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2024 IEEE International Conference on Unmanned systems, ICUS 2024

作者： He, Yongxu Zhao, Yuxin Xu, Geng College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin China School of Automation Harbin University of Science and Technology Harbin China Qitong Technology Development Co. Ltd. Weihai China

ISBN: (纸本)9798350384185

This paper proposes a novel robust control method for autonomous underwater vehicle (AUV) trajectory tracking, specifically addressing challenges arising from sudden changes in desired trajectories and significant modeling uncertainties. The method leverages sparse online Gaussian process (SOGP) to learn unknown dynamics online, given a prior AUV model. An exponential forgetting scheme is integrated into the SOGP algorithm to ensure the selected training dataset incorporates both temporally and spatially informative data. By incorporating Gaussian process (GP) posterior information into an integral sliding mode control (ISMC) framework, the proposed GP-ISMC scheme enhances robustness and adaptability to uncertainties and disturbances encountered during diverse motion patterns. Lyapunov analysis guarantees system stability and tracking error convergence with a specific probability. Simulation results demonstrate that the proposed method has superior performance in tracking accuracy and prediction reliability. © 2024 IEEE.

关键词： Robust control

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A Non-Calibration Nonlinear Errors Correction Method for Phase-shifting Patterns

A Non-Calibration Nonlinear Errors Correction Method for Pha...

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2024 China Automation Congress, CAC 2024

作者： Zheng, Yujie Chen, Bin Wu, Shiqian Institute of Robotics and Intelligent System School of Information Science and Engineering Wuhan University of Science and Technology Wuhan China

ISBN: (纸本)9798350368604

To reduce phase errors caused by nonlinear responses in the measurement system, we propose a non-calibration correction method for nonlinear errors in phase-shifting patterns. First, the captured grating fringes are transformed using a Fourier transform to convert the images from the gray scale to the frequency domain. The first harmonic frequency is then determined using an appropriate method. Second, the appropriate filter cutoff frequency is calculated by combining the phase-shift algorithm's sensitivity to different harmonics with frequency response curves. Low-pass filtering is then performed on the phase-shift patterns to suppress high frequencies caused by nonlinear responses, thus reducing phase errors in the actual measurement process. Finally, the standard plane and other irregularly shaped objects were reconstructed using the proposed method and other techniques. Measurement errors under different conditions were then compared. Experimental results show that the proposed method significantly suppresses gamma nonlinear responses and achieves high measurement accuracy and efficiency. © 2024 IEEE.

关键词： Low pass filters

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Precipitation and coarsening kinetics of H-phase in NiTiHf high temperature shape memory alloy

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Journal of Materials science & Technology 2022年第19期114卷 90-101页

作者： A.Shuitcev Y.Ren B.Sun G.V.Markova L.Li Y.X.Tong Y.F.Zheng Institute of Materials Processing and Intelligent Manufacturing College of Materials Science and Chemical EngineeringHarbin Engineering UniversityHarbin 150001China Center of Testing and Analysis College of Materials Science and Chemical EngineeringHarbin Engineering UniversityHarbin 150001China Physics of Metal and Material Science Department Tula State UniversityTula 300012Russian Federation School of Materials Science and Engineering Peking UniversityBeijing 100871China

Precipitate hardening is the most easiest and effective way to enhance strain recovery properties in NiTiHf high-temperature shape memory *** paper discusses the precipitation,coarsening and age hardening of H-phase precipitates in Ni_(50)Ti_(30)Hf_(20)alloy during isothermal aging at temperatures between 450℃and 650℃for time to 75 *** H-phase mean size and volume fraction were determined using transmission electron *** kinetics was analyzed using the Johnson-Mehl-Avrami-Kolmogorov equation and an Arrhenius type *** these analyses,a Time-Temperature-Transformation diagram was *** evolution of H-phase size suggests classical matrix diffusion limited Lifshitz-Slyozov-Wagner coarsening for all considered *** coarsening rate constants of H-phase precipitation have been determined using a modified coarsening rate equation for nondilute *** size of H-phase precipitates for breaking down the precipitate/matrix interface coherency was estimated through a combination of age hardening and precipitate size evolution ***,time-temperature-hardness diagram was constructed from the precipitation and coarsening kinetics and age hardening of H-phase precipitates in Ni_(50)Ti_(30)Hf_(20)alloy.

