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YOLO-DD:Improved YOLOv5 for Defect Detection

Computers, Materials & Continua 2024年第1期78卷 759-780页

作者： Jinhai Wang Wei Wang Zongyin Zhang Xuemin Lin Jingxian Zhao Mingyou Chen Lufeng Luo School of Electronic and Information Engineering Foshan UniversityFoshan528000China School of Mechatronic Engineering and Automation Foshan UniversityFoshan528000China

As computer technology continues to advance,factories have increasingly higher demands for detecting ***,detecting defects in a plant environment remains a challenging task due to the presence of complex backgrounds and defects of varying shapes and *** address this issue,this paper proposes YOLO-DD,a defect detectionmodel based on YOLOv5 that is effective and *** improve the feature extraction process and better capture global information,the vanilla YOLOv5 is augmented with a new module called Relative-Distance-Aware Transformer(RDAT).Additionally,an Information Gap Filling Strategy(IGFS)is proposed to improve the fusion of features at different *** classic lightweight attention mechanism Squeeze-and-Excitation(SE)module is also incorporated into the neck section to enhance feature expression and improve the model’s *** results on the NEU-DET dataset demonstrate that YOLO-DDachieves competitive results compared to state-of-the-art methods,with a 2.0% increase in accuracy compared to the original YOLOv5,achieving 82.41% accuracy and38.25FPS(framesper second).Themodel is also testedon a self-constructed fabric defect dataset,and the results show that YOLO-DD is more stable and has higher accuracy than the original YOLOv5,demonstrating its stability and generalization *** high efficiency of YOLO-DD enables it to meet the requirements of industrial high accuracy and real-time detection.

关键词： YOLO-DD defect detection feature fusion attention mechanism

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Review of Design and Control Optimization of Axial Flux PMSM in Renewable-energy Applications

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Chinese Journal of Mechanical engineering 2023年第2期36卷 29-49页

作者： Jianfei Zhao Xiaoying Liu Shuang Wang Lixiao Zheng School of Mechatronic Engineering and Automation Shanghai UniversityShanghai 200444China

Axial flux permanent magnet synchronous motors(AFPMSMs)have been widely used in wind-power generation,electric vehicles,aircraft,and other renewable-energy applications owing to their high power density,operating efficiency,and *** facilitate comprehensive research on AFPMSM,this article reviews the developments in the research on the design and control optimization of ***,the basic topologies of AFPMSMs are introduced and ***,the key points of the design optimization of core and coreless AFPMSMs are summarized from the aspects of parameter design,structure design,and material ***,because efficiency improvement is an issue that needs to be addressed when AFPMSMs are applied to electric or other vehicles,the development status of efficiency-optimization control strategies is ***,control strategies proposed to suppress torque ripple caused by the small inductance of disc coreless permanent magnet synchronous motors(DCPMSMs)are *** overview of the rotor-synchronization control strategies for disc contra-rotating permanent magnet synchronous motors(CRPMSMs)is ***,the current difficulties and development trends revealed in this review are discussed.

关键词： AFPMSM Design optimization Cogging torque Efficiency optimization Control strategy optimization

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A Magnetic-Driven Multi-motion Robot with Position/Orientation Sensing Capability

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Research 2024年第1期2023卷 675-685页

作者： Liwen Zhang Song Zhao Xinzhao Zhou Xueshan Jing Yu Zhou Yan Wang Yantong Zhu Xiaolin Liu Zehui Zhao Deyuan Zhang Lin Feng Huawei Chen School of Mechanical Engineering and Automation Beihang UniversityBeijingChina Beijing Advanced Innovation Center for Biomedical Engineering Beihang UniversityBeijingChina

Miniature magnetic-driven robots with multimode motions and high-precision pose sensing capacity(position and orientation)are greatly demanded in in situ manipulation in narrow opaque enclosed *** magnetic robots have been carried out,whereas their deformations normally remain in single mode,and the lack of the robot’s real-time status leads to its beyond-sight remagnetization and manipulation being *** function integration of pose sensing and multimode motion is still of ***,a multimotion thin-film robot is created in a novel multilayer structure with a magneticdriven layer covered by a heating-sensing conductive *** a heating-sensing layer not only can segmentally and on-demand heat the magnetic-driven layer for in situ magnetization reprogramming and multimode motions but also can precisely detect the robot’s pose(position and orientation)from its electrical-resistance effect by creating a small deformation under preset magnetic fields.

