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7th International Symposium on Autonomous Systems, ISAS 2024

作者： Lian, Jie Jiang, Juncheng Qiu, Chaochao Pan, Qinghui Dong, Yongxiang Wang, Zhao Wang, Dong Dalian University of Technology School of Control Science and Engineering Dalian China University of Science and Technology Liaoning Shool of Computer Science and Software Engineering China

ISBN: (纸本)9798350363173

In the field of robotic grasping, grasping tightly stacked objects is a formidable challenge. The presence of non-target objects significantly increases the risk of grasping failure. To solve this problem, the aim is to take action while grasping, reduce clutter, and effectively complete grasping tasks. Based on deep reinforcement learning, the Efficient Learning Grasping(ELG) framework is proposed that integrates pushing actions alongside grasping to efficiently pick up objects from cluttered environments with reduced training time. However, in the process of grasping, the agent is rewarded only when the grasp is successful, so the data collection is extremely inefficient and spends a lot of time on the training of grasping strategy. In our work, two strategies are proposed to improve the training efficiency. First, two mask functions are introduced as prior knowledge to enable the agent to focus on more meaningful regions while ignoring some unnecessary regions, aiming at effective learning. Second, The Pixel Overlap Rate (POR) is introduced to quantify the environment clutter level, and set a new push action reward function based on the POR. The implementation of the above ideas in a simulation environment and transferred the learned models to the real world and verified them in practice. Compared with existing method, our method improves the training efficiency of the initial algorithm while having a higher success rate of grasping. Detailed grasping video at https://***/CqtSvaVl60M. © 2024 IEEE.

关键词： Reinforcement learning

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Adaptive Attitude control for a Coaxial Tilt-Rotor UAV via Immersion and Invariance Methodology

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1710-1713页

作者： Longlong Chen Zongyang Lv Xiangyu Shen Yuhu Wu Xi-Ming Sun the Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and the School of Control Science and EngineeringDalian University of TechnologyDalian 116024China

Dear Editor,This letter is concerned with the attitude control for a novel tiltrotor unmanned aerial vehicle with two pairs of tiltable coaxial rotors and one rear *** immersion and invariance-based adaptive attitude controller for the tilt-rotor unmanned aerial vehicle is *** the proposed control strategy,an adaptive update law is specially designed to compensate for the uncertainties of damping *** stability of the resulting closed-loop coaxial tiltrotor unmanned aerial vehicle(CTRUAV)system is proved by the Lyapunov methodology and LaSalle’s invariance ***。

关键词： theory. invariance letter

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Electrochemical removal and recovery of phosphorus from wastewater using cathodic membrane filtration reactor

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Chinese Chemical Letters 2023年第4期34卷 410-414页

作者： Lehui Ren Jun Xu Ruobin Dai Zhiwei Wang State Key Laboratory of Pollution Control and Resource Reuse Advanced Membrane Technology Center of Tongji UniversityShanghai Institute of Pollution Control and Ecological SecuritySchool of Environmental Science and EngineeringTongji UniversityShanghai 200092China

Removal and recovery of phosphorus(P) from wastewater is of great importance to addressing the challenges of eutrophication and phosphorus shortage. The P removal and recovery performance of conventional electrochemical precipitation approach was constrained by the limited mass transfer rate. Herein,a cathodic membrane filtration(CMF) reactor was developed using Ti/SnO_(2)-Sb anode and titanium mesh cathodic membrane module to achieve efficient removal and recovery of P in wastewater. Compared with the flow-by mode, the CMF system in the flow-through mode exhibited excellent P removal performance due to the markedly enhanced mass transfer. At the current density of 4 A/m^(2), membrane flux of 16.6 L m^(-2)h^(-1), and Ca/P molar ratio of 1.67, the removal efficiency of P was 96.2% and the energy consumption was only 45.7 k Wh/kg P. The local high p H of cathode surface played a vital role in P removal,which substantially accelerated the nucleation of calcium phosphate(Ca P). Based on the crystalline and morphological characterization of the precipitates, the hydroxyapatite was the most stable crystalline phase of Ca P, which was transformed from intermediate phases(such as dicalcium phosphate and amorphous calcium phosphate). This study paves the way for applying electrochemical membrane filtration system for P removal and recovery from wastewater.

关键词： Phosphate removal Electrochemical precipitation Cathodic membrane filtration Enhanced mass transfer Calcium phosphate

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DWU-Net: A Dual-Branch U-Shaped Multi-Modal Medical Image Segmentation Network Based on Wavelet Transform 1st

DWU-Net: A Dual-Branch U-Shaped Multi-Modal Medical Image Se...

