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Analysis of Heading Stability due to Interactions between Pectoral and Caudal Fins in Robotic Boxfish Locomotion

Journal of Bionic engineering 2023年第1期20卷 390-405页

作者： Hongcheng Qiu Lingkun Chen Xinshuo Ma Shusheng Bi Bo Wang Tiefeng Li School of Mechanical Engineering and Automation Beihang UniversityBeijing100191China Department of Engineering Mechanics Zhejiang UniversityHangzhou310058China

Investigating the interaction between fins can guide the design and enhance the performance of robotic *** this paper,we take boxfish as the bionic object and discuss the effect of coupling motion gaits among the two primary propulsors,pectoral and caudal fins,on the heading stability of the ***,we propose the structure and control system of the bionic boxfish ***,using a one/two-way fluid–structure interaction numerical method,we analyse the key parameters of the prototype and discuss the influence of pectoral and caudal motion gaits on the hydrodynamic ***,effect of the pectoral and caudal interactions on heading stability of the prototype is systematically analyzed and verified in *** show that the course-deviating degree,oscillation amplitudes of yawing,rolling,and pitching exhibited by the prototype are smaller than that caused by single propulsor when the motion gaits of both pectoral and caudal fins are coordinated in a specific *** paper reveals for the first time the effect of interactions between pectoral and caudal fins,on the stability of body's course by means of Computational Fluid Dynamics and prototype experiments,which provides an essential guidance for the design of robotic fish propelled by multi-fins.

关键词： Robotic boxfish Fin-fin interactions-Fluid-structure interaction-Heading stability

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Two-Stage Training Method for High-Quality Reconstruction in Single-Pixel Imaging

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Chinese Physics Letters 2024年第12期41卷 71-77页

作者： Hui Shao He Huang Yu-Xiao Wei Hui-Juan Zhang Zhao-Hua Yang Yuan-Jin Yu College of Information Science and Engineering Huaqiao UniversityXiamen 361021China School of Automation Beijing Institute of TechnologyBeijing 100081China School of Instrumentation and Optoelectronics Engineering Beihang UniversityBeijing 100191China

A two-stage training method is proposed to enhance imaging quality and reduce reconstruction time in datadriven single-pixel imaging(SPI)under undersampling *** approach leverages a deep learning algorithm to simulate single-pixel detection and image *** the initial training stage,an L2 regularization constraint is imposed on convolution modulation patterns to determine the optimal initial network *** the subsequent stage,a coupled deep learning method integrating coded-aperture design and SPI is adopted,which utilizes backpropagation of the loss function to iteratively optimize both the binarized modulation patterns and imaging network *** reducing the binarization errors introduced by the dithering algorithm,this approach improves the quality of data-driven *** with traditional deep-learning SPI methods,the proposed method significantly reduces computational complexity,resulting in accelerated image *** and simulation results demonstrate the advantages of the method,including high imaging quality,short image reconstruction time,and simplified *** an image size of 64×64 pixels and 10%sampling rate,the proposed method achieves a peak signal-to-noise ratio of 23.22 dB,structural similarity index of 0.76,and image reconstruction time of approximately 2.57×10^(−4) seconds.

关键词： image network utilize

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Coordinated Frequency Control for Isolated Power Systems with High Penetration of DFIG-Based Wind Power

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CSEE Journal of Power and Energy Systems 2024年第4期10卷 1399-1414页

作者： Xin Ding Wei Lin Jian Xu Yuanzhang Sun Liangzhong Yao Beilin Mao School of Electrical Engineering and Automation Wuhan UniversityWuhan 430072China Department of Electrical Engineering and Computer Science Case Western Reserve UniversityClevelandOH 44106 USA

This paper proposes a coordinated frequency control scheme for emergency frequency regulation of isolated power systems with a high penetration of wind *** proposed frequency control strategy is based on the novel nonlinear regulator theory,which takes advantage of nonlinearity of doubly fed induction generators(DFIGs)and generators to regulate the frequency of the power *** deviations and power imbalances are used to design nonlinear feedback controllers that achieve the reserve power distribution between generators and DFIGs,in various wind speed *** effectiveness and dynamic performance of the proposed nonlinear coordinated frequency control method are validated through simulations in an actual isolated power grid.

