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DADAN: Dynamic-Augmented and Density-Aware Network for Accurate 3-D Object Detection With 4-D Radar

IEEE Sensors Journal 2025年第6期25卷 10272-10286页

作者： Wang, Xingzheng Li, Jiahui Wu, Jianbin Wu, Shaoyong Li, Lihua Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China Shenzhen Technology University Guangdong-Hongkong-Macao Critical Optical Components Precision Manufacturing Research Center Sino-German College of Intelligent Manufacturing Shenzhen518118 China

The cost-effective automotive 4-D radar is emerging as a feasible solution for 3-D object detection in autonomous driving scenarios. However, point clouds generated by 4-D radar are typically sparse. Current methods encounter challenges in resolving the foreground-background confusion in sparse point clouds due to: 1) the underutilization of the unique dynamic information (velocity and intensity) of 4-D radar points;and 2) the density variations of point clouds where they are near-dense-far-sparse, exacerbating the confusion. Therefore, we propose a dynamic-augmented and density-aware network (DADAN) to address these challenges by: 1) assigning high weights to foreground points based on dynamic information and enhancing their feature encoding to reduce confusion effectively;and 2) utilizing attention mechanisms along with density information to adaptively address exacerbated confusion caused by density variations. The DADAN comprises a dynamic-augmented encoding network, a density-aware backbone, and a detection head. The encoding network incorporates a dynamic-augmented encoding module (DAEM) that assigns high weights to foreground points based on velocity and intensity data to improve their feature encoding. Notably, foreground points typically exhibit distinct dynamic information compared to background points, distinguishing them from the background. The backbone network incorporates an attention mechanism along with density information to generate density-aware features. The detection head is responsible for 3-D bounding boxes and object categories. The experimental results on various public datasets demonstrate the superior performance of the proposed method compared to existing approaches. These results illustrate that the DADAN effectively addresses the issue of confusion, accurately detecting objects in complex scenes. © 2001-2012 IEEE.

关键词： Object detection

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A mixed-coordination electron trapping-enabled high-precision touch-sensitive screen for wearable devices

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Bio-Design and Manufacturing 2024年第4期7卷 413-427页

作者： Xi Zhang Junchi Ma Hualin Deng Jinming Zhong Kaichen Xu Qiang Wu Bo Wen Dongfeng Diao Guangdong Provincial Key Laboratory of Micro/Nano Optomechatronics Engineering College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310058China Shenzhen University General Hospital Shenzhen 518055China Research Center of Medical Plasma Technology Shenzhen UniversityShenzhen 518060China

Touch-sensitive screens are crucial components of wearable *** such as reduced graphene oxide(rGO),carbon nanotubes(CNTs),and graphene offer promising solutions for flexible touch-sensitive ***,when stacked with flexible substrates to form multilayered capacitive touching sensors,these materials often suffer from substrate delamination in response to deformation;this is due to the materials having different Young’s modulus *** results in failure to offer accurate touch screen *** this work,we demonstrate an induced charge-based mutual capacitive touching sensor capable of high-precision touch *** is enabled by electron trapping and polarization effects related to mixed-coordinated bonding between copper nanoparticles and vertically grown graphene ***,we used an electron cyclotron resonance system to directly fabricate graphene-metal nanofilms(GMNFs)using carbon and copper,which are firmly adhered to flexible *** being subjected to 3000 bending actions,we observed almost no change in touch *** screen interaction system,which has a signal-to-noise ratio of 41.16 dB and resolution of 650 dpi,was tested using a handwritten Chinese character recognition trial and achieved an accuracy of 94.82%.Taken together,these results show the promise of touch-sensitive screens that use directly fabricated GMNFs for wearable devices.

关键词： Flexible touch-sensitive screen Graphene-metal nanofilms Mixed coordination Wearable device

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HTEC foot:A novel foot structure for humanoid robots combining static stability and dynamic adaptability

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Defence Technology(防务技术) 2025年第2期44卷 30-51页

作者： Jintao Zhang Xuechao Chen Zhangguo Yu Lianqiang Han Zhifa Gao Qingrui Zhao Gao Huang Ke Li Qiang Huang School of Mechatronical Engineering Beijing Institute of TechnologyNo.5South StreetZhongguancunHaidian DistrictBeijing100081China Key Laboratory of Biomimetic Robots and Systems Ministry of EducationNo.5South StreetZhongguancunHaidian DistrictBeijing100081China School of Information Science and Technology Beijing University of TechnologyNo.100PingleyuanChaoyang DistrictBeijing100124China Innovation Center for Control Actuators Beijing Institute of Precision Mechatronics and ControlsDonggaodiFengtai DistrictBeijing100076China

Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental *** this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics ***,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human ***,the kinematics and REH dynamics of the HTEC model were *** on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was ***,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid *** foot static stability is *** enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone *** proposed design method and structure,the mobility of the humanoid robot is improved.

