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作者： Qin, Zhonghao Wang, Ke Li, Ruifeng State Key Laboratory of Robotics and System Harbin Institute of Technology 92 Xidazhi Street Harbin150006 China

In the process of vision-assisted robot automatic welding, splash and arc noise will interfere with the useful information in the image, which has a serious impact on the subsequent vision-based weld seam recognition and tracking algorithm. Although various methods have been proposed to achieve noise reduction, those are implemented from a perspective of image processing or intelligent algorithm. In this paper, we propose a pairwise response noise reduction model (PRNM) from the imaging perspective of seam tracking camera, which provides an image processing-free method to suppress welding splash and arc. Inverse response law and the loss function is established and solved by using singular value decomposition, and then the irradiance of reference scene is restored. A tone mapping approach is proposed based on the advantages of full-range compression and joint estimator, followed by mapping the obtained irradiance distribution to a high dynamic range (HDR) image. The grayscale correspondences of two reference images and the HDR image are reflected in the form of a two-dimensional lookup table (LUT). For welding noise characteristics, an alignment strategy is proposed to further correct the LUT to form a PRNM, which responds to all pairwise inputs with high computational efficiency. A batch of PRNMs have potential to form imaging solutions serving a welding process library. Experimental results reveal that the proposed model has a good effect in noise reduction, and the real-time performance is suitable for weld seam tracking. © 2022, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Noise abatement

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Evaporating Temperature Uniformity of the Pulsating Heat Pipe with Surfactant Solutions at Different Concentrations

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Journal of Thermal Science 2023年第1期32卷 183-191页

作者： BAO Kangli WANG Xuehui ZHANG Peng-E HAN Xiaohong TAN Jianming State Key Laboratory of Air-Conditioning Equipment and System Energy Conservation GREE Electric Appliances Inc.of ZhuhaiZhuhai 519070China Key Laboratory of Refrigeration and Cryogenic Technology of Zhejiang Province Institute of Refrigeration and CryogenicsZhejiang UniversityHangzhou 310027China

The evaporating section of the pulsating heat pipe(PHP)is in direct contact with the electronics when it is used for heat dissipation,and thus the evaporating temperature uniformity has an important effect on the safe and reliable operation of electronic *** the basis of these conditions,an experimental study on the evaporating temperature uniformity of the PHP with surfactant solutions at different concentrations was conducted at the heat fluxes of(1911–19427)W/m^(2).Sodium stearate was utilized for the solute;the surfactant solutions were prepared with the concentrations of 0.001 wt%,0.002 wt%,and 0.004 wt%,respectively,and the filling ratios of the PHP were 0.31,0.44 and 0.57,*** experimental results revealed that under all tested working conditions,the highest temperature always appeared in the intermediate zone of the evaporating *** the heat flux increased,the temperature differences among different zones rose initially and then reduced due to the change of the flow motion and the flow *** evaporating temperature uniformity of the sodium stearate solutions-PHP was better than that of the deionized water-PHP,which suggested that the evaporating temperature uniformity might be improved through decreasing the surface ***,combined with the effect of surface tension and viscosity,for different filling ratios,the required concentration was different when the best evaporating temperature uniformity was *** be specific,when the filling ratio were 0.31 and 0.44,the best evaporating temperature uniformity was achieved at the concentration of 0.004 wt%,while at the filling ratio of 0.57,the best evaporating temperature uniformity was attained at the concentration of 0.002 wt%.

关键词： pulsating heat pipe surface tension evaporating temperature uniformity heat transfer

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WaveCRNet: Wavelet Transform-Guided Learning for Semantic Segmentation in Adverse Railway Scenes

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IEEE Transactions on Intelligent Transportation systems 2025年第6期26卷 8794-8809页

作者： Wang, Zhangyu Liao, Zhihao Wang, Pengcheng Chen, Peng Luo, Wenwen Beihang University State Key Laboratory of Intelligent Transportation System School of Transportation Science and Engineering Beijing100191 China Beihang University School of Cyber Science and Technology Beijing100191 China

Semantic segmentation is pivotal in autonomous train perception, significantly impacting the system's intelligence and reliability. However, its performance in railway scenes is hindered by various challenges, including severe weather conditions, low-light situations, tunnel settings, and diverse and dynamic unstructured scenes. To address these challenges, this study proposes WaveCRNet, a novel architecture for real-time semantic segmentation in challenging conditions, simulating wavelet-constrained PID controller in feature and wavelet space. This study first designs an effective wavelet information enhancement algorithm using a differentiable wavelet transform to bridge the gap between the wavelet and feature information domains. Then, the wavelet-guided attention pag module (WAPM) is introduced to guide the learning and fusion of detailed features based on wavelet priors. Moreover, the traditional wavelet transforms are spectral aliasing and shift sensitivity. Inspired by dual-tree complex wavelet transform (DTCWT), the DTCWT-based channel reconstruction module (DCRM) is designed to assist the channel-based learning of boundary information from coarse to fine. Finally, the proposed architecture is evaluated by the public dataset RailSem19. The experimental results validate the consistent performance gains between accuracy and inference speed, improving by 63.7% mIoU and 87 FPS, surpassing those of the advanced methods for real-time segmentation. © 2000-2011 IEEE.