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1st MICCAI Challenge Comprehensive Analysis and Computing of Real-World Medical Images, CARE 2024 Held in Conjunction with 27th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2024

作者： Li, Jihao Han, Xian-Hua Qiao, Xu Sun, Jiande Wang, Jian School of Information Science and Engineering Shandong Normal University Jinan China Graduate School of Artificial Intelligence and Science Rikkyo University Tokyo Japan School of Control Science and Engineering Shandong University Jinan China

ISBN: (纸本)9783031870088

Cardiovascular disease is one of the most difficult diseases to treat. Segmentation of cardiac images is an essential approach to improve the effectiveness and accuracy of cardiovascular disease treatment and intervention. Cardiac image segmentation, however, remains a challenging task, especially for effectively and accurately segmenting the multimodal images and simultaneously segmenting multiple heart substructures. In this paper, we propose a dual-branch U-shaped network based on wavelet transform, called DWU-Net. First, we convert the multimodal medical images into low-frequency and high-frequency images using wavelet transform to narrow the multimodal feature differences. The network consists of two branches of U-shaped sub-network, which accepting low-frequency and high-frequency images, respectively. Low-frequency and high-frequency features extracted by the corresponding branch are fused in deep levels and the final segmentation is achieved by both supervising on segmentation results from fused features and self-supervising among segmentation results from the two branches. The proposed model was verified on the Whole Heart Segmentation ++ (WHS++) dataset, showing greatly improved segmentation results compared with state-of-the-art methods. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Image segmentation

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Fault Diagnosis for Railway Point Machines Using VMD Multi-Scale Permutation Entropy and ReliefF Based on Vibration Signals

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Chinese Journal of Electronics 2025年第1期34卷 204-211页

作者： Yongkui Sun Yuan Cao Peng Li Shuai Su National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong University School of Automation and Intelligence Beijing Jiaotong University Frontiers Science Center for Smart High-speed Railway System Beijing Jiaotong University

The railway point machine plays an important part in railway systems. It is closely related to the safe operation of trains. Considering the advantages of vibration signals on anti-interference, this paper develops a novel vibration signal-based diagnosis approach for railway point machines. First, variational mode decomposition(VMD)is adopted for data preprocessing, which is verified more effective than empirical mode decomposition. Next, multiscale permutation entropy is extracted to characterize the fault features from multiple scales. Then ReliefF is utilized for feature selection, which can greatly decrease the feature dimension and improve the diagnosis accuracy. By experiment comparisons, the proposed approach performs best on diagnosis for railway point machines. The diagnosis accuracies on reverse-normal and normal-reverse processes are respectively 100% and 98.29%.

关键词： Vibrations Fault diagnosis Accuracy Data preprocessing Switches Feature extraction Rail transportation Entropy Maintenance Monitoring

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Effect of CeO_(2) Nanoparticles on the Spread of Antibiotic Resistance in a Reclaimed Water-Soil-Radish System-Shenzhen City,Guangdong Province,China,April 2023

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China CDC weekly 2023年第46期5卷 1029-1037,I0005-I0007页

作者： Kaiqiang Yu Bixi Zhao Yuxi Yan Qing Yang Liming Chen Yu Xia School of Environmental Science and Engineering College of EngineeringSouthern University of Science and TechnologyShenzhen CityGuangdong ProvinceChina School of Resource Environment and Life ScienceNingxia Normal UniversityGuyuan CityGansu ProvinceChina State Environmental Protection Key Laboratory of Integrated Surface Water-Groundwater Pollution Control School of Environmental Science and EngineeringSouthern University of Science and TechnologyShenzhen CityGuangdong ProvinceChina Guangdong Provincial Key Laboratory of Soil and Groundwater Pollution Control School of Environmental Science and EngineeringSouthern University of Science and TechnologyShenzhen CityGuangdong ProvinceChina

ABSTRACT Introduction:The use of reclaimed water(RW)for irrigation in agricultural practices raises concerns regarding the dissemination of antibiotic resistance genes(ARGs)from soils to edible *** effectiveness of na... 详细信息

关键词： Antibiotic Guangdong claimed

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Data Driven Multi-Agent Deep Reinforcement Learning Based Operational Optimization of Industrial Aerodynamic System 13

Data Driven Multi-Agent Deep Reinforcement Learning Based Op...

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13th IEEE Data Driven control and Learning Systems Conference, DDCLS 2024

作者： Huang, Yunxiang Zhong, Lulu Liu, Yang Zhao, Jun Wang, Wei Dalian116024 China School of Control Science and Engineering Dalian University of Technology Dalian116024 China

ISBN: (纸本)9798350361674

Industrial aerodynamic system (IAS) involves a series of compressors to provide the compressed air for consumer of steel industrial park, which consumes a substantial amount of electrical energy and attracts a considerable attention for energy conservation and efficiency enhancement. The usage pattern of these compressors, influenced by the cyclic and intermittent nature of production schedules, leads to varying operational profiles. Traditional manual adjustments are often inadequate due to the differ in expert knowledge, resulting in increased energy consumption. To tackle this challenge, we propose an innovative approach termed as data-driven multi-agent deep reinforcement learning (DMA-DRL) to achieve the operational optimization of IAS. Initially, we construct a multi-operational model for the air compressor group by leveraging historical data from industrial sites and understanding equipment operation principles;Considering the constraints in terms of production process conditions and equipment safety, we establish a data-driven optimization scheduling method for air compressor units based on multi-agent deep reinforcement learning, which ensures the secure and stable operation of the system under complex conditions. Finally, the proposed method is applied to the performance testing of an industrial park air compressor simulation system, which outperforms the various optimization strategies in aspect of operational cost and energy efficiency. © 2024 IEEE.

