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Fractional Order Iteration for Gradient Descent Method Based on Event-Triggered Mechanism

Journal of Systems Science & Complexity 2023年第5期36卷 1927-1948页

作者： LU Jiajie WANG Yong FAN Yuan Department of Automation University of Science and Technology of ChinaHefei 230026China Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and AutomationAnhui UniversityHefei 230601China

In this work,a novel gradient descent method based on event-triggered strategy has been proposed,which involves integer and fractional order ***,the convergence of integer order iterative optimization method and the stability of its associated system with integrator dynamics are *** on this result,a fractional order iteration approach has been developed by modelling the system with fractional order ***,to reduce the comsumption of computation,a feedback based event-triggered mechanism has been introduced to the gradient descent *** convergence of this new event-triggered optimization algorithm is guaranteed by using a Lyapunov method,and Zeno behavior is proved to be avoided ***,the effectiveness and advantages of the proposed algorithms are verified by numerical simulations.

关键词： Event-triggered mechanism fractional order iteration gradient descent Zeno behavior

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Steel surface defect detection based on lightweight YOLOv7

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Optoelectronics Letters 2025年第5期21卷 306-313页

作者： SHI Tao WU Rongxin ZHU Wenxu MA Qingliang School of Electrical Engineering and Automation Tianjin University of Technology College of Electrical Engineering North China University of Science and Technology Guangzhou Institute of Measurement and Testing Technology

Aiming at the problems of low detection efficiency and difficult positioning of traditional steel surface defect detection methods, a lightweight steel surface defect detection model based on you only look once version 7(YOLOv7) is proposed. First, a cascading style sheets(CSS) block module is proposed, which uses more lightweight operations to obtain redundant information in the feature map, reduces the amount of computation, and effectively improves the detection speed. Secondly, the improved spatial pyramid pooling with cross stage partial convolutions(SPPCSPC) structure is adopted to ensure that the model can also pay attention to the defect location information while predicting the defect category information, obtain richer defect features. In addition, the convolution operation in the original model is simplified, which significantly reduces the size of the model and helps to improve the detection speed. Finally, using efficient intersection over union(EIOU) loss to focus on high-quality anchors, speed up convergence and improve positioning accuracy. Experiments were carried out on the Northeastern University-defect(NEU-DET) steel surface defect dataset. Compared with the original YOLOv7 model, the number of parameters of this model was reduced by 40%, the frames per second(FPS) reached 112, and the average accuracy reached 79.1%, the detection accuracy and speed have been improved, which can meet the needs of steel surface defect detection.

关键词： A

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Adsorption and sensing characteristics of insulating gas C4F7N on 3d late transition metal-phthalocyanine:Theoretical and experimental study

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High Voltage 2024年第4期9卷 870-878页

作者： Dachang Chen Ziang Zheng Cong Zhang Yi Luo Song Xiao Qing Miao Ke Liu Beibei Xiao School of Electrical and Electronic Engineering Wuhan Polytechnic UniversityWuhanChina Beijing International S&T Cooperation Base for Plasma Science and Energy Conversion Institute of Electrical EngineeringChinese Academy of SciencesBeijingChina School of Electrical Engineering and Automation Wuhan UniversityWuhanChina School of Energy and Power Engineering Jiangsu University of Science and TechnologyZhenjiangChina

Heptafluoroisobutyronitrile(C_(4)F_(7)N)is being considered as a promising alternative to the greenhouse gas SF6 in the electrical ***,its biotoxicity necessitates the development of gas sensing technology to detect leaked C_(4)F_(7)N.A combination of density functional theory and experiments was employed to evaluate the adsorption and sensing performance of different metal-phthalocyanines as potential sensing materials for C_(4)F_(7)N *** study included exploring adsorption configurations with adsorption energies,electron transfer,and adsorption distance,as well as comparisons of electronic properties,electron distribution,and density of states(DOS)among the ***,gas sensing experiments were conducted using different MPcs to detect 25-100 ppm C_(4)F_(7)*** results revealed that Mn-Pc,Fe-Pc,Co-Pc,and Zn-Pc exhibited considerable chemical interactions,while Ni-Pc and Cu-Pc showed weaker adsorption *** findings were further elucidated based on the electron density and DOS of atomic ***,gas sensing experiments indicated that Co-Pc demonstrated a higher response compared to Fe-Pc at the same concentration of C_(4)F_(7)***,the theoretical and experimental insights offer valuable guidance for C_(4)F_(7)N detection and provide a systematic approach to screen and explore organometallic polymer-based gas sensors applicable in various fields.

