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FWAF-VID: A Flapping-Wing Aggressive Flight Benchmark Dataset for Visual-Inertial Localization

IEEE robotics and Automation Letters 2025年第6期10卷 6328-6335页

作者： Jiang, Jizhou Pan, Erzhen Xu, Wenfu Sun, Wei Ye, Jingyang Harbin Institute of Technology School of Robotics and Advanced Manufacture Shenzhen518055 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China Guangdong Biomimetic Intelligent Unmanned System Engineering Technology Research Center Shenzhen518052 China

Accurate state estimation of micro aerial vehicles (MAVs) in high-speed and dynamic environments poses a significant challenge for visual-inertial odometry (VIO) algorithms. Flapping-wing aerial vehicles (FWAVs), as an emerging flight platform, have attracted significant attention for stealth capabilities and efficient flight characteristics. Despite the availability of numerous MAV visual-inertial datasets for six-degree-of-freedom (6-DoF) state estimation, these datasets are not applicable for FWAVs with pronounced vibrations and agile maneuverability. To address this gap, we propose a large-scale flapping-wing aggressive flight visual-inertial dataset FWAF-VID. It contains diverse integrations of synchronized onboard cameras and IMU sensors. A total of 28 sequences include static flapping, calibration, and real-world flights collected in outdoor and indoor environments. The 17 flight sequences feature variations in illuminations, speeds, trajectories, camera perspectives, and flight modalities. We provide precisely aligned ground truth RTK and UWB measurements for algorithm evaluation. Furthermore, a comprehensive benchmark comparison is conducted, qualitatively and quantitatively evaluating the positioning accuracy of state-of-the-art VIO algorithms. The experimental results indicate that despite the degradation in localization accuracy in high-dynamic environments, FWAF-VID can effectively support the further development of VIO algorithms for FWAVs. To the best of our knowledge, this is the first onboard benchmark dataset tailored for aggressive flight in flapping-wing airborne platforms. © 2025 IEEE.

关键词： Micro air vehicle (MAV)

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A numerical method for predicting bursting strength of composite rocket motor case considering filament winding process-induced stress

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Chinese Journal of Aeronautics 2025年第2期38卷 505-518页

作者： Jiqiu LIANG Fei ZHAO Dan WU Anxin DING Hubei Key Laboratory of Advanced Aerospace Propulsion Technology Wuhan 430040China System Design Institute of Hubei Aerospace Technology Academy Wuhan 430040China School of Materials Science and Engineering Wuhan University of TechnologyWuhan 430070China State Key Laboratory of Advanced Technology for Materials Synthesis and Processing Wuhan University of TechnologyWuhan 430070China

A numerical method to predict the bursting strength of filament wound composite rocket motor case is proposed *** method can evaluate the longitudinal stress evolution of each composite layer as impregnated filaments with fiber tension are wound layer by layer,and consider the effects of accumulated stress and deformation during filament winding on the bursting strength of composite ***∅520 mm composite cases as a case study,the filament-winding-process-induced stress and deformation as well as progressive damage behavior are numerically predicted,followed by a comparison with experimental *** numerical results show that the predicted bursting pressures for composite cases manufactured on the mandrels with and without a flexible component are 14.20 MPa and 21.40 MPa,*** values exhibit slight deviation from the measured pressures of 13.50 MPa and 21.57 ***,the predicted damage locations,situated respectively in the dome and cylinder,agree well with the experimental *** observations indicate that use of flexible component reduces the load-bearing capacity of the ***,it validates the reliability and accuracy of the proposed numerical method in predicting the bursting strength of composite cases.

关键词： Composite case Fiber tension Bursting strengt hProgressive damage analysis Filament winding

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A Climbing Robot for Tube-sheet Inspection Based on Planar Parallel Mechanisms

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IEEE robotics and Automation Letters 2025年第7期10卷 6752-6759页

作者： Zhang, Kuan Fan, Jizhuang Xu, Tian Zhang, Xuehe Lin, Jinghan Yu, Xuan Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

