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UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2025年第1期87卷 121-138页

作者： Zheng, Qingchun Wu, Moudong Zhu, Peihao Yang, Bin Li, Shubo Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China

This paper introduces D-Fusion SLAM, an advanced VSLAM system based on ORB-SLAM2. D-Fusion SLAM integrates depth information to enhance feature selection, aiming to improve accuracy and speed in visual SLAM applications. The system mainly comprises two modules: an image grid filtering module based on grayscale information and a feature selection module integrating depth information. These modules effectively eliminate redundant and useless features, ensuring high-quality features for pose estimation. We tested D-Fusion SLAM on the TUM dataset and compared it with ORB-SLAM2. Experimental results demonstrate that D-Fusion SLAM outperforms ORB-SLAM2, significantly enhancing the system's accuracy and robustness. © 2025, Politechnica University of Bucharest. All rights reserved.

关键词： Feature Selection

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RESEARCH ON SUBPIXEL CENTERLINE EXTRACTION METHOD OF LINE STRUCTURED LIGHT STRIPE

UPB Scientific Bulletin, Series C: Electrical Engineering an...

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UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2023年第1期85卷 91-104页

作者： Zheng, Qingchun Shi, Hao Zhu, Peihao Liu, Qipei Ma, Wenpeng Li, Xiaoyang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China

In the process of using line structured light for measurement, it is an essential step to quickly and accurately extract the center position from the line structured light stripe to improve the accuracy of the line structured light measurement system. At present, it is difficult to reduce the extraction time while ensuring the extraction accuracy by the commonly used line structured light centerline extraction methods. In order to solve this problem, the article proposes a centerline extraction method based on extreme value method and gray gravity method. The experimental results show that this method can extract the light stripe centerline more accurately and quickly, which provides a solid guarantee for the next point cloud data acquisition. © 2023, Politechnica University of Bucharest. All rights reserved.

关键词： Data acquisition

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design and Practice of Blended Teaching Model of Engineering Professional Courses based on Outcome-based Education 3

Design and Practice of Blended Teaching Model of Engineering...

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3rd International Conference on Educational Technology, ICET 2023

作者： Xu, Jinyou Zhang, Lei Rui, Chengjie Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin China

ISBN: (纸本)9798350302332

In the context of engineering education, to improve the practical engineering skills of engineering students, the teaching ideas and implementation methods of the curriculum are designed based on Outcome-based Education. A blended teaching approach was used to design the implementation process to achieve the curriculum objectives. In this paper, we explain the process of blended teaching from the two aspects of basic knowledge and competency training. Active learning of basic knowledge is implemented based on a three-step blended teaching model before, after, and during classes. It adopts the project-driven learning approach of the flipped classroom model and cultivates students' ability to solve complex engineering problems through collaborative group and intra-group mutual assessment. Based on the original objective assessment of the curriculum and under the current teaching model, we design a diversified evaluation approach to comprehensively assess the effectiveness of student competence achievement. Practice has shown that project-based inquiry-based teaching methods based on the flipped classroom model can promote learning outcomes for students and increase their interest in learning. It avoids the blind and aimless theoretical learning process of the student and improves the practical ability of the student. The methods and means of instruction of teachers have been further extended, and the ability of students to learn independently has been improved. © 2023 IEEE.

关键词： Students

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Project-guided Teaching Reform of Image Processing and Machine Vision: A Case Study of intelligent Diagnosis of Pulmonary Nodules 24

Project-guided Teaching Reform of Image Processing and Machi...

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3rd International Conference on Artificial Intelligence and Education, ICAIE 2024

作者： Zhang, Guobin Wang, Kexin Wang, Lewen Zhang, Runfeng Yang, Lu Wang, Min Liu, Zhenzhong Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China

ISBN: (纸本)9798400712692

This paper explores the innovation of teaching mode of image processing and machine vision courses under project orientation. Traditional image processing courses always lack a proper practical application, leading to some difficulties for students to understand the theoretical knowledge and apply the course content. Therefore, in order to better develop students' abilities in various aspects, this study takes the intelligent diagnosis of lung nodules as an example, and organically combines the theoretical knowledge in the textbook with the practical application in the project. In this paper we firstly discuss the content and importance of the image Processing and Machine Vision course, and review its research progress in related fields. Then we describe the design and implementation of the innovative model, and demonstrate the actual teaching effect under the new model through case studies. The final results show that this project-oriented teaching mode enhances students' learning interest, innovative thinking, practical and teamwork ability, which provides an important reference value for undergraduate talent cultivation. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Machine vision