关键词： High temperature shape memory alloys NiTiHf Time-temperature-transformation diagram Coarsening kinetics H-phase

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Decomposition-Based Memetic Algorithm for Multi-Objective Fleet Size and Mix Vehicle Routing Problem 13

Decomposition-Based Memetic Algorithm for Multi-Objective Fl...

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13th IEEE Congress on Evolutionary Computation, CEC 2024

作者： Ba, Yunpeng Zheng, Ruihao Wang, Zhenkun School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Department of Computer Science and Engineering Shenzhen China

ISBN: (纸本)9798350308365

The heterogeneous fleet vehicle routing problem (HFVRP) is of great significance in logistics and transportation. This paper considers a crucial and challenging HFVRP variant, namely multi-objective fleet size and mix vehicle routing problem with unlimited fleet, fixed cost, and dependent cost (MO-FSMVRPFD). A decomposition-based memetic algorithm called MOEA/D-ALS is proposed to cope with MO-FSMVRPFD. MOEA/D-ALS uses the multi-objective evolutionary algorithm based on decomposition (MOEA/D) as the backbone. Beyond that, it adopts a replacement strategy based on maximal fitness improvement (MFI). In addition, the local search is conducted on difficult subproblems for further refinement. The experimental studies on 18 instances show that MOEA/D-ALS exhibits a significant performance superiority over two other representative algorithms. The effectiveness of both the MFI strategy and the adaptive local search procedure is also validated. © 2024 IEEE.

关键词： Vehicle routing

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Squeezing More Past Knowledge for Online Class-Incremental Continual Learning

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 722-736页

作者： Da Yu Mingyi Zhang Mantian Li Fusheng Zha Junge Zhang Lining Sun Kaiqi Huang the State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin 150080China Center for Research on Intelligent System and Engineering Institute of AutomationChinese Academy of Sciences(CASIA)Beijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Center for Research on Intelligent System and Engineering Institute of AutomationChinese Academy of Sciences(CASIA)Beijing 100190the School of Artificial IntelligenceUniversity of Chinese Academy of SciencesBeijing 100049 the CAS Center for Excellence in Brain Science and Intelligence Technology Shanghai 200031China IEEE

Continual learning(CL)studies the problem of learning to accumulate knowledge over time from a stream of data.A crucial challenge is that neural networks suffer from performance degradation on previously seen data,known as catastrophic forgetting,due to allowing parameter *** this work,we consider a more practical online class-incremental CL setting,where the model learns new samples in an online manner and may continuously experience new ***,prior knowledge is unavailable during training and *** works usually explore sample usages from a single dimension,which ignores a lot of valuable supervisory *** better tackle the setting,we propose a novel replay-based CL method,which leverages multi-level representations produced by the intermediate process of training samples for replay and strengthens supervision to consolidate previous ***,besides the previous raw samples,we store the corresponding logits and features in the ***,to imitate the prediction of the past model,we construct extra constraints by leveraging multi-level information stored in the *** the same number of samples for replay,our method can use more past knowledge to prevent *** conduct extensive evaluations on several popular CL datasets,and experiments show that our method consistently outperforms state-of-the-art methods with various sizes of episodic *** further provide a detailed analysis of these results and demonstrate that our method is more viable in practical scenarios.

关键词： Catastrophic forgetting class-incremental learning continual learning(CL) experience replay

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A damping method of grid strapdown inertial navigation system for polar region 5

A damping method of grid strapdown inertial navigation syste...