This paper introduces a novel climbing robot for tube-sheet inspection (CRTI) that uses inner wall grippers (IWGs) to grasp tubes, enabling it to hang and crawl beneath the tube-sheet plane. The robot is designed primarily for inspecting steam generators in nuclear power plants. The CRTI based on a planar parallel mechanism is proposed, with its workspace optimized through the solution space method to address the limitations of existing systems in adaptability, load capacity, and efficiency. A modular IWG based on a wedge mechanism is introduced, featuring a load capacity exceeding 100 kg without damaging tubes, with its configuration optimized through a geometric method to enable insertion into smaller apertures. Furthermore, a forward kinematic solution method for parallel robots based on coordinate transformation is proposed, providing a unique analytical solution for the forward kinematics of all parallel configurations of this CRTI. The performance evaluation, which is grounded in singularity analysis and typical experiments, reveals that the proposed CRTI offers high efficiency, substantial load capacity, and exceptional adaptability, indicating its significant potential for future applications. © 2016 IEEE.

关键词： Grippers

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A comparison on the effects of coal fines and sand fouling on the shear behaviors of railway ballast using large scale direct shear tests

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Journal of Traffic and Transportation Engineering(English Edition) 2025年第1期12卷 52-67页

作者： Xu Zhang Shunying Ji Yang Feng Yongjun Li Chunfa Zhao School of Civil and Transportation Engineering Guangdong University of TechnologyGuangzhou 510006China State Key Laboratory of Rail Transit Vehicle System Southwest jiaotong UniversityChengdu 610031China State Key Laboratory of Structural Analysis Optimization and CAE Software for Industrial EquipmentDalian University of TechnologyDalian 116024China

Railway ballast is easily contaminated by different fouling material and the fouled ballast always causes the deterioration of railway *** previous studies focused on the effect of a certain kind of fouling material on ballast performance,but few studies compared the influence of different fouling *** paper presents a series of direct shear tests on the clean ballast and the fouled ballast mixed with coal fines or sand to understand the effects of different fouling material.A unified empirical model is proposed to well capture the shear stress-displacement responses of the clean and fouled *** equations are also obtained to characterize the variation of the nonlinear shear strength envelope of the fouled ballast with the fouling *** on these equations,a simple method is proposed to predict the shear strength of the fouled ballast using the shear test results of clean *** measured results demonstrate significant differences between the effects of coal fines and sand on the shear behaviors of ballast,to which particular attention should be paid in order to take targeted maintenance measures for the fouled *** mechanisms for the different effects of coal fines and sand are also analyzed to understand the roles that various fouling material plays in the fouled ballast.

关键词： Railway ballast Fouled ballast Shear strength Direct shear test Contamination

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Differential Protection Method of Stator and Rotor Current with Different Frequencies for Variable Speed Pumped Storage Units

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IEEE Transactions on Power Delivery 2025年第3期40卷 1531-1539页

作者： Qiao, Jian Yu, Haoyuan Wang, Yikai Wang, Kai Yin, Xin Chen, Linxu State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources Baoding China Wuhan University of Technology School of Automation Wuhan China

Rotor winding short-circuit fault (RWSF) is a common fault type of variable speed pumped storage unit (VSPSU). However, the RWSF protection in engineering typically depends on the integrated over-current protection of the AC excitation system, which has poor sensitivity to reflect the RWSF and makes it difficult to fulfill the requirements of safe operation of VSPSU. Inspired by transformer differential protection, a different frequency differential protection method using both stator and rotor phase currents is proposed. In terms of working principle and structure, the stator and rotor windings of the VSPSU are similar to the primary and secondary windings of the transformer, and there are conditions for differential protection. Furthermore, the Clark transformation is used to analyze the characteristic changes of stator and rotor currents after the RWSF. On this basis, the criterion form of different frequency differential protection is constructed based on the trapezoidal area method. Finally, the effectiveness of the proposed method is verified by dynamic simulation experiments. © 1986-2012 IEEE.