关键词： Semantic Segmentation

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A Comprehensive Derivation of Quintic Spline Interpolation and Its Applications to 3-D Collision-Free Trajectory Generation

A Comprehensive Derivation of Quintic Spline Interpolation a...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Ma, Boyu Zhou, Chunyu Liu, Yang Niu, Baoshan Wen, Feiyang Liu, Sijiang Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150080 China Tianjin University Key Laboratory of Modern Mechanisms and Equipment Design The State Ministry of Education Tianjin300354 China

ISBN: (纸本)9798350372601

For trajectory generation, quintic spline interpolation can ensure the zero velocities and accelerations of both the starting and ending points, presenting advantages not achievable by cubic spline interpolation. Due to the scarcity of quintic spline interpolation in existing research and applications, and considering its relatively intricate implementation process, this article presents a comprehensive derivation for its solution. Moreover, a three-dimensional (3-D) collision-free smooth trajectory scheme using quintic spline interpolation is proposed to generate collision-free and sufficiently smooth trajectories. Finally, two case studies are conducted to validate the effectiveness of quintic spline interpolation and the trajectory generation scheme in planning motion trajectories for robotic agents in a 3-D map with several obstacles. © 2024 IEEE.

关键词： Trajectories

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Self-Preloading Flexible Attachment Actuator with Multi-Mechanism Hierarchical Structure

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Journal of Bionic Engineering 2024年第4期21卷 1830-1846页

作者： Zhouyi Wang Qingsong Yuan Zhiyuan Weng Junsheng Yao Xuan Wu Lei Li Weipeng Li Yiping Feng Zhendong Dai College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics210016NanjingChina State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and Astronautics210016NanjingChina Robotics Laboratory China Nanhu Academy of Electronics and Information Technology314000JiaxingZhejiangChina

Flexible attachment actuators are popular in a wide range of applications,owing to their flexibility and highly reliable ***,their reversible adhesion performance depends on the actual effective contact area and peel angle during ***,a good actuator must ensure a uniform and reliable pre-pressure load on an adhesive surface,to increase the effective contact area of the attached surface,thereby maximizing *** study was inspired by fusion bionics for designing a hierarchical attachment structure with vacuum-adsorption and dry-adhesion *** designed structure used the normal force under the negative pressure of a suction cup as a stable source of a pre-pressure *** optimizing the rigid and flexible structural layers of the attachment structure,a load was applied uniformly to the adhesion area;thus,reliable attachment was achieved by *** structure achieved detachment by exploiting the large deformation of a pneumatic structure under a positive *** hierarchical attachment structure achieved up to 85%of the optimal performance of the adhesive *** to its self-preloading and reliable attachment characteristics,the designed structure can be used as an attachment unit in various complex scenarios,such as small,lightweight climbing platforms and the transport of objects in long,narrow pipelines.

关键词： Multi-mechanism attachment Self-preloading Hierarchical structure Adhesion Vacuum adsorption

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Real time low-carbon scheduling strategy for electric vehicles based on V2G technology

Real time low-carbon scheduling strategy for electric vehicl...

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2024 IEEE Transportation Electrification Conference and Expo, Asia-Pacific, ITEC Asia-Pacific 2024

作者： Bi, KeFan Zhang, Qian Su, Xin Huang, Shengwei Weng, Yifan Chongqing University State Key Laboratory Of Power Transmission Equipment & System Security And New Technology Chongqing China

ISBN: (纸本)9798331529277

With the rapid development of electric vehicles, a low-carbon scheduling strategy for electric vehicles based on node carbon potential calculation has been proposed to reduce the carbon emissions of the system and electric vehicle clusters, alleviate the power supply pressure of the power grid, and achieve peak shaving and valley filling of the total load of the power grid. Firstly, establish an electric vehicle scheduling model using Monte Carlo sampling. Then, by constructing a carbon emission flow model to analyze the carbon emission intensity of grid nodes, time of use electricity prices are formulated based on grid loads, and electric vehicle charging and discharging strategies are obtained through power flow calculation and convex optimization algorithms. Finally, taking the IEEE 14 node distribution network as an example, it is verified that the proposed strategy can effectively reduce charging costs and carbon emission costs. © 2024 IEEE.