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2024 5th International Conference on Mechanical Instrumentation and Automation, ICMIA 2024

作者： Yuan, Kefei Yang, Xiaohui Tian, Guopeng Ben, Yueyang Wuhan Second Ship Design Institute Hubei Wuhan430010 China School of Intelligent Science and Engineering Harbin Engineering University Harbin University Heilongjiang150001 China

The conventional north-pointing inertial navigation system (INS) always points to the geographic north. However, when the system crosses the pole in the polar region, the geographic north quickly changes with 180 degrees, and the rate of change of the geographic north direction will be infinite. Secondly, when the latitude approaches to 90 degrees, which will lead to singularities in math for the angular velocity caused by vehicle motion. With its special definition and mechanization, the grid coordinate system can solve the above problems. Nevertheless, the error analysis of the grid strapdown INS shows that there are Schuler periodic and Foucault periodic oscillations, which badly degrade the accuracy of the strap-down INS. To address the problem, the external horizontal damping technology is adopted in this paper, wherein the external velocity is provided by the Doppler velocity log (DVL). Finally, the feasibility and the effectiveness of the external damping technology were verified by simulation. © Published under licence by IOP Publishing Ltd.

关键词： Damping

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High-efficiency multi-channel focusing and imaging enabled by polarization-frequency multiplexing non-interleaved metasurfaces

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Photonics Research 2025年第4期13卷 976-986页

作者： XUNJUN HE MINGZHONG WU GUANGJUN LU YING ZHANG ZHAOXIN GENG School of Electrical and Electronic Engineering Harbin University of Science and Technology Guangxi Key Laboratory of Brain-Inspired Computing and Intelligent Chips School of Electronic and Information EngineeringGuangxi Normal University College of Science Harbin University of Science and Technology School of Information Engineering Minzu University of China

In microwave communication systems, focusing and imaging have attracted widespread attention due to their application prospects in the information processing and communication fields. Most existing multi-channel focusing and imaging are implemented by interleaved metasurfaces. However, the disadvantages of their large size and low efficiency limit their practical applications in large-capacity and low-loss integrated systems.

关键词： Fourier transforms Imaging systems Imaging techniques Information processing Optical elements Spatial light modulators

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Near-field radiative heat transfer between nanoporous GaN films

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Chinese Physics B 2024年第4期33卷 109-120页

作者：韩晓政张纪红刘皓佗吴小虎冷惠文 School of Electromechanical and Automotive Engineering Yantai UniversityYantai 264005China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of EducationHarbin University of Science and TechnologyHarbin 150080China Thermal Science Research Center Shandong Institute of Advanced TechnologyJinan 250100China

Photon tunneling effects give rise to surface waves,amplifying radiative heat transfer in the near-field *** research has highlighted that the introduction of nanopores into materials creates additional pathways for heat transfer,leading to a substantial enhancement of near-field radiative heat transfer(NFRHT).Being a direct bandgap semiconductor,GaN has high thermal conductivity and stable resistance at high temperatures,and holds significant potential for applications in optoelectronic ***,study of NFRHT between nanoporous GaN films is currently lacking,hence the physical mechanism for adding nanopores to GaN films remains to be discussed in the field of *** this work,we delve into the NFRHT of GaN nanoporous films in terms of gap distance,GaN film thickness and the vacuum filling *** results demonstrate a 27.2%increase in heat flux for a 10 nm gap when the nanoporous filling ratio is ***,the spectral heat flux exhibits redshift with increase in the vacuum filling *** be more precise,the peak of spectral heat flux moves fromω=1.31×10^(14)rad·s^(-1)toω=1.23×10^(14)rad·s^(-1)when the vacuum filling ratio changes from f=0.1 to f=0.5;this can be attributed to the excitation of surface phonon *** introduction of graphene into these configurations can highly enhance the NFRHT,and the spectral heat flux exhibits a blueshift with increase in the vacuum filling ratio,which can be explained by the excitation of surface plasmon *** findings offer theoretical insights that can guide the extensive utilization of porous structures in thermal control,management and thermal modulation.

关键词： near-field radiative heat transfer nanoporous GaN film surface phonon polaritons surface plasmon polaritons

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A multi-strategy integrated improved YOLOv5 model and its application in target detection 4

A multi-strategy integrated improved YOLOv5 model and its ap...