关键词： Stators

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MATD3-Based End-Edge Collaborative Resource Optimization for NOMA-Assisted Industrial Wireless Networks

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Computers, Materials & Continua 2025年第2期82卷 3203-3222页

作者： Ru Hao Chi Xu Jing Liu College of Information Engineering Shenyang University of Chemical TechnologyShenyang110142China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang110016China

Non-orthogonal multiple access (NOMA) technology has recently been widely integrated into multi-access edge computing (MEC) to support task offloading in industrial wireless networks (IWNs) with limited radio resources. This paper minimizes the system overhead regarding task processing delay and energy consumption for the IWN with hybrid NOMA and orthogonal multiple access (OMA) schemes. Specifically, we formulate the system overhead minimization (SOM) problem by considering the limited computation and communication resources and NOMA efficiency. To solve the complex mixed-integer nonconvex problem, we combine the multi-agent twin delayed deep deterministic policy gradient (MATD3) and convex optimization, namely MATD3-CO, for iterative optimization. Specifically, we first decouple SOM into two sub-problems, i.e., joint sub-channel allocation and task offloading sub-problem, and computation resource allocation sub-problem. Then, we propose MATD3 to optimize the sub-channel allocation and task offloading ratio, and employ the convex optimization to allocate the computation resource with a closed-form expression derived by the Karush-Kuhn-Tucker (KKT) conditions. The solution is obtained by iteratively solving these two sub-problems. The experimental results indicate that the MATD3-CO scheme, when compared to the benchmark schemes, significantly decreases system overhead with respect to both delay and energy consumption.

关键词： Industrial wireless networks(IWNs) multi-access edge computing(MEC) non-orthogonal multiple access(NOMA) task offloading resource allocation

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Main Protection Optimization Scheme for Generator Parallel Operation of Rotating Asynchronous Machine in Nuclear Power Plants

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IEEE Transactions on Power Delivery 2025年第3期40卷 1480-1492页

作者： Wang, Yikai Xu, Chaozheng Qiao, Jian Dai, Zhihui Tan, Liming Yin, Xianggen State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources Baoding071003 China State Grid Hunan Electric Power Company Limited Research Institute Changsha410208 China Huazhong University of Science and Technology State Key Laboratory of Advanced Electromagnetic Technology Wuhan430074 China

The Rotating Asynchronous Machine (RAM) system of a nuclear power plant provides a stable and reliable power supply for the control rod drive mechanism (CRDM) through two parallel generators. At present, the main protection of the generators in the RAM system is only configured with longitudinal differential protection, which cannot reflect the interturn short circuit fault and interbranch short circuit fault of the stator winding. Based on the characteristics of parallel connection of RAM generators in nuclear power plants, this article proposes a dual-generator split phase transverse differential protection and a dual-generator incomplete longitudinal differential protection. Through the internal fault set of the generator and the internal fault potential splitting model of the generator, the quantitative analysis of different main protection configuration schemes is carried out. It is concluded that the existing longitudinal differential protection and the incomplete longitudinal differential protection of two parallel generators can correctly reflect the vast majority of internal short-circuit faults. Finally, the dynamic experiment is carried out to prove the feasibility of the protection method in the actual unit operation. © 1986-2012 IEEE.

关键词： Nuclear power plants

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Improved calibration and 3D reconstruction for micro fringe projection profilometry

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Optics Express 2025年第6期33卷 13455-13471页

作者： Zhang, Chenfan Zhu, Dongchen Shi, Wenjun Wang, Lei Li, Jiamao Bionic Vision System Laboratory State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai200050 China University of Chinese Academy of Sciences Beijing100049 China

Micro fringe projection profilometry (MFPP) is a crucial three-dimensional measurement technology widely used in industrial inspection. As the system measurement accuracy is limited by calibration and reconstruction errors, this paper proposes a joint calibration of telecentric camera and projector, and develops noise-robust 3D reconstruction, ultimately forming a high-precision MFPP for microscopic object measurement. Specifically, the optimal parameters for the telecentric camera model are determined by constructing a virtual 3D calibration target, which circumvents the limitations that plane-based calibration methods often produce local optimal solutions. In response to the presence of phase errors, a method employing global homography is proposed to refine the projector pixel coordinates of feature points, thus enhancing the calibration accuracy of the projector. Furthermore, we integrate epipolar constraints into the reconstruction process, which helps eliminate noise points and optimizes the reconstruction results by constructing epipolar deviation. Extensive experiments demonstrate that our MFPP system can achieve micron-level measurement accuracy. © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Profilometry

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Spatial confinement of free-standing graphene sponge enables excellent stability of conversion-type Fe_(2)O_(3)anode for sodium storage