关键词： Load flow optimization

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Short-term Recovery of Silicon Carbide Power MOSFET Threshold Voltage 6

Short-term Recovery of Silicon Carbide Power MOSFET Threshol...

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6th International Conference on Energy, Power and Grid, ICEPG 2024

作者： Zhong, Xiaohan Tang, Lei Jiang, Huaping Xie, Yuting Chongqing University State Key Laboratory of Power Transmission Equipment and System Safety and New Technology Chongqing China

ISBN: (纸本)9798350377798

With the growing application of silicon carbide (SiC) MOSFETs, the instability issues of the threshold voltage have attracted significant attention. However, there is limited research on the recovery performance of the threshold voltage of SiC MOSFETs. In this paper, the SiC MOSFET short-term threshold voltage recovery was experimentally studied. It is found that the short-term recovery properties of threshold voltage are affected not only by the gate bias but also by the bias time. The research results not only provide a reference for threshold voltage measurement but also improve the understanding of threshold voltage instability. © 2024 IEEE.

关键词： Power MOSFET

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Expansion of Self-assembled Structures of Heteroarray NdFeB Semicircular Arc Magnetic Minirobots

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Journal of Bionic Engineering 2024年第5期21卷 2258-2270页

作者： Wenguang Yang Huibin Liu Qinghao Guo Wenhao Wang Haibo Yu Anqin Liu School of Electromechanical and Automotive Engineering Yantai UniversityYantai264005China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China School of Mechanical and Electrical Engineering Yantai Institute of TechnologyYantai264005China

Researching the cooperative operation and functional expansion of multiple minirobot assemblies has the potential to bring about significant advancements in the practical applications of *** this study,we present a novel assembly sys-tem comprised of arc-shaped NdFeB magnetic *** minirobots can be individually utilized as assembly units,allowing for function expansion and comprehensive capability *** fabricate four Semicircular Arc Magnetic Minirobots(SAMM)arranged in different configurations and analyze their force and motion ***,by using this unit as a base,various expansion structures such as latches,petals,and rings can be assembled through reason-able *** define the comprehensive reinforcement interval by comparatively analyzing changes in the unit's motion characteristics and operational *** motion manipulation is employed to verify the rationality of the basic unit structure and the feasibility of the assembly *** proposed self-assembly scheme for magnetic minirobots exhibits great potential and may be used as a paradigm for future research on expanding the functionality of minirobots.

关键词： NdFeB Semicircular arc Cutoff frequency Assembly Cooperative work Magnetic minirobots

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Characteristics of perfluoromethyl vinyl ether:A new eco-friendly alternative gas for SF_(6)

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High Voltage 2024年第3期9卷 509-517页

作者： Song Xiao Yijiang Chen Mingjun Tang Shuangshuang Tian Haoran Xia Yifan Wang Ju Tang Yi Li Xiaoxing Zhang State Key Laboratory of Power Grid Environmental Protection School of Electrical Engineering and AutomationWuhan UniversityHubeiChina Key Laboratory for High-Efficiency Utilization of Solar Energy and Operation Control of Energy Storage System School of Electrical and Electronic EngineeringHubei University of TechnologyWuhanChina

The exploration of eco-friendly insulating gas to substitute the most potent greenhouse gas sulphur hexafluoride(SF6)has consistently garnered significant ***,the au-thors evaluated the feasibility of utilising perfluoromethyl vinyl ether(PMVE,C_(3)F_(6)O)as a new branch of eco-friendly insulating gas for the first *** primary dielectric and stability characteristics of PMVE regarding AC breakdown,partial discharge,dielectric recovery,and decomposition properties were revealed under various gas pressure and electrical field *** was found that PMVE demonstrated superior dielectric strength,with the AC breakdown and PD inception voltage(PDIV)1.10 and 1.14 times that of pure SF_(6).Furthermore,the dielectric strength of PMVE exhibits stability even after undergoing 100 cycles of AC breakdowns,and there is no observable formation of solid precipitation on the electrode *** discharge decomposition of PMVE mainly generates fluorocarbon(CF_(4),C_(2)F_(6),C_(3)F_(6),C_(3)F_(8),etc.)and ***,the exceptional insulation stabilityandno absence of solidprecipitation featuresendow PMVE tobe utilised as a new eco-friendly gas for SF_(6)-free gas-insulated equipment.

关键词： surface dielectric vinyl

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