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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Li, Changle Zhang, Chentao Yu, Chuan You Zhang, Leifeng Liu, Gangfeng Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System No.2 YiKuang Street NanGang District Harbin HeiLongJiang China

ISBN: (纸本)9781665481090

This paper presents a novel six-degree-of-freedom force feedback master manipulator for remote ultrasound scanning. Firstly, a new configuration based on a planar five-link mechanism is proposed, taking into account the practical needs of medical ultrasound scanning. This configuration has two operating modes and can provide three degrees of force feedback. Secondly, a hybrid force/position master-slave control system based on the kinetic model force feedback method is built, which can realize incremental master-slave control, variable proportional control, force feedback, and other functions. Finally, the positional accuracy, gravity balance effect, and force feedback performance of this master manipulator are verified through experiments. Experiments show that the average position error of this novel force feedback master manipulator is 1.18 mm, the average attitude error expressed in terms of Euler angles is 0.83°, and the maximum feedback force that can be provided is 12.1 N, which satisfies the requirements of ultrasonic scanning. © 2022 IEEE.

关键词： Feedback

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Bi-Directional and Triangular Circulation Fusion Neural Networks for Small Object Detection

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IEEE Transactions on Circuits and systems for Video technology 2024年第6期35卷 5140-5152页

作者： Li, Fangyu Duan, Junzhu Zhang, Qiyu Shan, Caifeng Han, Honggui the School of Information Science and Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System Engineering Research Center of Digital Community Ministry of Education Beijing Artificial Intelligence Institute Beijing University of Technology Beijing100124 China the State Key Laboratory for Novel Software Technology Nanjing University Nanjing210023 China the School of Intelligence Science and Technology Nanjing University Suzhou215163 China

Deep learning-driven object detection models are capable of accurately identifying and localizing objects. However, small objects contain limited information relative to global features, resulting in the fact that detection models often do not learn small object features adequately. To enhance the precision in detecting small objects, we propose a bi-directional and triangular circulation fusion neural network (BTFN). First, to selectively strengthen the position features of small objects, we propose a feature circulation extraction module composed of a bi-directional triangular densely nested convolutional network (BTF), thus achieving repetitive multi-layer feature fusion. Second, to fill up the semantic gaps between different scales of features, we design a mixed dual attention module (MDA) in the bi-directional triangular densely nested network. Third, to mitigate the lost information in the neural networks with deep layers as well as improve the inference time, we design a re-parameterization bi-directional composite feature fusion module (Rep-BFM) that fuses the features of multiple scales. The proposed model is evaluated extensively on the MS COCO, Tsinghua-Tencent 100k, and Haier dismantled parts of used home appliances datasets. The experiment results show that the proposed model improves the AP on MS COCO by 4%, especially the APS of small objects is improved by 7.7% compared with SOTA models. © 2024 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Domestic appliances

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Nutrient dynamics and cross shelf transport in the East China Sea

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Acta Oceanologica Sinica 2024年第10期43卷 48-62页

作者： Shuhang Dong Sumei Liu Jingling Ren Feng Zhou Jing Zhang Frontiers Science Center for Deep Ocean Multispheres and Earth System and Key Laboratory of Marine Chemistry Theory and TechnologyMinistry of EducationOcean University of ChinaQingdao 266100China Laboratory for Marine Ecology and Environmental Science Qingdao National Laboratory for Marine Science and TechnologyQingdao 266237China State Key Laboratory of Satellite Ocean Environment Dynamics Second Institute of OceanographyMinistry of Natural ResourcesHangzhou 310012China State Key Laboratory of Estuarine and Coastal Research East China Normal UniversityShanghai 200062China School of Oceanography Shanghai Jiao Tong UniversityShanghai 200030China

To understand the temporal and spatial variations in nutrient dynamics,as well as the potential cross-shelf transport of nutrients between the East China Sea(ECS)shelf and the northwestern Pacific Ocean,six field observations covering the ECS were conducted in spring,summer,and autumn in 2011 and *** dynamics in the ECS and nutrient exchange between shelf water and the open ocean were *** concentrations of dissolved inorganic nutrients were detected in the nearshore surface layer and offshore bottom layer in different seasons,and the concentrations of dissolved inorganic nutrients in surface seawater were lower in summer and autumn than in *** concentrations of dissolved organic nutrients in Kuroshio surface water were slightly lower in summer than in spring,but the concentrations in Kuroshio subsurface water were slightly higher in summer than in *** were abundant nutrient reservoirs in the euphotic zone of the ECS,which explained the high primary *** evaluation of cross-shelf transport indicated that nutrients from shelf water were transported out across the 200 m isobath through the surface layer with the density(σ)less than 23.0 kg/m^(3) in *** flux of dissolved inorganic nitrogen transported from the ECS shelf to the Northwest Pacific Ocean in spring was equivalent to 21%of the atmospheric nitrogen deposition in the Northwest Pacific *** summer,the onshore flux in the surface and bottom layers accounted for 80%of the total flux,and the transportation of nutrients along the surface layer to the continental shelf contributed to the nutrient storage and primary productivity of the euphotic zone in the ECS shelf in summer.