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Welding Seam Image Dust Removal Algorithm Based on Fusion of Dual-scale Dark Channel and Bright Channel

IAENG International Journal of Computer Science

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IAENG International Journal of Computer Science 2021年第2期48卷 1-8页

作者： Zheng, Qingchun Zhang, Zhidong Liu, Jingna Zhu, Peihao Ma, Wenpeng Professor in the Key Laboratory of Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China Postgraduate student in the Key Laboratory of Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China A Lecturer in the Key Laboratory of Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China An Assistant Professor in the Key Laboratory of Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China

The dust removal technology of welding seam image has important practical significance for promoting the development of weld instance segmentation and target tracking. In this paper, we propose a welding seam image dust removal algorithm based on fusion of dual-scale dark channel and bright channel, which is to solve the problem that the color distortion and halo effect of dark channel prior image restoration algorithm in weld depth of field sudden change area and bright region. Firstly, the results of the minimum filtering of two scale windows are adaptively weighted and fused to obtain the fused dark channel. Secondly, the dark channel prior and the bright channel prior fusion strategy is adopted to obtain the fused atmospheric light to make the rough transmittance estimation more accurate. Finally, the weighted guided filtering is combined with up-sampling and down-sampling to optimize the rough transmittance, and the weld image is restored by combining the atmospheric scattering model. The experimental results indicate that our algorithm can restore the color and edge details of welding seam images and effectively suppress the halo effect. The objective comparison with several typical algorithms proves the feasibility and superiority of the proposed algorithm. © 2021. All Rights Reserved.

关键词： Image reconstruction

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OPTIMISATION OF SELF-PUNCHING RIVETING PROCESS PARAMETERS FOR HIGH-SPEED RAIL TOP PLATES

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UPB Scientific Bulletin, Series D: Mechanical Engineering 2022年第4期84卷 197-210页

作者： Zheng, Qingchun Guo, Chengmin Zhu, Peihao Liu, Jiaqi Ma, Wenpeng Zhao, Shuoshuo Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China

To improve the quality of self-pierce riveted joints, this paper uses a multi-objective optimisation method that incorporates a quadratic polynomial response surface model and the NSGA-II algorithm to optimise the parameters of the self-pierce riveting process. First, we carry out finite element simulations of the self-pierce riveted joint to determine the main factors affecting the quality of the joint forming through sensitivity analysis, and specify the optimum range of each parameter. Second, we use central composite design experiments to establish a quadratic polynomial response surface model. Third, we optimise the multi-objective model by using the NSGA-II algorithm and obtain the Pareto optimal solution. Finally, we use cross-sectional measurement and mechanical properties experiments to verify the feasibility of optimising the self-pierce riveted joint. The experimental results show that the bottom thickness increases by 24.7%, the undercut amount by 14.5%, and the tensile shear force by 27% compared to the pre-optimisation period. The quality of the riveted joints was significantly improved after optimisation, laying a good foundation for improving the safety of high-speed railway bodies. © 2022, Politechnica University of Bucharest. All rights reserved.

关键词： Multiobjective optimization

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USING DEEP LEARNING FOR AUTOMATIC DEFECT DETECTION ON A SMALL WELD X-RAY IMAGE DATASET

UPB Scientific Bulletin, Series C: Electrical Engineering an...

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UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2022年第2期84卷 267-278页

作者： Zheng, Qingchun Li, Xiaoyang Zhu, Peihao Ma, Wenpeng Liu, Jingna Liu, Qipei Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China

The quality of welding is directly related to the performance and life of welded products. This paper proposes an automatic defect detection method using deep learning on a small weld X-ray image dataset. Combined with Generative Adversarial Network (GAN) and Deep Convolutional Neural Network (DCNN), this method can successfully deal with the problem of data imbalance in small image dataset and achieves a good detection effect for low-contrast defect images. Extensive experiments have proved that this approach could accurately and quickly complete the location and detection task of internal defects of welds, and it achieves the Mean Average Precision (mAP) result as 91.64%. © 2022, Politechnica University of Bucharest. All rights reserved.