关键词： robot Robot motion

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Finite-time PID control for nonlinear nonaffine systems

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Science China(Information Sciences) 2024年第11期67卷 238-251页

作者： Zhiqing LIU Ronghu CHI Biao HUANG Zhongsheng HOU College of Mathematics and Physics Qingdao University of Science and Technology College of Automation and Electronic Engineering Qingdao University of Science and Technology Department of Chemical and Materials Engineering University of Alberta School of Automation Qingdao University

This article proposes a finite-time proportional-integral-derivative(FT-PID) control method to fast stabilize the control system to achieve the desired performance within the predesignated time *** a considered nonaffined nonlinear system, we develop a new dynamic linearization approach to reformulate the system model as a linear data model(LDM) whose arguments are consistent with that used in the PID control law. Then, a projection algorithm is presented to estimate the unknown pseudo gradient vector of the LDM. Subsequently, an adaptive tuning algorithm is designed to update the three PID parameters by solving linear matrix inequalities in terms of the predesignated error precision and the finite-time instant. The finite-time convergence of the proposed FT-PID control system is shown mathematically, which guarantees a pre-specified error precision to be achieved within the predesignated finite-time instants. As a result, not only can the proposed FT-PID control save the control cost but it also improves the production efficiency. The simulation study verifies the results.

关键词： PID control finite-time control nonlinear nonaffine systems linear data model finite-time convergence

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Prediction and validation of parameters of multi-axis soil remediation equipment based on machine learning algorithms

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Particuology 2025年第3期98卷 41-55页

作者： Zhipeng Wang Yuhang Jiang Yaonan Zhu Feng Ma Youzhao Wang Chaoyue Zhao Xu Li Tong Zhu Institute of Process Equipment and Environmental Engineering School of Mechanical Engineering and AutomationNortheastern UniversityShenyang110819China The School of Engineering The University of TokyoTokyo113-8656Japan School of Environment and Resources Taiyuan University of Science and TechnologyTaiyuan030024China

To facilitate the recycling of polluted soils,the development of innovative multi-axial soil remediation machinery is essential for achieving a uniform blend of soil with remediation *** mean level of the steepest climb test was set using the mean level derived from the orthogonal test,and then the range of optimum values was determined based on the results of the steepest climb test,and the upper and lower bound intervals of the response surface test were set *** most optimal model is identified by applying machine learning algorithms to the response surface *** results show that the Decision Tree model outperforms Random Forest,SVR,KNN and XG Boost in terms of accuracy and stability in predicting dual *** of the decision tree model yields the following optimal parameter settings:homogenisation time of 1.7 s,homogenisation spacing of 181 mm,crusher spacing of 156 mm,and speed of 113 *** the final test prototype,the error rates of the machine learning prediction models were 3.01% and 3.88% *** experimental data confirms that the prediction accuracy reaches a satisfactory level after applying machine learning to optimise the *** study will provide a reference for the design and optimisation of new in situ multi-axial soil remediation devices.

关键词： Contaminated soil Mixing homogeneity Machine learning Steepest climb test Nine-axis

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Randomized multimodel multiple hypothesis tracking

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Science China(Information Sciences) 2023年第9期66卷 299-300页

作者： Haiqi LIU Xiaojing SHEN Zhiguo WANG Fanqin MENG School of Mathematics Sichuan University School of Automation and Information Engineering Sichuan University of Science and Engineering

We consider the multiple maneuvering target tracking(MMTT) problem in the framework of multiple hypothesis tracking(MHT) using randomized data association and random coefficient matrix Kalman filtering(RCMKF). MMTT is an issue of importance in target tracking [1–5]. The multiscan data association(MSDA) problem that arose in MHT is a {0, 1} linear integer programming(LIP) problem [6], which is nondeterministic polynominal-hard(NP-hard).

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Adaptive coupled-sliding-variable-based finite-time control of composite formation for multi-robot systems

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Science China(Information Sciences) 2024年第10期67卷 244-260页

作者： Xinru MA Hengyu LI Jun LIU Yueying WANG Shaorong XIE Jun LUO School of Mechatronic Engineering and Automation Shanghai University School of Mathematics and Computer Application Technology Jining University School of Computer Science Shanghai University College of Mechanical and Vehicle Engineering Chongqing University

This paper focuses on the finite-time control(FTC) of the composite formation consensus(CFC)problems for multi-robot systems(MRSs). The CFC problems are firstly proposed for MRSs under the complex network topology of cooperative or cooperative-competitive networks. Regarding the problems of FTC and CFC on multiple Lagrange systems(MLSs), coupled sliding variables are introduced to deal with the robustness and consistent convergence. Then, the adaptive finite-time protocols are given based on the displacement approaches. With the premised FTC, tender-tracking methods are further developed for the problems of tracking information disparity. Stability analyses of those MLSs mentioned above are clarified with Lyapunov candidates considering the coupled sliding vectors, which provide new verification for tender-tracking systems. Under the given coupled-sliding-variable-based finite-time protocols, MLSs distributively adjust the local formation error to achieve global CFC and perform uniform convergence in time-varying tracking. Finally, simulation experiments are conducted while providing practical solutions for the theoretical results.