关键词： nutrients cross shelf transportation Kuroshio East China Sea(ECS) Northwest Pacific Ocean

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Research on Surface Defect Detection technology of Long-Distance and Long-Span FAST Cable

Research on Surface Defect Detection Technology of Long-Dist...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Xin Tong Xuehe Zhang Gangfeng Liu Changle Li Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Aiming at the problems of large cable span, small number of defect samples and complex background environment in the FAST cable defect detection task, a set of real-time defect detection algorithms based on convolutional neural network is proposed to realize the accurate location and classification of defects. It can achieve a good detection effect for defects with multiple angles and sizes, especially suitable for medium and long distances. The algorithm is verified on the dataset, and its recognition accuracy can reach 91.7%. Equipped on the hardware inference platform, it fully meets the efficiency and accuracy requirements of FAST cable inspection site, can be used in actual cable quality inspection tasks, and can be widely promoted to real-time defect detection of various high-altitude hanging cables.

关键词： Mechatronics Simulation Inspection Real-time systems Inference algorithms Hardware Convolutional neural networks

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Regularized automatic frequency response function acquisition of a milling robot operating in a high-dimensional workspace

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Science China(Technological Sciences) 2024年第6期67卷 1783-1797页

作者： LUO WenLong TANG XiaoWei MA Tao GUO QiuShuang XU YanYan YUAN Xing ZHANG Lei MAO XinYong School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan430074China State Key Laboratory of Smart Manufacturing for Special Vehicles and Transmission System Baotou014030China Wuhan Heavy Duty Machine Tool Group Corporation Wuhan430205China

Because robotic milling has become an important means for machining significant large parts,obtaining the structural frequency response function(FRF)of a milling robot is an important basis for machining process ***,because of its articulated serial structure,a milling robot has an enormous number of operating postures,and its dynamics are affected by the motion *** accurately obtain the FRF in the operating state of a milling robot,this paper proposes a method based on the structural modification *** the traditional excitation method,the proposed method uses robot joint motion excitation instead of hammering excitation to realize *** address the problem of the lack of information brought by motion excitation,which leads to inaccurate FRF amplitudes,this paper derives the milling robot regularization theory based on the sensitivity of structural modification,establishes the modal regularization factor,and calibrates the FRF *** to the commonly used manual hammering experiments,the proposed method has high accuracy and reliability when the milling robot is in different *** the measurement can be performed directly and automatically in the operation state,and the problem of inaccurate amplitudes is solved,the proposed method provides a basis for optimizing the machining posture of a milling robot and improving machining efficiency.

关键词： milling robot structural dynamics frequency response function automatic identification modal regularization factor high-dimensional workspace

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Analysis of pulsation characteristics of water discharge under long pulse 51

Analysis of pulsation characteristics of water discharge und...

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51st IEEE International Conference on Plasma Science, ICOPS 2024 and 4th Asia-Pacific Conference on Plasma and Terahertz Science, APCOPTS 2024

作者： Zhao, Z. Li, X. Lan, M. Zheng, P. Zheng, W. Song, Y. Chongqing Uinversity State Key Laboratory of Power Transmission Equipment & System Security and New Technology School of Electrical Engineering Chongqing China

ISBN: (纸本)9798350360912

Pulse discharge in water can trigger powerful shock waves, which have been widely used in fields such as electro-hydraulic forming, rock fragmentation, and oil and gas production. The pulsation during discharge has a direct effect on the intensity of shock waves. Therefore, the study of pulsation characteristics is of great practical significance. At present, the analysis of pulsation characteristics is mainly focused on conditions of short pulse. However, due to the difference in time scale, these studies are limited to a single early arc or late bubble, while the development of arc and bubble under long pulse presents a strong coupling, and the underlying mechanism is still unclear. © 2024 IEEE.

关键词： Rock bursts

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Safety monitoring method for powerline corridors based on single‐stage detector and visual matching

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High Voltage 2024年第4期9卷 805-815页

作者： Jinheng Li Hanbo Zheng Peng Liu Yanshen Liang Feng Shuang Junjie Huang Guangxi Key Laboratory of Power System Optimization and Energy Technology Guangxi UniversityNanningChina China Southern Power Grid Guangxi Power Grid Company Ltd. NanningChina State Grid Hubei Electric Power Research Institute WuhanChina

Effective monitoring and early warning of overhead power lines are critical for ensuring power supply stability and personnel ***,existing methods that rely solely on single vision or light detection and ranging(LiDAR)have limitations such as numerous invalid alarms,hardware equipment constraints,and lack of real-time monitoring *** article proposes an intelligent monitoring method for safety distance of the powerline corridor based on heterogeneous sensor ***,an optimised single-stage detector is designed to detect safety hazard *** the detector,the backbone network and the sample matching strategy are improved;in addition,the learning strategy is ***,the pose transformation relationship is obtained through the visual matching of prior LiDAR information and *** back projection transformation of 2D–3D is achieved according to the ***,a monocular camera-based end-to-end distance measurement scheme is proposed by combining 2D object information with coordinate transformation *** scheme is applied to the distance measurements from hazard objects to *** experimental results show that the optimisation method improves the detection accuracy and reduces the computational complexity of the ***,case experiments with continuous frame data verify the effectiveness of the safety distance monitoring scheme.

