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HRPose: Real-Time High-Resolution 6D Pose Estimation Network Using Knowledge Distillation

Chinese Journal of Electronics 2023年第1期32卷 189-198页

作者： GUAN Qi SHENG Zihao XUE Shibei Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management

Real-time six degrees-of-freedom(6D)object pose estimation is essential for many real-world applications, such as robotic grasping and augmented reality. To achieve an accurate object pose estimation from RGB images in real-time, we propose an effective and lightweight model, namely high-resolution 6D pose estimation network(HRPose). We adopt the efficient and small HRNetV2-W18 as a feature extractor to reduce computational burdens while generating accurate 6D poses. With only 33% of the model size and lower computational costs, our HRPose achieves comparable performance compared with state-of-the-art models. Moreover, by transferring knowledge from a large model to our proposed HRPose through output and feature-similarity distillations, the performance of our HRPose is improved in effectiveness and efficiency. Numerical experiments on the widely-used benchmark LINEMOD demonstrate the superiority of our proposed HRPose against state-of-the-art methods.

关键词： Knowledge engineering Computational modeling Pose estimation Grasping Benchmark testing Feature extraction Real-time systems

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Pain Recognition Algorithm Based on Improved Xception and Attention Mechanism 8

Pain Recognition Algorithm Based on Improved Xception and At...

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8th International Symposium on Computer Science and intelligent control, ISCSIC 2024

作者： Geng, Yanli Lu, Shijie Guo, Shijie Gu, Bowen Hebei University of Technology Enginneering Research Center of Intelligent Rehabilitation Device Detection Technology Ministry of Education School of Artificial Intelligence Control Engineering Technology Innovation Center of Hebei Province Tianjin China Hebei University of Technology School of Mechanical Engineering Tianjin China Hebei University of Technology Enginneering Research Center of Intelligent Rehabilitation Device Detection Technology Ministry of Education School of Mechanical Engineering Tianjin China

ISBN: (纸本)9798350380286

Efficient and accurate pain assessment is crucial for diagnosing medical conditions. To improve the accuracy of pain assessment, a pain expression recognition algorithm based on improved Xception and attention mechanism was proposed. A facial pain expression acquisition platform was built to extract video frame sequences and establish a pain expression database. Xception was used as the backbone network. Skip connections were added to enhance the extraction and utilization of shallow features. Multi-scale convolution module was designed to extract richer facial features. Relu was replaced by the Leaky Relu activation function. Attention mechanism was introduced to enhance important features. The model was verified on the pain expression database. The results illustrated the superiority of the proposed model, achieving an accuracy of 9 5. 2 %, which effectively identifies pain more than other basic deep learning models. © 2024 IEEE.

关键词： attention mechanism CBAM pain recognition algorithm Xception

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Dynamic Memristor based Cyclic Echo State Network for Time Series Prediction 4

Dynamic Memristor based Cyclic Echo State Network for Time S...

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4th International Conference on Neural Networks, Information and Communication engineering, NNICE 2024

作者： Li, Guangli Xia, Lei Fu, Jun Duan, Shukai Tang, Jianfeng Wang, Lidan Southwest University College of Artificial Intelligence Chongqing China National Local Joint Engineering Research Center of Intelligent Transmission and Control Technology Chongqing China

ISBN: (纸本)9798350394375

Compared with traditional recurrent neural networks, the training cost of echo-state network computing is lower because the neurons in the reservoir are randomly connected. We only need to train the weight of the connection between the reservoir and the output layer. Due to its high accuracy and low training cost for time series forecasting tasks, it is widely used as a time series forecasting model in many fields. It is very important to provide rich reservoir state for echo state network system, which is the key to hardware implementation. In this paper, we propose a cyclic echo state network (DC-ESN) based on dynamic memristors, which generates rich reservoir states through cyclic structure, and can predict complex time series well even with a single memristor. Compared with the traditional echo state network, the size of the reservoir is reduced and the prediction accuracy is greatly improved. Our work can provide an idea for more efficient memristor based echo state network systems in the future to cope with complex time series prediction tasks. © 2024 IEEE.

