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International Conference on Electronic Engineering and Informatics (EEI)

作者： Hanjun Shang Zhenhuan Wang Yingxin Tian Qimin Hou Jiyuan Kuang Yabin Gao School of Astronautics Harbin Institute of Technology Harbin China Elite Engineers School Harbin Institute of Technology Harbin China The National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing China School of Software Harbin Institute of Technology Harbin China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

This paper deals with the problem of clusters flocking for a heterogeneous multi-agent system of Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vessels (USVs). The dynamics models of the UAVs and USVs are established separately. Due to the different state dimensions and dynamics models of the UAVs and USVs, the two types of agents are formulated with two clusters. Then, the functions of formation errors of the two clusters are constructed. For the two clusters, a new type of prescribed-time formation control laws is designed respectively. Moreover, compared with the conventional formation control that can only ensure that the multi-agent system completes ideal formations without strict time constraints theoretically, the present prescribed-time control laws can enable the multi-agent system to complete ideal formation strictly at a prescribed time independent of initial formation errors. Finally, the effectiveness of the prescribed-time formation control is verified by simulations.

关键词： Simulation Control systems Autonomous aerial vehicles Formation control Time factors Vehicle dynamics Informatics Dynamical systems Multi-agent systems

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An Improved Task Planning Method for Unmanned Swarms with Coupled Physical and Logical Constraints

An Improved Task Planning Method for Unmanned Swarms with Co...

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2024 IEEE International Conference on Unmanned systems, ICUS 2024

作者： Chen, Xiubin Zhang, Lei Xu, Fang Yao, Weiran School of Astronautics Harbin Institude of Technology Harbin China Wuhan 2nd Ship Design and Research Institute Wuhan China Marine Military Intelligence Innovation Institute CSSC Systems Engineering Research Institute Beijing China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing China

ISBN: (纸本)9798350384185

Traditional task allocation methods for unmanned swarm systems ignore the effects of actual paths, resulting in estimation accuracy *** paper formulates task planning problem by incorporating physical and logical constraints, and establishes an integrated framework of task allocation and path ***-based search method is used to address path planning with physical constraints.A genetic algorithm is employed to solve multi-traveling salesman allocation problem.A bounded suboptimal optimization, a data dictionary, and an island model are introduced to accelerate the convergence speed of the genetic *** experiments verify that compared to the decoupled task planning methods, the proposed method improves task execution efficiency and remains adaptability to various complex spatial maps. © 2024 IEEE.

关键词： Genetic algorithms

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Referencing Where to Focus: Improving Visual Grounding with Referential Query 38

Referencing Where to Focus: Improving Visual Grounding with ...

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38th Conference on Neural Information Processing systems, NeurIPS 2024

作者： Wang, Yabing Tian, Zhuotao Guo, Qingpei Qin, Zheng Zhou, Sanping Yang, Ming Wang, Le National Key Laboratory of Human-Machine Hybrid Augmented Intelligence National Engineering Research Center for Visual Information and Applications Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University China Harbin Institute of Technology Shenzhen China AntGroup China

Visual Grounding aims to localize the referring object in an image given a natural language expression. Recent advancements in DETR-based visual grounding methods have attracted considerable attention, as they directly predict the coordinates of the target object without relying on additional efforts, such as pre-generated proposal candidates or pre-defined anchor boxes. However, existing research primarily focuses on designing stronger multi-modal decoder, which typically generates learnable queries by random initialization or by using linguistic embeddings. This vanilla query generation approach inevitably increases the learning difficulty for the model, as it does not involve any target-related information at the beginning of decoding. Furthermore, they only use the deepest image feature during the query learning process, overlooking the importance of features from other levels. To address these issues, we propose a novel approach, called RefFormer. It consists of the query adaption module that can be seamlessly integrated into CLIP and generate the referential query to provide the prior context for decoder, along with a task-specific decoder. By incorporating the referential query into the decoder, we can effectively mitigate the learning difficulty of the decoder, and accurately concentrate on the target object. Additionally, our proposed query adaption module can also act as an adapter, preserving the rich knowledge within CLIP without the need to tune the parameters of the backbone network. Extensive experiments demonstrate the effectiveness and efficiency of our proposed method, outperforming state-of-the-art approaches on five visual grounding benchmarks. © 2024 Neural information processing systems foundation. All rights reserved.