关键词： visual hardware matching

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Performance assessment of octagonal layout based integrated photonic reservoir computing for optical channel equalization

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Optics Express 2025年第7期33卷 15814-15826页

作者： Zuo, Xiaoyan Pei, Li Bai, Bing Bai, Bowen Hu, Zhouyi Wang, Jianshuai Qu, Qi Dong, Fei Institute of Lightwave Technology Beijing Jiaotong University Ministry of Education Key Laboratory of All-Optical Networks and Modern Communication Networks Beijing100044 China Technology Co. Ltd. China State Key Laboratory of Advanced Optical Communications System and Networks School of Electronics Peking University Beijing100871 China Beijing Aerospace Institute for Metrology and Measurement Technology Beijing100076 China

Compared to electronic equalizers, the equalizers based on integrated photonic reservoir computing exhibit the advantages of large bandwidth, short latency, and low power consumption. The existing rectangular reservoir layout employs internal nodes as input and output nodes, leading to inadequate signal exchange and extra noise due to waveguide crossing. We proposed an optical channel equalizer based on an octagonal reservoir layout and verified its equalization ability. The system-level simulation of the proposed layout is conducted to investigate the impact of layout shape, node quantity, input and output port number, and weight algorithm on channel equalization performance in a 25Gbaud 4-level pulse amplitude modulation optical communication system. Results indicate that, within a transmission distance of 5-30 km, the bit error rate (BER) of the equalized signal in the proposed octagonal layout is lower than that of a rectangular layout with the same number of nodes. Specifically, at 5 km, the octagonal layout’s BER is 5 and 10 orders of magnitude lower than the rectangular layout and the feedforward equalizer, respectively. Meanwhile, the best readout algorithm, K-nearest neighbor regression, achieves an equalized BER of 7.012 × 10−14 © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Pulse amplitude modulation

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Dynamic Behavior of Suspended Bubbles in Insulating Oil Correlation with Flow Field Distribution 4th

Dynamic Behavior of Suspended Bubbles in Insulating Oil Corr...

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4th International Symposium on Insulation and Discharge Computation for Power Equipment, IDCOMPU 2023

作者： Zhang, Ning Hao, Jian Liu, Shili Zhang, Junyi Chen, Houhe Liao, Ruijin Key Laboratory of Modern Power System Simulation and Control & Renewable Energy Technology Ministry of Education Northeast Electric Power University Jilin132012 China State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing University Chongqing400044 China

ISBN: (纸本)9789819974122

In recent years, arcing faults inside large oil-immersed power transformers have been frequent. Suspended bubbles, as the main product of high temperature, high humidity, material aging and cracking gas production inside transformers, are one of the main causes of arcing inside transformers. However, due to the complex structure of the oil channel and the large fluctuation of the internal flow field distribution, the resulting bubble morphology evolution and movement law is not clear. In this paper, the influence of the initial position of bubbles and the relative position between bubbles on the flow field distribution is fully considered, and the dynamic behavior of suspended bubbles in oil under two fluid forms of natural oil circulation and forced oil circulation is simulated and studied by combining laminar and turbulent flow models and bubble force control equations, and the correlation mechanism between suspended bubbles and flow field distribution characteristics is analyzed. The simulation results show that the flow field in the laminar state affects the bubble aggregation and trajectory, while the turbulent state affects the bubble distortion and motion time, and a reasonable model in the simulation of bubble dynamic behavior is more beneficial to improve the simulation accuracy. © Beijing Paike Culture Commu. Co., Ltd 2024.

关键词： Flow fields

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A Novel Approach for Solving Time-Varying Linear Equations and Its Application in Motion Tracking of Redundant Robots

A Novel Approach for Solving Time-Varying Linear Equations a...

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Frontiers of robotics and Software Engineering (FRSE), International Conference on

作者： Hong Yin Hongzhe Jin Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Solving time-varying linear equations is a common problem in many fields. In this article, a novel approach is proposed based on the cost function constructed by the mixed error, which is made up of the residual error and its integration. The merits of the novel approach include high accuracy, noise immunity, and asymptotic convergence. Since the derivative information of time-varying signals is used in the proposed method, a proportional-integral differentiator is designed based on the mixed estimation error for the first derivative estimation. The proposed differentiator has a high degree of precision, asymptotic convergence, and no chattering. In addition, theoretical analyses prove the convergence of the proposed optimal strategy and differentiator. Simulation results validate the effectiveness and superiority of the proposed strategy and the designed differentiator. Finally, the proposed approach is employed in the motion tracking of redundant robots.

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