关键词： Energy efficiency

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Improved adaptive dynamic surface control for uncertain nonlinear systems with input saturation 9

Improved adaptive dynamic surface control for uncertain nonl...

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9th International Symposium on Sensors, Mechatronics, and Automation System, ISSMAS 2023

作者： Gao, Hui Ma, Jing School of Electrical and Control Engineering Shaanxi University of Science and Technology Shaanxi Province Xi'an710021 China

ISBN: (纸本)9781510672802

This paper discusses an adaptive dynamic surface control method for uncertain strict feedback nonlinear systems with input saturation and external disturbance. The radial basis neural network (RBFNN) is used to approximate the unknown function and the hyperbolic tangent function is used to solve the input saturation problem. Meanwhile, the improved dynamic surface control technology reduces the influence of first-order filter on the state error, and the control scheme has excellent tracking performance and stability. Finally, the final bounded convergence of all closed-loop signals is proved, and the superiority of the proposed control scheme is verified by simulation. © 2024 SPIE.

关键词： control systems Complex systems Adaptive control Design and modelling Neural networks Nonlinear control Bismuth Tunable filters Linear filtering Nonlinear filtering

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Characteristics of surface and subsurface of formed thread parts by axial-infeed thread rolling process

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Chinese Journal of Aeronautics 2023年第3期36卷 471-481页

作者： Shuowen ZHANG Dawei ZHANG Shengdun ZHAO Fei JIANG Myoung-Gyu LEE Xi’an Key Laboratory of Intelligent Equipment and Control School of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Department of Materials Science and Engineering Seoul National University08826 SeoulRepublic of Korea

The thread rolling process has been widely applied to manufacture high-performance thread *** this process,the evolutions of surface and subsurface are frequently introduced,which affect the working performance of manufactured *** this study,an axial-infeed thread rolling process(ATRP)is employed,and the macro-meso surface characteristics under different lubrications and operating conditions are ***,the distributions of microstructure and hardness on the subsurface of formed tooth are analyzed in detail,along with the study of stress state and yield strength *** is found that the MoS_(2)grease is more effective in reducing the surface roughness and defects than the lubrication oil and water-base graphite during the ATRP *** rolling speed improves the quality of surface morphology and can reduce the surface *** the subsurface of bottom and flank,intensive shear stress occurs in a narrow region,resulting in the elongation and refinement of the grains and increasing the low angle grain boundary *** on the grain size and plastic strain,the yield strength is *** maximum yield strength and hardness on the bottom of formed tooth are improved by 41.2% and 39.4%,respectively.

关键词： ATRP Lubrication Surface characteristics Microstructure distribution Hardness improvement Grain size

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Effect of Free-End Torsion on the Corrosion and Mechanical Properties for Mg-3Zn-0.2Ca Alloy

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Acta Metallurgica Sinica(English Letters) 2025年第1期38卷 59-70页

作者： Li-Lan Gao Jiang Ma Yan-Song Tan Xiao-Hao Sun Qi-Jun Gao De-Bao Liu Chun-Qiu Zhang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin300384China School of Materials Science and Engineering Tianjin University of TechnologyTianjin300384China

Magnesium alloys with excellent degradability and biocompatibility are promising materials for biomedical implants,saving patients the burden of second ***,their mechanical properties and corrosion resistance are significantly below the requirements for implant *** study aims to improve the mechanical and corrosion resistance properties of Mg-3Zn-0.2Ca alloy by pre-torsion treatment,and find out the optimal shear *** rod-shaped Mg-3Zn-0.2Ca alloy specimens were pre-torsion treated at different torsion *** effect of free-end torsion on Mg-3Zn-0.2Ca alloy was characterized through microstructure analysis,mechanical testing,and corrosion ***-torsion treatment can refine grain and induce twins and dislocations in Mg-3Zn-0.2Ca *** surface hardness increases with the increase in torsion *** yield strength and ultimate strength initially increase and then decrease with increasing torsion angle,while ductility decreases with increasing torsion *** with a shear strain of 30%exhibit the highest tensile strength,reaching 284.78±10.62 MPa,with an elongation of 19.37±1.66%.Furthermore,they show a significant improvement in fatigue lives both before and after *** the stress amplitude is 120 MPa,the fatigue lives for specimens without pre-torsion treatment are 54,275 cycles and 4324 cycles before and after pre-corrosion,while they increased significantly to 92,015 cycles and 5050 cycles with the 30%shear strain,***,the 30%shear strain specimens show a significant reduction in corrosion *** conclusion,pre-torsion treatment can effectively modify the microstructure of Mg-3Zn-0.2Ca alloy,enhancing both mechanical properties and corrosion *** optimal shear strain for this improvement is 30%.This study provides a practical method to enhance the mechanical properties and corrosion resistance of Mg-3Zn-0.2Ca alloy,making it more suitable for biomedical implan

关键词： Magnesium alloy Pre-torsion Microstructure Mechanical property Corrosion resistance

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