关键词： Memristors

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Digital Closed-Loop control Method for MEMS Quad-Mass Gyroscope Based on Synchronous Integrator Demodulation 7

Digital Closed-Loop Control Method for MEMS Quad-Mass Gyrosc...

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7th IEEE Information technology, Networking, Electronic and Automation control Conference, ITNEC 2024

作者： Yu, Zhuolin Zhou, Yi Wang, Xinyuan Zhou, Tong Su, Yan School of Mechanical Engineering Nanjing University of Science and Technology Nanjing China Jiangsu Research Center for Intelligent Navigation and Control of Complex Motion Nanjing China

ISBN: (纸本)9798350370782

Traditional demodulation algorithms for microelectromechanical systems (MEMS) gyroscopes exhibit poor noise resistance and demodulation misalignment. This paper proposes a digital closed-loop control method for MEMS Quad-Mass Gyroscopes (QMG) based on a synchronous integrator demodulation (SID) algorithm, achieving demodulation output of drive/detection signals. Utilizing the SID algorithm, a digital closed-loop measurement and control system for MEMS gyroscopes is established. In the drive mode closed-loop, phase-locked loop technology and automatic gain control technology ensure constant amplitude and frequency resonance of the gyroscope. For the sensing mode, the quadrature stiffness correction method is employed to correct quadrature errors, suppressing the impact of these errors on bias output. Electrostatic feedback is used to suppress the Coriolis force signal, allowing the gyroscope to operate in a force balance mode. Experimental results show that with the multiplication demodulation (MD) method, the bias instability of the MEMS QMG is 0.407°/h and the angle random walk is 0.137/Sh. With the SID, the bias instability reduces to 0.192°/h and the angle random walk to 0.039/Sh, representing a 2.1 times reduction in bias instability and a 3.5 times reduction in angle random walk. These results verify the effectiveness of the proposed method. © 2024 IEEE.

关键词： Closed loop control systems

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A Digital Closed-Loop control Method for a MEMS Quadruple Mass Gyroscope 7

A Digital Closed-Loop Control Method for a MEMS Quadruple Ma...

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7th IEEE Information technology, Networking, Electronic and Automation control Conference, ITNEC 2024

作者： Wang, Xinyuan Yu, Zhuolin Zhou, Yi Zhou, Tong Su, Yan School of Mechanical Engineering Nanjing University of Science and Technology Nanjing China Jiangsu Research Center for Intelligent Navigation and Control of Complex Motion Nanjing China

ISBN: (纸本)9798350370782

To address the issues of quadrature stiffness coupling and mode frequency splitting in MEMS quadruple mass gyroscopes, a digital closed-loop control method for MEMS quadruple mass gyroscopes is proposed. First, a quadrature stiffness coupling correction method is used to suppress quadrature errors in the MEMS quadruple mass gyroscope, reducing the impact of these errors on the accuracy of angular rate detection. Next, an electrostatic negative stiffness tuning technique is employed to achieve one-time mode matching for the gyroscope, enhancing its signal-to-noise ratio. Finally, force balance mode is used to detect angular rate, improving the gyroscope's operational bandwidth and reducing nonlinearity. Experimental results show that with this method, the bias instability of the MEMS quadruple mass gyroscope is 0.55°/h, and the angle random walk is 0.31 °/ √b. The experimental results demonstrate that the MEMS quadruple mass gyroscope using this digital closed-loop control method achieves high performance and accuracy. © 2024 IEEE.