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OAM waves with fewer redundant OAM modes generated by two circularly polarized antenna arrays

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ICT Express 2024年第4期10卷 804-809页

作者： Liu, Dandan Liu, Sentao Wu, Wei Cheng, Yayun Gui, Liangqi College of Weapons Engineering Naval University of Engineering Wuhan 430030 China State Key Laboratory of Lunar and Planetary Sciences Macau University of Science and Technology Macau China School of Electronics and Information Engineering Harbin Institute of Technology Harbin 150001 China School of Cyber Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

Two circularly polarized antenna arrays, which reduce two redundant OAM modes, are proposed in this paper. One antenna array is composed of 8 right-handed circularly polarized (RHCP) antennas and radiates OAM mode l in x component, OAM mode l in y component and OAM mode (l+1) in z component. The other antenna array has 8 left-handed circularly polarized (LHCP) antennas and transmits OAM mode l in x component, OAM mode l in y component and OAM mode (l−1) in z component. The RHCP and LHCP antenna arrays produce OAM waves with fewer redundant OAM modes compared to the traditional single-direction antenna array. The feed excitations of the two circularly polarized antenna arrays have the same feeding system, which includes power dividers and phase shifters. The reflection coefficient parameters, radiation patterns and phase distributions are measured to display the radiated characteristics of the two proposed methods. Both the simulation and the experimental results demonstrate the effectiveness of the proposed methods. © 2024 Naval University of Engineering

关键词： Circularly polarized antenna array E-field component Feeding system Fewer redundant OAM modes

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Formation of secondary inorganic aerosol in a frigid urban atmosphere

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Frontiers of Environmental Science & Engineering 2022年第2期16卷 39-50页

作者： Yuan Cheng Qinqin Yu Jiumeng Liu Youwen Sun Linlin Liang Zhenyu Du Guannan Geng Wanli Ma Hong Qi Qiang Zhang Kebin He State Key Laboratory of Urban Water Resource and Environment School of EnvironmentHarbin Institute of TechnologyHarbin 150090China Key Laboratory of Environmental Optics and Technology Anhui Institute of Optics and Fine MechanicsChinese Academy of SciencesHefei 230031China State Key Laboratory of Severe Weather&CMA Key Laboratory of Atmospheric Chemistry Chinese Academy of Meteorological SciencesBeijing 100081China National Research Center for Environmental Analysis and Measurement Environmental Development Center of the Ministry of Ecology and EnvironmentBeijing 100029China State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing 100084China Department of Earth System Science Tsinghua UniversityBeijing 100084China

Formation of secondary inorganic aerosol(SIA)was investigated during a six-month long heating season in harbin,*** sulfate formation was observed at high relative humidity(RH),with the same threshold RH(80%)for both colder and warmer measurement *** to wintertime results from Beijing,the threshold RH was considerably higher in harbin,whereas the RH-dependent enhancement of sulfur oxidation ratio(SOR)was less *** addition,the high RH events were rarely encountered,and for other periods,the SOR were typically as low as~***,the sulfate formation was considered inefficient in this *** excluding the several cases with high RH,both SOR and the nitrogen oxidation ratio(NOR)exhibited increasing trends as the temperature increased,with the increase of NOR being *** nitrate to sulfate ratio tended to increase with increasing temperature as *** on a semi-quantitative approach,this trend was attributed primarily to the temperature-dependent variations of precursors including SO_(2) and NO_(2).The influence of biomass burning emissions on SIA formation was also *** stronger impact of biomass burning,an enhancement in NOR was observed whereas SOR was largely *** different patterns were identified as the dominant driver of the larger nitrate to sulfate ratios measured at higher concentrations of fine particulate matter.

关键词： Haze Sulfate Nitrate Heterogeneous chemistry Biomass burning

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Spatial Correspondence between Graph Neural Network-Segmented Images

arXiv

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arXiv 2023年

作者： Li, Qian Fu, Yunguan Yang, Qianye Du, Zhijiang Yu, Hongjian Hu, Yipeng Department of Medical Physics and Biomedical Engineering University College London London United Kingdom State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Graph neural networks (GNNs) have been proposed for medical image segmentation, by predicting anatomical structures represented by graphs of vertices and edges. One such type of graph is predefined with fixed size and connectivity to represent a reference of anatomical regions of interest, thus known as templates. This work explores the potentials in these GNNs with common topology for establishing spatial correspondence, implicitly maintained during segmenting two or more images. With an example application of registering local vertebral sub-regions found in CT images, our experimental results showed that the GNN-based segmentation is capable of accurate and reliable localization of the same interventionally interesting structures between images, not limited to the segmentation classes. The reported average target registration errors of 2.2±1.3 mm and 2.7±1.4 mm, for aligning holdout test images with a reference and for aligning two test images, respectively, were by a considerable margin lower than those from the tested non-learning and learning-based registration algorithms. Further ablation studies assess the contributions towards the registration performance, from individual components in the originally segmentation-purposed network and its training algorithm. The results highlight that the proposed segmentation-in-lieu-of-registration approach shares methodological similarities with existing registration methods, such as the use of displacement smoothness constraint and point distance minimization albeit on non-grid graphs, which interestingly yielded benefits for both segmentation and registration. We, therefore, conclude that the template-based GNN segmentation can effectively establish spatial correspondence in our application, without any other dedicated registration algorithms. © 2023, CC BY.