关键词： composite formation time-vary tracking information disparity tender-tracking finite-time control nonlinear robots complex networks symmetry consensus

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Multi-Objective Teaching-Learning-Based Optimizer for a Multi-Weeding Robot Task Assignment Problem

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Tsinghua Science and Technology 2024年第5期29卷 1249-1265页

作者： Nianbo Kang Zhonghua Miao Quan-Ke Pan Weimin Li M.Fatih Tasgetiren School of Mechatronic Engineering and Automation Shanghai UniversityShanghai 200444China School of Computer Engineering and Science Shanghai UniversityShanghai 200444China Industrial Engineering Department Baskent UniversityAnkara 06790Türkiye

With the emergence of the artificial intelligence era,all kinds of robots are traditionally used in agricultural ***,studies concerning the robot task assignment problem in the agriculture field,which is closely related to the cost and efficiency of a smart farm,are ***,a Multi-Weeding Robot Task Assignment(MWRTA)problem is addressed in this paper to minimize the maximum completion time and residual herbicide.A mathematical model is set up,and a Multi-Objective Teaching-Learning-Based Optimization(MOTLBO)algorithm is presented to solve the *** the MOTLBO algorithm,a heuristicbased initialization comprising an improved Nawaz Enscore,and Ham(NEH)heuristic and maximum loadbased heuristic is used to generate an initial population with a high level of quality and *** effective teaching-learning-based optimization process is designed with a dynamic grouping mechanism and a redefined individual updating rule.A multi-neighborhood-based local search strategy is provided to balance the exploitation and exploration of the ***,a comprehensive experiment is conducted to compare the proposed algorithm with several state-of-the-art algorithms in the *** results demonstrate the significant superiority of the proposed algorithm for solving the problem under consideration.

关键词： genetic algorithm heuristic algorithm Multi-Weeding Robot Task Assignment(MWRTA) teaching optimization algorithm

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New results on finite-time stability and instability theorems for stochastic nonlinear time-varying systems

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Science China(Information Sciences) 2025年第2期68卷 186-199页

作者： Weihai ZHANG Liqiang YAO College of Electrical Engineering and Automation Shandong University of Science and Technology School of Mathematics and Information Science Yantai University

This paper studies finite-time stability and instability theorems in the probability sense for stochastic nonlinear timevarying systems. Firstly, a new sufficient condition is proposed to guarantee that the considered system has a global ***, we propose new finite-time stability and instability criteria that relax the constraints on LV(the infinitesimal operator of Lyapunov function V) by the uniformly asymptotically stable function. On the one hand, these obtained results make up for the shortcomings of the existing results. On the other hand, the new finite-time stability theorems can be viewed as natural extensions of the existing results and also allow LV to be indefinite(negative or positive) rather than just only allow LV < ***, some simulation examples verify the validity of the theoretical results.

关键词： stochastic nonlinear systems finite-time stability finite-timeinstability uniformly asymptotically stable function

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Time-varying formation tracking control of high-order multi-agent systems with multiple leaders and multiplicative noise

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Science China(Information Sciences) 2024年第12期67卷 191-207页

作者： Ruru JIA Xiaofeng ZONG Qing WANG College of Artificial Intelligence Nankai University School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation Science and Electrical Engineering Beihang University

This work discusses the time-varying formation(TVF) tracking control problem of high-order multi-agent systems(MASs) with multiple leaders and multiplicative measurement noise. With the help of Lyapunov function tools and stochastic analysis methods, the TVF tracking protocol with multiple leaders and multiplicative noise is developed based on the relative state measurements, where followers are driven to realize the target TVF while tracking the convex combination formed by multiple leaders. Then, the TVF tracking problem is converted into the mean square asymptotic stability problem of a stochastic differential equation(SDE); sufficient conditions related to the control gains are given by stabilizing the corresponding stochastic system. Moreover, a TVF tracking algorithm is presented to outline the steps of protocol ***, the theoretical results are illustrated in terms of simulation examples.

关键词： multi-agent systems multiple leaders multiplicative measurement noise stochastic differential equation formation tracking control

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