems

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Effects of external parameters on plasma characteristics and uniformity in a dual cylindrical inductively coupled plasma

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Plasma Science and technology 2024年第12期26卷 63-74页

作者： Pengyu WANG Siyu XING Daoman HAN Yuru ZHANG Yong LI Cheng ZHOU Fei GAO Younian WANG Key Laboratory of Materials Modification by Laser Ionand Electron Beams(Ministry of Education)School of PhysicsDalian University of TechnologyDalian 116024People’s Republic of China Lab of Advanced Space Propulsion and Beijing Engineering Research Center of Efficient and Green Aerospace Propulsion Technology Beijing Institute of Control EngineeringBeijing 100190People’s Republic of China

The dual cylindrical inductively coupled plasma source,compared to the conventional structure of inductively coupled plasma source,can significantly improve the uniformity of *** has an enhanced potential for application in processes,such as etching and ashing.A uniform plasma can be obtained by allowing the remote plasma from the upper chamber modulate the main plasma generated in the lower *** this study,a fluid model was employed to investigate a dual cylindrical inductively coupled Ar/O_(2)*** effects of external parameters on electron density,electron temperature,O atomic density,and plasma uniformity in the main chamber were studied,and the reasons were *** results of this study show that remote power can control the plasma uniformity and increase the plasma density in the main *** the remote power increased,plasma uniformity improved initially and then *** main power affected the plasma density at the edge of the main chamber and can modulate the plasma density in the main *** gas pressure affected both the uniformity and density of the *** the gas pressure increased,the plasma uniformity deteriorated,but the free radical density improved.

关键词： dual inductively coupled plasma remote plasma plasma uniformity fluid model

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