关键词： Frequency control isolated power systems nonlinear feedback nonlinear regulator theory wind power

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Optimization of batch cooling crystallization systems considering crystal growth,nucleation and *** I:Simulation

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Particuology 2025年第1期96卷 84-96页

作者： Qilei Xu Bin Lian Yan Long Baoming Shan Xuezhong Wang Fangkun Zhang College of Automation and Electronic Engineering Qingdao University of Science&TechnologyQingdao266061China School of Chemical and Process Engineering University of LeedsLeedsLS29JTUnited Kingdom Centre for Pharmaceutical and Crystallization Process Systems Engineering School of Chemical EngineeringBeijing Institute of Petrochemical TechnologyBeijing102617China

Optimal control of batch crystallization systems is still a focus and hot topic in the field of industrial crystallization, which seriously affects the consistency of batch product quality. In this paper, a new method with a new objective function and improved optimization algorithm was proposed for optimization of crystal size distribution (CSD) in case of fine crystals occurrence. The new objective function was developed with better margin metric and weighting technique to minimize fine crystal mass, meanwhile, a newly constructed sinusoidal weight function was introduced to improve the particle swarm optimization (PSO) algorithm. A precise control of CSD with suppressed numerical discrepancy caused by fine crystals removal was developed by combining seed recipe and temperature-swing. In addition, the effects of temperature curve segments on CSD during process optimization were systematically investigated to achieve optimal results. Two typical batch cooling crystallization systems were used to verify the effectiveness of the proposed method in controlling product CSD while minimizing fine crystal mass. Results demonstrated that the desired product CSD can be achieved with minor errors while the fine crystals could be shrunk to be negligible, i.e., the fine crystal mass and number can be reduced by over 90%. This work has an important guiding significance for the removal of fine crystals in industrial crystallization processes, especially when only operational optimization rather than equipment updating is considered.

关键词： Crystal size distribution Optimization Objective function Fine crystals removal Batch crystallization

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Carrier Phase Synchronization Based on Circulating Current Identification for Distributed Inverters

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IEEE Transactions on Power Electronics 2025年第8期40卷 10433-10442页

作者： Zhang, Jiakang Zhou, Dehong Zou, Jianxiao Liu, Xin Zhang, Hong Shen, Zewei School of Automation Engineering Chengdu611731 China Shenzhen Institute for Advanced Study UESTC China

Distributed parallel inverters are a promising solution for large power systems due to their flexibility and reliability. However, the distributed control mode often causes carrier phase desynchronization among the control units, leading to adverse effects on high-frequency harmonics and power loss. To address this issue, this paper proposes a carrier phase synchronization (CPS) method for distributed parallel inverters, leveraging circulating current identification. In the proposed scheme, circulating currents in parallel inverters directly influence high-frequency harmonics and carry carrier phase information. The peak amplitude of these currents is used to identify the CPS point and adaptively adjust the carrier phase difference. The proposed strategy leverages existing circulating currents to achieve CPS in parallel inverters, eliminating the need for additional synchronization hardware. Consequently, this solution not only reduces system costs and size, but also enables CPS-based multifunctionality, such as power quality optimization and common mode reduction. Finally, both simulation and experimental results are provided to validate the effectiveness of the proposed CPS method and the associated analysis. © 2025 IEEE.

关键词： Inverters Synchronization Voltage Harmonic analysis Accuracy Renewable energy sources Hardware Costs Training Topology

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Hierarchical structures on platinum-iridium substrates enhancing conducting polymer adhesion

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Bio-Design and Manufacturing 2024年第6期7卷 889-898页

作者： Linze Li Changqing Jiang Luming Li School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou 350108China National Engineering Research Center of Neuromodulation School of Aerospace EngineeringTsinghua UniversityBeijing 100084China IDG/McGovern Institute for Brain Research at Tsinghua University Beijing 100084China

Conducting polymers(CPs),including poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate)(PEDOT:PSS),are promising coating materials for neural ***,the weak adhesion of CP coatings to substrates such as platinum-iridium is a significant challenge that limits their practical *** address this issue,we used femtosecond laser-prepared hierarchical structures on platinum-iridium(Pt-Ir)substrates to enhance the adhesion of PEDOT:PSS ***,we used cyclic voltammetry(CV)stress and accelerated aging tests to evaluate the stability of both drop cast and electrodeposited PEDOT:PSS coatings on Pt-Ir substrates,both with and without hierarchical *** results showed that after 2000 CV cycles or five weeks of aging at 60℃,the morphology and electrochemical properties of the coatings on the Pt-Ir substrates with hierarchical structures remained relatively *** contrast,we found that smooth Pt-Ir substrate surfaces caused delamination of the PEDOT:PSS coating and exhibited both decreased charge storage capacity and increased ***,enhancing the stability of PEDOT:PSS coatings used on common platinum-iridium neural electrodes offers great potential for improving their electrochemical performance and developing new functionalities.