关键词： Defects

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Effect of Free-End Torsion on the Corrosion and Mechanical Properties for Mg-3Zn-0.2Ca Alloy

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Acta Metallurgica Sinica(English Letters) 2025年第1期38卷 59-70页

作者： Li-Lan Gao Jiang Ma Yan-Song Tan Xiao-Hao Sun Qi-Jun Gao De-Bao Liu Chun-Qiu Zhang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin300384China School of Materials Science and Engineering Tianjin University of TechnologyTianjin300384China

Magnesium alloys with excellent degradability and biocompatibility are promising materials for biomedical implants,saving patients the burden of second ***,their mechanical properties and corrosion resistance are significantly below the requirements for implant *** study aims to improve the mechanical and corrosion resistance properties of Mg-3Zn-0.2Ca alloy by pre-torsion treatment,and find out the optimal shear *** rod-shaped Mg-3Zn-0.2Ca alloy specimens were pre-torsion treated at different torsion *** effect of free-end torsion on Mg-3Zn-0.2Ca alloy was characterized through microstructure analysis,mechanical testing,and corrosion ***-torsion treatment can refine grain and induce twins and dislocations in Mg-3Zn-0.2Ca *** surface hardness increases with the increase in torsion *** yield strength and ultimate strength initially increase and then decrease with increasing torsion angle,while ductility decreases with increasing torsion *** with a shear strain of 30%exhibit the highest tensile strength,reaching 284.78±10.62 MPa,with an elongation of 19.37±1.66%.Furthermore,they show a significant improvement in fatigue lives both before and after *** the stress amplitude is 120 MPa,the fatigue lives for specimens without pre-torsion treatment are 54,275 cycles and 4324 cycles before and after pre-corrosion,while they increased significantly to 92,015 cycles and 5050 cycles with the 30%shear strain,***,the 30%shear strain specimens show a significant reduction in corrosion *** conclusion,pre-torsion treatment can effectively modify the microstructure of Mg-3Zn-0.2Ca alloy,enhancing both mechanical properties and corrosion *** optimal shear strain for this improvement is 30%.This study provides a practical method to enhance the mechanical properties and corrosion resistance of Mg-3Zn-0.2Ca alloy,making it more suitable for biomedical implan

关键词： Magnesium alloy Pre-torsion Microstructure Mechanical property Corrosion resistance

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STUDY ON THE CENTERLINE EXTRACTION METHOD OF WELD IMAGE LINE STRUCTURED LIGHT STRIPE

UPB Scientific Bulletin, Series C: Electrical Engineering an...

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UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2022年第1期84卷 21-32页

作者： Zheng, Qingchun Liu, Qipei Zhu, Peihao Ma, Wenpeng Liu, Jingna Li, Xiaoyang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China

In practice, using vision measurement technology based on structured light to reconstruct the complex weld is a feasible way for providing the essential parameters for the welding polishing robot and guiding it to grind the weld by force control. In this paper, we represent a method to extract the centerline of structured light stripe in weld image. First, obtains the high-quality light stripe image using an industrial camera outfitted with a filter and preprocessed to isolate the entire structured light stripe from the background image. Second, using the weighted gray centroid method, roughly extract the original stripe center to obtain the initial point of the stripe center. Then, using principal component analysis, find the normal direction of the light stripe and calculate the gray distribution function of the stripe using second-order Taylor expansion along the normal direction to obtain the correct position of the stripe center. Finally, use cubic spline interpolation to create a smooth centerline. The testing results suggest that this method outperforms the Steger algorithm in terms of speed and extraction accuracy when compared to the classic gray centroid method. These works set the foundation for real-time 3D reconstruction of welds. © 2022, Politechnica University of Bucharest. All rights reserved.

关键词： Principal component analysis

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ADAPTIVE BOUNDARY control VIBRATION SUPPRESSION OF FLEXIBLE MANIPULATOR BASED ON IMPROVED RBF NEURAL NETWORK

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UPB Scientific Bulletin, Series D: Mechanical Engineering 2024年第2期86卷 3-18页

作者： Zheng, Qingchun Wei, Zhiyong Zhu, Peihao Ma, Wenpeng Deng, Jieyong Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China China School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China Jiangxi Technical College of Manufacturing Jiangxi Nanchang330095 China

With lighter weight, lower power consumption, and higher flexibility, flexible manipulators have been widely used in industrial fields. However, it is easy to produce elastic deformation, resulting in vibration. In this paper, an improved radial basis function (RBF) neural network (NN) for adaptive boundary control is proposed. The partial differential equation (PDE) model of the flexible manipulator is established, and the asymptotic stability of the system is proved by the first Lyapunov method. Finally, simulation results show that the proposed control method can eliminate the low-amplitude angular fluctuation and the high-amplitude angular velocity fluctuation. © 2024, Politechnica University of Bucharest. All rights reserved.

关键词： Flexible manipulators

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