关键词： adsorption phthalocyanine Adsorption

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Human-robot shared control system based on 3D point cloud and teleoperation

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Science China(Technological Sciences) 2023年第8期66卷 2406-2414页

作者： YANG ChenGuang ZHANG Ying ZHAO GuanYi CHENG Long School of Automation Science and Engineering South China University of TechnologyGuangzhou 510641China Institute of Automation Chinese Academy of SciencesBeijing 100190China

Owing to the constraints of unstructured environments,it is difficult to ensure safe,accurate,and smooth completion of tasks using autonomous ***,for small-batch and customized tasks,autonomous operation requires path planning for each task,thus reducing *** propose a human-robot shared control system based on a 3D point cloud and teleoperation for a robot to assist human operators in the performance of dangerous and cumbersome *** system leverages the operator’s skills and experience to deal with emergencies and perform online error *** this framework,a depth camera acquires the 3D point cloud of the target object to automatically adjust the end-effector *** operator controls the manipulator trajectory through a teleoperation *** force exerted by the manipulator on the object is automatically adjusted by the robot,thus reducing the workload for the operator and improving the efficiency of task *** addition,hybrid force/motion control is used to decouple teleoperation from force control to ensure that force and position regulation will not interfere with each *** proposed framework was validated using the ELITE robot to perform a force control scanning task.

关键词： teleoperation 3D point cloud human-robot shared control hybrid force/motion control

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Development of Ultrasonic Measurement System for Underwater Mapping Unmanned Vehicle 7

Development of Ultrasonic Measurement System for Underwater ...

引用

7th IEEE Advanced Information Technology, Electronic and automation Control Conference, IAEAC 2024

作者： Yan, Binghua Cao, Maoyong Zhang, Hui Wang, Hao School of Information and Automation Engineering Jinan China

ISBN: (纸本)9798350339161

This paper mainly designs an underwater ultrasonic measurement system based on unmanned ship, which is used in the research of underwater survey. Underwater exploration is widely used. In this paper, ultrasonic system is used to collect information, and a PTZ system is designed to ensure the stability of ultrasonic probe. Through the coordination of servo motor and steering gear, the stability of ultrasonic probe is well stabilized. Finally, the data collected by stm32 microcontroller is used to model and analyze the underwater terrain. The sending, receiving and processing methods of the data are explained in detail. Finally, the stability of the whole measurement system is verified by experiments, and the measurement task function can be completed in the underwater measurement experiment. © 2024 IEEE.

关键词： Probes

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Design and Control of Ultrasound Image-guided Prostatic Brachytherapy Robot

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Recent Patents on Mechanical engineering 2024年第2期17卷 116-122页

作者： Sun, Yue Dai, Xuesong Yin, Qihao Ju, Linfeng Tang, Xiaolan Li, Miao School of Automation Wuxi University Wuxi214000 China School of Mechanical Engineering Tianjin University Tianjin300000 China

Background: With the continuous development of medical robots, they have become a pow-erful tool for surgery and treatment. A prostate brachytherapy robot is a kind of robot widely used in prostate cancer treatment;its main function is to accurately implant radioactive seeds into prostate tissue to kill cancer cells. Using prostate brachytherapy robots for surgery can reduce damage to surrounding tissue during surgery, thereby reducing the risk of external electrolysis and metastasis of tumor cells. Objective: This study aimed to design a prostate brachytherapy robot that is more in line with practical usage needs, based on the method of manually performing prostate brachytherapy surgery in clinical practice. Finally, its feasibility has been demonstrated through brachytherapy experiments. Methods: Firstly, the actual requirements for prostate particle implantation surgery have been ana-lyzed, which has been followed by reviewing previous literature and patents to determine the design scheme of the robot. Finally, SOLIDWORKS software has been used for mechanical design of the robot, and the control system of the robot has been designed based on Arduino. Results: A robotic arm type prostate particle implantation robot has been successfully designed. We have installed a visual module on the prostate particle implantation robot, which has enabled the robot system to have image transmission monitoring function to assist in the calibration of the puncture position before surgery. Finally, we have employed other sensors to complete the particle implantation experiment, and successfully confirmed its superiority through comparing errors. Conclusion: This work has analyzed and studied the clinical process of prostate particle implantation surgery, and designed a prostate particle implantation robot, including the mechanical design and control system design of the robot. We have also simulated the scene of prostate particle implantation surgery in the human body through part

关键词： Medical imaging

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A new technique for fault diagnosis in transformer insulating oil based on infrared spectroscopy measurements

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High Voltage 2024年第2期9卷 319-335页

作者： Mohamed M.F.Darwish Mohamed H.A.Hassan Nagat M.K.Abdel-Gawad Matti Lehtonen Diaa-Eldin A.Mansour Department of Electrical Engineering Faculty of Engineering at ShoubraBenha UniversityCairoEgypt Department of Electrical Engineering and Automation School of Electrical EngineeringAalto UniversityEspooFinland Department of Electrical Power Engineering Egypt-Japan University of Science and Technology(E-JUST)New Borg El-Arab CityEgypt Department of Electrical Power and Machines Engineering Faculty of EngineeringTanta UniversityTantaEgypt