关键词： Humanoid robot Bionic structure Passive foot structure Rigid-elastic hybrid dynamics model Optimal stiffness matching

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Deep Learning-based Moving Object Segmentation:Recent Progress and research Prospects

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Machine Intelligence research 2023年第3期20卷 335-369页

作者： Rui Jiang Ruixiang Zhu Hu Su Yinlin Li Yuan Xie Wei Zou College of Information Engineering Shanghai Maritime UniversityShanghai201306China School of Computer Science and Technology East China Normal UniversityShanghai200062China Research Center of Precision Sensing and Control Institute of AutomationChinese Academy of SciencesBeijing100190China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing100190China

Moving object segmentation(MOS),aiming at segmenting moving objects from video frames,is an important and challenging task in computer vision and with various *** the development of deep learning(DL),MOS has also entered the era of deep models toward spatiotemporal feature *** paper aims to provide the latest review of recent DL-based MOS methods proposed during the past three ***,we present a more up-to-date categorization based on model characteristics,then compare and discuss each category from feature learning(FL),and model training and evaluation *** FL,the methods reviewed are divided into three types:spatial FL,temporal FL,and spatiotemporal FL,then analyzed from input and model architectures aspects,three input types,and four typical preprocessing subnetworks are *** terms of training,we discuss ideas for enhancing model *** terms of evaluation,based on a previous categorization of scene dependent evaluation and scene independent evaluation,and combined with whether used videos are recorded with static or moving cameras,we further provide four subdivided evaluation setups and analyze that of reviewed *** also show performance comparisons of some reviewed MOS methods and analyze the advantages and disadvantages of reviewed MOS methods in terms of ***,based on the above comparisons and discussions,we present research prospects and future directions.

关键词： Moving object segmentation(MOS) change detection background subtraction deep learning(DL) video understanding

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A Time-Frequency Local Polynomial Approach to FRM Estimation from Incomplete Data

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IFAC-PapersOnLine 2023年第2期56卷 3942-3947页

作者： Nic Dirkx Koen Tiels Tom Oomen ASML Research Mechatronics & Control Veldhoven The Netherlands Eindhoven University of Technology Department of Mechanical Engineering Control Systems Technology Eindhoven The Netherlands Delft Center for Systems and Control Delft University of Technology Delft The Netherlands

Frequency Response Matrix (FRM) estimation from measured data is an important step towards the control of complex systems, including motion and thermal systems. Missing samples in the measured data records, e.g., due to sensor failure or faulty data transmission, often occur. In this paper, a method is presented for the nonparametric FRM identification of multiple-inputs multiple-outputs (MIMO) systems from incomplete and noisy data records. The method exploits time- and frequency-domain localizing wavelets to accurately estimate the FRM and its covariance from the time-frequency plane. Good performance is demonstrated in a simulation study.

关键词： Frequency response function identification missing data transient estimation multiple-inputs multiple-outputs linear systems

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Finite-Time Attitude control for Coupled Spacecraft with Input Constraints 42

Finite-Time Attitude Control for Coupled Spacecraft with Inp...

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42nd Chinese control Conference, CCC 2023

作者： Zhu, Wanwan Yukai, Yang School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China China University of Mining and Technology Engineering Research Center of Intelligent Control for Underground Space Ministry of Education Xuzhou221116 China Beijing Institute of Precision Mechatronics and Controls Beijing100076 China Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China

ISBN: (纸本)9789887581543

In this paper, a finite-time saturated attitude control algorithm is proposed for coupled spacecraft under flexible vibration, liquid sloshing, model uncertainty and external disturbance. By adding a feedback term, a saturated super-twisting sliding mode control algorithm is designed to realize coupled spacecraft attitude control in finite time. The main feature of the proposed control algorithm is that it is continuous and control torque to regulate the coupled spacecraft system affected by lumped uncertainty in finite time. Finally, the simulation results are given to verify the effectiveness of the proposed control algorithm. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Attitude control

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Optimized design and performance testing of hydraulic electrostatic actuator

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International Journal of Smart and Nano Materials 2024年第4期15卷 811-834页

作者： Yuze Ye Qingsong He Changli Yang Xiaodong Xu Lin Xie Diyi Liu Bo Zeng Zhijian Leng Jiangsu Key Laboratory of Bionic Materials and Equipment College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina Key Laboratory of Advanced Technology for Small and Medium-Sized UAV Ministry of Industry and Information TechnologyUnmanned Aerial Vehicles Research InstituteNanjing University of Aeronautics and AstronauticsNanjingChina State Key Laboratory of Mechanics and Control of Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjingChina Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and ControlsBeijingChina Technology Center CCCC Second Harbor Engineering CompanyWuhanChina