关键词： Errors

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A blockchain-based user authorization management method for information exchanging of federation of industry and commerce

IET Blockchain

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IET Blockchain 2024年第S1期4卷 632-643页

作者： Yang, Jingqi Li, Hanqing Intelligent Platform Technology Center Academy of Information Science of China Electronics Technology Group Corporation Beijing China Traffic Engineering and Safety Research Department CHELBI Engineering Consultants. Inc Beijing China

The blockchain does not need the central organization to make trust endorsement, which is suitable for large scale information exchange between different regions. In addition, blockchain has the characteristics of decentralization and tamper resistant, so that it no longer needs an intermediary platform. A blockchain-based user authorization management method is proposed, which applies blockchain as an underlaying security mechanism for distributed user authorization management within a trusted community of a distributed information exchange sites of federation of industry and commerce. This method can ensure the reliability, consistency, and integrity of user authorization information. With this method, an elastic data exchange trusted community can be built between the data owner and the authorized data user according to the data exchange needs to achieve reliable distributed access authorization. © 2023 The Author(s). IET Blockchain published by John Wiley & Sons Ltd on behalf of The Institution of engineering and technology.

关键词： Electronic data interchange

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Factors hindering the degradation of pharmaceuticals from human urine in an iron-activated persulfate system

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Journal of Environmental Sciences 2024年第1期135卷 130-148页

作者： Yiruiwen Xie Dao Guan Yangfan Deng Yugo Sato Yu Luo Guanghao Chen Department of Civil and Environmental Engineering Water Technology LabHong Kong Branch of Chinese National Engineering Research Center for Control&Treatment of Heavy Metal PollutionThe Hong Kong University of Science&TechnologyHong Kong 999077China

This study investigated the degradation of clofibric acid(CFA),bezafibrate(BZF),and sulfamethoxazole(SMX)in synthetic human urine using a novel mesoporous iron powderactivated persulfate system(mFe-PS system),and identified the factors limiting their degradation in synthetic human urine.A kinetic model was established to expose the radical production in various reaction conditions,and experiments were conducted to verify the modeling *** the phosphate-containing mFe-PS system,the 120 min removal efficiency of CFA decreased from 95.1%to 76.6%as the phosphate concentration increased from 0.32 to 6.45 mmol/L,but recovered to 90.5%when phosphate concentration increased to 16.10 mmol/***,the increased concentration of phosphate from 0.32 to 16.10mmol/L reduced the BZF degradation efficacy from 91.5%to 79.0%,whereas SMX removal improved from 37.3%to 62.9%.The m Fe-PS system containing(bi)carbonate,from 4.20 to166.70 mmol/L,reduced CFA and BZF removal efficiencies from 100%to 76.8%and 80.4%,respectively,and SMX from 83.5%to 56.7%within a 120-min reaction *** addition,alkaline conditions(pH≥8.0)inhibited CFA and BZF degradations,while nonacidic pH(pH≥7.0)remarkably inhibited SMX *** of the kinetic model indicated the formation of phosphate(H_(2)PO_(4)^(·)/HPO_(4)^(·-))and/or carbonate radicals(CO_(3)^(·-))could limit pharmaceutical *** transformation products(TPs)of the pharmaceuticals revealed more incompletely oxidized TPs occurred in the phosphate-and(bi)carbonate-containing m Fe-PS systems,and indicated that H_(2)PO_(4)^(·)/HPO_(4)^(·-)mainly degraded pharmaceuticals via a benzene ring-opening reaction while CO_(3)^(·-)preferentially oxidized pharmaceuticals via a hydroxylation reaction.

关键词： Pharmaceutical degradation Human urine Iron-activated persulfate system Phosphate radicals Carbonate radicals Transformation products

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Reinforcement Learning-Based MAS Interception in Antagonistic Environments

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 270-272页

作者： Siqing Sun Defu Cai Hai-Tao Zhang Ning Xing the School of Artificial Intelligence and Automation the MOE Engineering Research Center of Autonomous Intelligent Unmanned Systemsthe Guangdong Engineering Technology Research Center of Fully Autonomous Unmanned Surface VehiclesHuazhong University of Science and TechnologyWuhan 430074China the State Grid Hubei Electric Power Research Institute Wuhan 430074China IEEE

Dear Editor, As a promising multi-agent systems(MASs) operation, autonomous interception has attracted more and more attentions in these years, where defenders prevent intruders from reaching *** far, most of the relevant methods are applied in ideal environments without agent damages. As a remedy, this letter proposes a more realistic interception method for MASs suffered by damages.