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Chinese Chemical Letters 2025年第3期36卷 544-549页

作者： Jun Dong Senyuan Tan Sunbin Yang Yalong Jiang Ruxing Wang Jian Ao Zilun Chen Chaohai Zhang Qinyou An Xiaoxing Zhang Hubei Key Laboratory for High-efficiency Utilization of Solar Energy and Operation Control of Energy Storage System Hubei University of TechnologyWuhan 430068China State Key Laboratory of New Textile Materials and Advanced Processing Technologies Wuhan Textile UniversityWuhan 430200China State Key Laboratory of Advanced Technology for Materials Synthesis and Processing Wuhan University of TechnologyWuhan 430070China Nanjing University of Aeronautics and Astronautics Nanjing 210016China

Conversion-type anode materials are highly desirable for Na-ion batteries(NIBs)due to their high theoretical ***,the active materials undergo severe expansion and pulverization during the sodiation,resulting in inferior cycling ***,a self-supporting three-dimensional(3D)graphene sponge decorated with Fe_(2)O_(3)nanocubes(rGO@Fe_(2)O_(3))is ***,the 3D graphene sponge with resilience and high porosity benefits to accommodate the volume expansion of the Fe_(2)O_(3)nanocubes and facilitates the rapid electrons/ions transport,enabling spatial confinement to achieve outstanding ***,the free-standing rGO@Fe_(2)O_(3)can be directly used as an electrode without additional binders and conductive additives,which helps to obtain a higher energy *** on the total mass of the rGO@Fe_(2)O_(3)material,the rGO@Fe_(2)O_(3)anode presents a specific capacity of 859 mAh/g at 0.1 A/*** also delivers an impressive cycling performance(327 mAh/g after 2000 cycles at 1 A/g)and a superior rate capacity(162mAh/g at 20 A/g).The coin-type Na_(3)V_(2)(PO_(4))_(3)@C//rGO@Fe_(2)O_(3)NIB exhibits an energy density of 265.3Wh/*** unique 3D ionic/electronic conductive network may provide new strategies to design advanced conversion-type anode materials for high-performance NIBs.

关键词： Conversion-type anode Spatial confinement Fe_(2)O_(3) Graphene network Self-supporting Sodium-ion batteries

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Irrelevant Locomotion Intention Detection for Myoelectric Assistive Lower Limb Robot Control

IEEE Transactions on Medical Robotics and Bionics

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IEEE Transactions on Medical robotics and Bionics 2025年第2期7卷 655-665页

作者： Song, Xiaoyu Liu, Jiaqing Pan, Heng Rao, Haotian Wang, Can Wu, Xinyu Southern University of Science and Technology Shenzhen518055 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China

In this study, we propose a robust myoelectric intention recognition framework to recognize human locomotion mode and detect irrelevant locomotion intention. The framework is integrated into the control system of the lower limb exoskeleton robot for experimental validation. Most conventional electromyography (EMG) intention detection methods aim to accurately detect the target motion intentions but ignore the possible effects of irrelevant intentions. In traditional action intention recognition strategies, most researchers did not consider entering irrelevant action intentions into the model during training. Therefore, when using a classification model, if irrelevant action intentions are input, the model will still recognize it as a type of target action intention. That can lead to incorrect recognition results, which will cause the robot to perform wrong movements and pose a safety risk to the wearer. To detect and reject irrelevant motion intentions, we first used the dual-purpose autoencoder-guided temporal convolution network (DA-TCN) to obtain discriminative features of the surface EMG signal. Autoencoders (AE)/Variable Autoencoders (VAE) are then trained for each of the seven deep features of the target motion intention. In addition, irrelevant motion intentions are detected according to the value of their reconstruction error. The recall rate of this method for the detection of irrelevant motion intentions exceeds 99% and the accuracy rate exceeds 99%.At the same time, we replaced the TCN with the LSTM model and compared the performance of the two after adding irrelevant motion discrimination. We collected data on seven goals and three unrelated motor intentions from seven experimenters for testing and completed an online experimental validation. The motion recognition accuracy of all the experimenters can be maintained above 86%. © 2018 IEEE.

关键词： Limbs Legged locomotion Exoskeletons Robots Image color analysis Convolution Stairs Training Feature extraction Autoencoders

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