Hydraulic electrostatic actuators have become a research hotspot for their inherent flexibility and safety of human-machine *** paper aims to combine the characteristics of dielectric elastomers and fluid actuators,enhancing the dielectric constant and breakdown field strength by modifying Al_(2)O_(3)on the surface of nanostructured BaTiO3 and in order to develop a hydraulic electrostatic actuator with silicone rubber as the matrix ***-factor experiments were firstly conducted to confirm the range of three factors affecting the actuation strain of the actuator:BaTiO_(3)@Al_(2)O_(3)content,thickness of the silicone rubber elastomer film,and pre-stretching ratio *** response surface methodology was used to study the interactive influence of the above three influencing factors on the actuation *** was obtained that A has an insignificant influence on the actuation strain,AB has a significant influence on the actuation strain,and B,C,AC,and BC have a highly influence on the actuation *** actuation strain as the optimization objective yielded the combination results of each factor:BaTiO_(3)@Al_(2)O_(3)content of 2.57%,thickness of 0.60 mm,and pre-stretching ratio coefficient of *** strain tests were conducted with optimized parameters under *** experimental results of the actuation strain test show that the relative error between the test value and the model prediction value of 16.47%is less than 5%,and the optimization model results are *** optimized hydraulic electrostatic actuator was tested for actuation strain and electrical performance under different *** experiment showed that the maximum actuation strain of the hydraulic electrostatic actuator was 17.20%under a load of 100 *** critical breakdown current of the actuator ranged from 115μA to 130μA,and the maximum electromechanical conversion efficiency of the actuator under different loads was 67.93%.Finally,a joint actuati

关键词： Hydraulic electrostatic actuator BaTiO_(3)@Al_(2)O_(3) response surface experiments actuation strain

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Serrated chip formation in machining of difficult to cut metallic materials: a comprehensive review

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Critical Reviews in Solid State and Materials Sciences 2025年

作者： Zhao, Zejia Liu, Chujun Xu, Bo Wang, Jingwei Yao, Yingxue Yin, Tengfei To, Suet Yang, Yang Institute of Semiconductor Manufacturing Research College of Mechatronics and Control Engineering Shenzhen University Shenzhen China State Key Laboratory of Ultra-precision Machining Technology Department of Industrial and Systems Engineering The Hong Kong Polytechnic University Kowloon Hong Kong Department of Materials Science Shenzhen MSU-BIT University Shenzhen China Shenzhen China

Serrated cutting chips are usually observed in the machining of difficult to cut metallic materials such as titanium alloys, steels, and nickel-based alloys. Understanding the formation mechanism and influencing factors to generate serrated chips is meaningful for improving the machinability of the difficult to cut materials since the formation of serrated chips poses high risks on the vibration of cutting tools and further affects the surface quality of the workpiece. To date, extensive studies have been conducted on the investigation of serrated chip formation in the machining of difficult to cut materials, but there is still a lack of a comprehensive review to clarify the formation mechanism and summarize the factors affecting the serrated chip characteristics. In this review, two commonly used mechanisms, i.e., adiabatic shear band (ASB) theory and periodical crack formation (PCF) theory, are summarized and discussed with respect to theoretical analyses and experimental verifications. Serrated chip formation in different difficult to cut alloys was also systematically reviewed, considering materials inherent properties such as high hardness, poor thermal conductivity, or low fracture toughness. Besides, some critical factors, including cutting speeds, feed rates, cutting tools, external energy sources, humidity, and temperature are highlighted to illustrate their effects on the serrated chip formation. In addition, challenges and perspectives about the serrated chip formation in machining of difficult to cut metallic materials are proposed to give instruction to future research. © 2025 Taylor & Francis Group, LLC.

关键词： Titanium alloys

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A study of the kinematic effects of a passive exoskeleton on the upper limb during handling and lifting 24

A study of the kinematic effects of a passive exoskeleton on...

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Proceedings of the 2024 International Conference on Sports Technology and Performance Analysis

作者： Hui Li Qing Sun Xiao Zhang Bo Ceng Institute of Artificial Intelligence in Sports Capital University of Physical Education and Sports Beijing China Systems Engineering Institute Academy of Military Science Beijing China Beijing Institute of Precision Mechatronics and Controls Beijing China Innovation Center for Control Actuators Beiiing China

ISBN: (纸本)9798400712234

Exoskeletons have shown important application potential in assisting physical labor and reducing joint burden. As a typical task in physical labor, the research on the kinematic impact of handling is of great significance for the optimal design and practical application of exoskeleton. This study constructed three typical warehouse task scenarios—1.4 m handling, 1.8 m handling, and lifting—and analyzed the kinematic parameters, including joint angles and angular velocities, of eight male university students performing these tasks with and without exoskeleton, using a motion capture system. The results revealed that with exoskeleton significantly reduced the range of motion at the hip, elbow, and knee joints, and decreased the peak angular velocity of the elbow joint during the 1.8 m handling task and the peak angular velocity of the hip joint during the lifting task. However, no significant effects were observed on the mean angular velocities of the joints. These findings indicate that the passive exoskeleton limits the range of motion of the joint to a certain extent, but does not significantly affect the movement speed, and its adaptability in high dynamic tasks still needs to be improved. In the future, exoskeleton design should pay more attention to the adaptation of joint biomechanical properties, optimize flexibility and adaptability, and further evaluate the potential impact of long-term wear on joint health, so as to promote its promotion and development in practical application scenarios.

关键词： Joint angular velocity

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Finite-time attitude control for coupled spacecraft with input constraints

Finite-time attitude control for coupled spacecraft with inp...

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第42届中国控制会议

作者： Wanwan Zhu Yang Yukai School of Information and Control Engineering China University of Mining and Technology Engineering Research Center of Intelligent Control for Underground Space Ministry of Education China University of Mining and Technology Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission

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