关键词： agent MAS destination

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UAVs cooperative task assignment and trajectory optimization with safety and time constraints

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Defence technology（防务技术） 2023年第2期20卷 149-161页

作者： Duo Zheng Yun-fei Zhang Fan Li Peng Cheng UAV Autonomous Control Institute Beijing Institute of TechnologyBeijing100081China Shanghai Institute of Mechanical and Electrical Engineering Shanghai201100China CASIC Research Institute of Intelligent Decision Engineering Wuhan100074China

This paper proposes new methods and strategies for Multi-UAVs cooperative attacks with safety and time constraints in a complex *** triangle is designed to construct a map of the complex flight environment for aerial ***-Map,Safe Flight Corridor(SFC),and Relative Safe Flight Corridor(RSFC)are applied to ensure each UAV flight trajectory's *** using such techniques,it is possible to avoid the collision with obstacles and collision between ***-curve is further developed to ensure that multi-UAVs can simultaneously reach the target at the specified time,and the trajectory is within the flight *** trajectory tracking controller is also designed based on model predictive control to track the planned trajectory *** simulation and experiment results are presented to verifying developed strategies of Multi-UAV cooperative attacks.

关键词： Multi-UAV Cooperative attacks Task assignment Trajectory optimization Safety constraints

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Knowledge and data jointly driven aeroengine gas path performance assessment method

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Chinese Journal of Aeronautics 2024年第5期37卷 533-557页

作者： Zhe WANG Xuyun FU Rui ZHANG Zhengfeng BAI Xiangzhao XIA Wei JIANG Department of Mechanical Engineering Harbin Institute of TechnologyWeihai 264209China Weihai Key Laboratory of Intelligent Operation and Maintenance Harbin Institute of TechnologyWeihai 264209China Control System Design Laboratory AECC ShenYang Engine Research InstituteShenyang 110015China

Aeroengines,as the sole power source for aircraft,play a vital role in ensuring flight *** gas path,which represents the fundamental pathway for airflow within an aeroengine,directly impacts the aeroengine's performance,fuel efficiency,and ***,timely and accurate evaluation of gas path performance is of paramount *** paper proposes a knowledge and data jointly driven aeroengine gas path performance assessment method,combining Fingerprint and gas path parameter deviation ***,Fingerprint is used to correct gas path parameter deviation values,eliminating parameter shifts caused by non-component performance ***,coarse errors are removed using the Romanovsky criterion for short-term data divided by an equal-length overlapping sliding ***,an Ensemble Empirical Mode Decomposition and Non-Local Means(EEMD-NLM)filtering method is designed to“clean”data noise,completing the preprocessing for gas path parameter deviation ***,based on the characteristics of gas path parameter deviation values,a Dynamic Temporary Blended Network(DTBN)model is built to extract its temporal features,cascaded with Multi-Layer Perceptron(MLP),and combined with Fingerprint to construct a Dynamic Temporary Blended AutoEncoder(DTB-AutoEncoder).Eventually,by training this improved autoencoder,the aeroengine gas path multi-component performance assessment model is formed,which can sufficiently decouple the nonlinear mapping relationship between aeroengine gas path multi-component performance degradation and gas path parameter deviation values,thereby achieving the performance assessment of engine gas path *** practical application cases,the effectiveness of this model in assessing the aeroengine gas path multi-component performance is verified.

关键词： Performance assessment Aeroengine Fingerprint Gas path parameter deviation values Jointly drive

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