关键词： Hierarchical structures Femtosecond laser Conducting polymers Neural electrodes Stability

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Integrating Inventory Monitoring and Capacity Changes in Dynamic Supply Chains With Bi-Directional Cascading Propagation Effects

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IEEE/CAA Journal of Automatica Sinica 2024年第12期11卷 2515-2518页

作者： En-Zhi Cao Chen Peng Qing-Kui Li the School of Mechatronic Engineering and Automation Shanghai UniversityShanghai 200444China IEEE the School of Automation Beijing Information Science and Technology UniversityBeijing 100192China

Dear Editor,This letter focuses on the integration of inventory monitoring and capacity changes in dynamic supply chains(SCs)with the bullwhip effect(BE)and the ripple effect(RE).First,a new inventory monitoring model with stochastic switched topologies is proposed for SCs,potentially showing merits in incorporating the BE and the RE,and allowing control-theoretic approaches to identify their ***,sufficient conditions on the existence of inventory controllers are derived such that the monitoring system is stabilizable with mitigation of the BE in the presence of the RE.

关键词： letter chains stochastic

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Path tracking control of autonomous vehicles via prescribed performance approach

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Neural Computing and Applications 2025年第5期37卷 3839-3856页

作者： Zhang, Sucai Wang, Yongfu Li, Gang Wang, Yunlong School of Mechanical Engineering and Automation Northeastern University Liaoning Shenyang110819 Thailand School of Automobile and Traffic Engineering Liaoning University of Technology Liaoning Jinzhou121001 China

This paper addresses the path tracking control problem for autonomous vehicles subject to the compound disturbance and unavailable variable. Before the controller design, a state observer and a disturbance observer are constructed to estimate the sideslip angle and the compound disturbance, respectively. Then, a prescribed performance function is proposed to bound the tracking error to improve the tracking accuracy. Finally, the controller is designed based on the backstepping scheme. The Lyapunov stability theory shows that the tracking error converges to a preset range. The effectiveness of the proposed method is verified by hardware-in-the-loop and real vehicle experiments. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Autonomous vehicles

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Design and Analysis of a Delta-Shaped Segmented Variable Leakage Flux Reverse-Salient Permanent Magnet Synchronous Machine for Electric Vehicles

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Progress in Electromagnetics Research C 2025年 152卷 197-208页

作者： Liu, Xiping Guo, Jiao Lu, Ruipan Liu, Zhangqi Sun, Baoyu School of Electrical Engineering and Automation Jiangxi University of Science and Technology Jiangxi Ganzhou341000 China

Since the traditional Delta-shaped motor is difficult to achieve the wide speed range while increasing the output torque, it cannot fully meet the complex working conditions of electric vehicles. This paper, from the driving conditions and the principle of variable leakage magnetism, based on the traditional Delta-shaped interior motor, designs a variable leakage flux permanent magnet synchronous motor with a segmented Delta-shaped rotor permanent magnet structure (VLF-DSPM). The permanent magnet is segmented into a magnetic bridge by a ferromagnetic material so that some magnetic lines do not pass through the permanent magnet but directly through the magnetic bridge to increase the d-axis inductance. A magnetic barrier is designed in the q-axis to achieve magnetic leakage in the high-speed region, thereby achieving a wide speed control range. In addition, since the utilization rate of the permanent magnet is reduced due to segmentation, the output torque is reduced. Therefore, transverse bar-shaped permanent magnets are added to increase the reluctance torque of the motor to achieve a higher resultant torque. The key parameters of this structure were then optimized, and finally the electromagnetic characteristics of the VLF-DSPM were studied using finite element analysis in comparison with a conventional Delta-shaped interior permanent magnet (DS-IPM) synchronous motor. The results show that the VLF-DSPM has better flux control capabilities, higher output torque, a wider speed range, and higher efficiency and power factor. © 2025, Electromagnetics Academy. All rights reserved.

关键词： Permanent magnets

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Finger vein recognition based on efficient channel attention and GhostNet

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International Journal of Wireless and Mobile Computing 2024年第2期26卷 157-167页

作者： Ke, Yintao Zheng, Hui Jie, Jing Hou, Beiping Chen, Yuchuan School of Automation and Electrical Engineering Zhejiang University of Science and Technology Zhejiang Hangzhou China

The deep convolutional network (DCN) suffers from drawbacks such as high computational complexity and slow speed. To address these issues and facilitate the deployment of DCNs in embedded devices, we propose a finger vein recognition method based on lightweight Efficient Channel Attention (ECA) mechanism and GhostNet. By combining the ECA mechanism with the GhostNet’s G-bneck, we create a new module called ECAGhostNet. Additionally, we establish a more realistic FV-UST dataset for finger vein door locks which includes images with various challenges like rotation, stains, skin damage, hand sweat, temperature variations, and illumination differences. Experimental results demonstrate that ECAGhostNet outperforms GhostNet on the public FV-USM dataset, improving accuracy by 0.82% with minimal parameter increase (1.9 M). On the self-built FV-UST dataset, ECAGhostNet achieves a 0.63% accuracy improvement over GhostNet. Furthermore, we validate the effectiveness of our proposed model on the Jetson Nano device, confirming its suitability for real-world embedded applications. © 2024 Inderscience Enterprises Ltd.

关键词： Deep neural networks

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