Condition monitoring of the insulating system within power transformers has a massive importance according to the electrical *** gas analysis(DGA)is frequently used for this ***,DGA lacks the necessary level of accuracy to identify all equipment faults,particularly in their initial stages of ***,it does not have the capability for real-time monitoring and relies on manual sampling and laboratory testing,causing potential delays in fault ***,the interpretation of DGA data necessitates specialised expertise,which may pose difficulties for smaller entities that have limited access to ***,the contribution of this research is to use infrared spectroscopy measurements as a new effective technique substituting the DGA method for fault diagnosis in insulating *** inception faults that were considered in this study were the electrical fault(discharges of high energy)and the thermal fault(300°C

关键词： fault diagnosis spectroscopy

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Comprehensive review of edge and contour detection: from traditional methods to recent advances

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Neural Computing and Applications 2025年第4期37卷 2175-2209页

作者： Huang, Qinyuan Huang, Jiaxiong School of Automation and Information Engineering Sichuan University of Science and Engineering Zigong643000 China Artificial Intelligence Key Laboratory of Sichuan Province Zigong643000 China

Edge and contour detection plays critical roles in computer vision and image processing, with extensive applications in advanced tasks including object recognition, shape matching, visual saliency, image segmentation, and inpainting. In recent decades, this field has attracted significant attention, leading to the development of numerous sophisticated methods that approximate human visual performance. Despite these advances, notable gaps remain. This review offers a comprehensive analysis of representative techniques, categorizing them into traditional and learning-based approaches, and examines their strengths and limitations to identify the underlying reasons for these gaps. Traditional methods are further divided into four sub-categories: local pattern, edge grouping, active contour, and bio-inspired techniques, with a specific emphasis on the promising potential of bio-inspired methods. Learning-based approaches, on the other hand, are classified into two types: classical learning, which typically relies on handcrafted features designed from empirical knowledge, and deep learning, which autonomously extracts features from large-scale datasets without human intervention. Additionally, benchmarks and evaluation metrics related to edge and contour detection are discussed, with potential issues identified within these frameworks. A quantitative assessment of representative methods is conducted across three popular benchmarks. Lastly, challenges and future prospects in edge and contour detection are explored, focusing on five key aspects: model architecture, learning strategies, feature extraction and fusion, method integration, and cross-domain applications. These considerations aim to bridge the gap with human visual perception. Overall, this work is expected to benefit researchers and advance progress in the field. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Contrastive Learning

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Model Parameters Identification and Backstepping Control of Lower Limb Exoskeleton Based on Enhanced Whale Algorithm

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Chinese Journal of Mechanical engineering 2024年第2期37卷 100-114页

作者： Yan Shi Jiange Kou Zhenlei Chen Yixuan Wang Qing Guo School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Aeronautics and Astronautics University of Electronic Science and Technology of ChinaChengdu 611731China

Exoskeletons generally require accurate dynamic models to design the model-based controller conveniently under the human-robot interaction ***,due to unknown model parameters such as the mass,moment of inertia and mechanical size,the dynamic model of exoskeletons is difficult to ***,an enhanced whale optimization algorithm(EWOA)is proposed to identify the exoskeleton model ***,the periodic excitation trajectories are designed by finite Fourier series to input the desired position demand of exoskeletons with mechanical physical *** a backstepping controller based on the identified model is adopted to improve the human-robot wearable comfortable performance under cooperative ***,the proposed Model parameters identification and control are verified by a two-DOF exoskeletons *** knee joint motion achieves a steady-state response after 0.5 ***,the position error of hip joint response is less than 0.03 rad after 0.9 *** addition,the steady-state human-robot interaction torque of the two joints is constrained within 15 N·*** research proposes a whale optimization algorithm to optimize the excitation trajectory and identify model ***,an enhanced mutation strategy is adopted to avoid whale evolution’s unsatisfactory local optimal value.

关键词： Parameter identification Enhanced whale optimization algorithm(EWOA) Backstepping Human-robot interaction Lower limb exoskeleton

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Core shift limitation in investment casting process of hollow turbine blade

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Chinese Journal of Aeronautics 2024年第8期37卷 513-526页

作者： Kang CUI Lin JING Ruisong JIANG Longnv YU Xiao GAO Automation and Software Engineering Shanxi UniversityTaiyuan 030006China Key Laboratory of High Performance Manufacturing for Aero Engine Ministry of Industry and Information TechnologySchool of Mechanical EngineeringNorthwestern Polytechnical UniversityXi’an 710072China School of Mechanical Engineering Sichuan UniversityChengdu 610065China

The deviation in wall thickness caused by core shift during the investment casting process significantly impacts the strength and service life of hollow turbine *** address this issue,a core shift limitation method is developed in this ***,a shift model is established based on computational fluid dynamics and motion simulation to predict the movement of the ceramic core in investment casting ***,utilizing this model,an optimization method for fixturing layout inside the refractory ceramic shell is devised for the ceramic *** casting experiment demonstrates that by utilizing the optimized fixture layout,not only can core shift during the investment casting pouring process be effectively controlled,but also the maximum wall thickness error of the blade can be reduced by 42.02%.In addition,the core shift prediction is also validated,with a prediction error of less than 26.9%.

关键词： Hollow turbine blade Wall thickness Ceramic core Shift prediction Fixturing layout optimization

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