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4th IEEE International Conference on Electronic Technology, Communication and Information, ICETCI 2024

作者： Li, Jia Liu, Ziyan Song, Yuxin Harbin Engineering University College of Computer Science and Technology Harbin China Hunan University of Technology and Business College of Intelligent Engineering and Intelligent Manufacturing Changsha China Jiangnan University School of Artificial Intelligence and Computer Science Wuxi China

ISBN: (纸本)9798350361643

Deep learning techniques have the potential to significantly improve target detection speed and detection accuracy in autonomous driving. Most existing target detection algorithms have poor real-time performance and poor accuracy. Moreover, the algorithm is difficult to be deployed. Based on analysis of the existing problems of target detection in autonomous driving, this paper puts forward an improved YOLOv5 algorithm. First, the extract feature network of YOLOv5 is replaced with the FasterNet-T0 model to reduce model parameters. Next, in the fusion part (Neck) of the network, the attention mechanism CBAM is introduced to improve the accuracy of the target detection. Then, the Slim-Neck framework is presented to improve the computational efficiency of the model. Finally, considering that CIoU may be replaced by Inner-IoU to improve the accuracy and generalization of the model, in order to verify the effect of the improved model, this paper uses the improved YOLOv5 algorithm model to extract the specific categories from VOC2007 dataset and DOTA dataset. After experimentation. The results show that the model we made, the improved YOLOv5 algorithm model is capable of getting a 0.848 and 0.748mAP @ 0.5 of the VOC2007 dataset and DOTA dataset for the specific category extraction, which verifies its effectiveness. Compared with other algorithms, the improved YOLOv5s algorithm is more competitive. On the VOC2007 data set, mAP live/voc, 0.5 increased by 5.1% for a specific category acquisition, and mAP live/voc, 0.5:0.95 increased by 6.4% relative to the original YOLOv5s algorithm, and the number of parameters reduced by 39.2% from 7035811 to 4276490. On the DOTA dataset, mAP@0.5 increased by 0.9% for a specific category acquisition, and mAP@ 0.5:0.95 increased by 0.4%, which demonstrates that this method improves the accuracy and efficiency of vehicle detection to some extent. In this study, DOTA dataset was used as an experimental dataset to verify the performance of YOL

关键词： Autonomous vehicles

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Flexible servo riveting system control strategy based on the RBF network and self-pierce riveting process

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Advances in Manufacturing 2023年第1期11卷 39-55页

作者： Yan Liu Qiu Tang Xin-Cheng Tian Long Cui Center for Robotics School of Control Science and EngineeringShandong UniversityJinan250061People’s Republic of China Engineering Research Center of Intelligent Unmanned System Ministry of EducationJinan250061People’s Republic of China

As more and more composite materials are used in lightweight vehicle white bodies,self-pierce riveting(SPR)technology has attracted great ***,the existing riveting tools still have the disadvantages of low efficiency and *** improve these disadvantages and the riveting qualification rate,this paper improves the control scheme of the existing riveting tools,and proposes a novel controller design approach of the flexible servo riveting system based on the RBF network and SPR ***,this paper briefly introduces the working principle and SPR procedure of the servo riveting *** a moving component force analysis is performed,which lays the foundation for the motion ***,the riveting quality inspection rules of traditional riveting tools are used for reference to plan the force-displacement curve *** control this process,the riveting force is fed back into the closed-loop control of the riveting tool and the riveting speed is computed based on the admittance control ***,this paper adopts the permanent magnet synchronous motor(PMSM)as the power of riveting tool,and proposes an integral sliding mode control approach based on the improved reaching law and the radial basis function(RBF)network friction compensation for the PMSM speed ***,the proposed control approach is simulated by Matlab,and is applied to the servo riveting system designed by our *** simulation and riveting results show the feasibility of the designed controller.

关键词： Lightweight vehicle body connection Self-pierce riveting(SPR)process Flexible servo riveting tool Riveting force planning and control

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