关键词： Computerized tomography

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Enhanced High-Temperature Energy Storage Properties of BOPP Capacitor Films by Coating Heterostructural Ceramics Layers

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IET Nanodielectrics 2025年第1期8卷

作者： Xing, Zhaoliang Gong, Bize Yin, Tianyuan Guo, Shaowei Yang, Bo Zhang, Tiandong Hao, Jianhong State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing China State Key Laboratory of Advanced Power Transmission Technology China Electric Power Research Institute Beijing China Key Laboratory of Engineering Dielectrics and Its Application Ministry of Education Harbin University of Science and Technology Harbin China School of Electrical and Electronic Engineering Harbin University of Science and Technology Harbin China

Biaxially oriented polypropylene (BOPP), the dielectric material of choice for polymer film capacitors, is widely used in advanced electronic devices and power grids, among other applications. However, the nonlinear growth of the conduction loss at high temperatures leads to a rapid deterioration of its energy storage performance, which seriously hinders the development trend of miniaturisation and high integration of power systems. In this study, inorganic nanolayers with heterogeneous structure were grown on the surface of BOPP films by magnetron sputtering using high dielectric constant BaZrTiO3 and wide bandgap Al2O3 ceramic targets. Experimental and theoretical analyses show that the use of wide bandgap Al2O3 as the heterojunction outer layer can effectively impede carrier injection and transport, leading to a significant reduction in the leakage current density of the composite film, effectively enhancing the high temperature energy storage performance of the composite films. The synergistic enhancement of the inorganic heterojunction structure on the dielectric properties and insulating strength of the polymer film is attributed to the ability of the Al2O3/BaZrTiO3/BOPP/BaZrTiO3/Al2O3 (O-B-P-B-O) composite films to exhibit a discharge energy density of 2.49 J/cm3 and a charge/discharge efficiency of 77.6% at 125°C and 500 MV/m. © 2025 The Author(s). IET Nanodielectrics published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and technology.

关键词： Nanocomposite films

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Human-like Walking of Biped Robot with Foot Rotation Using Passive Metatarsophalangeal Joint 12

Human-like Walking of Biped Robot with Foot Rotation Using P...

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12th International Conference on CYBER technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Dai, Xiaolin Liu, Yixiang Liu, Xinyu Zang, Xizhe Song, Rui Li, Yibin School of Control Science and Engineering Shandong University Jinan250061 China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Jiangsu Automation Research Institute Lianyungang222000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In the process of walking, humans are accompanied by the important action of foot rotation. The foot rotates taking the heel and toe as the axis of rotation when landing on and leaving the ground, respectively. Although having high similarity to humans, many biped robots do not reproduce this important feature. This paper describes a method for adding foot rotation into biped robots using the passive metatarsophalangeal joint. Firstly, the biomechanics of human metatarsophalangeal joint during walking is analyzed. Then, the control strategy based on finite state machine for human-like biped walking with foot rotation is proposed for a simplified biped robot model that is composed of eight joints. Finally, the simulation results of the walking gait of the biped robot in MATLAB demonstrate the effectiveness of the control strategy. © 2022 IEEE.

关键词： Rotation

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Design and Experiment of A Hybrid Wave Energy Harvester Based on Tapered Rollers

Design and Experiment of A Hybrid Wave Energy Harvester Base...

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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Yunfei Li Tianyi Tang Yan Fang Manjuan Huang Cheng Hou Huicong Liu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University CHINA State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) China

ISBN: (纸本)9781665493079

This paper presents a hybrid energy harvester based on tapered rollers with an electromagnetic generator (EMG) component and a triboelectric nanogenerator (TENG) component for ultra-low frequency wave energy harvesting. The chaotic pendulum is adjusted to adapt the wave excitation under different sea conditions, ensuring that the device achieves optimal output performance. At excitation frequency of 1Hz and the tilt angle of 60°, the open-circuit voltage peaks of 8.4 and 132 V can be achieved by the EMG and TENG, respectively, corresponding to the power outputs of 4.38 and 0.078 mW, respectively. It was demonstrated that the device can easily light up over 360 red light-emitting diodes.

关键词： Performance evaluation Oceans Voltage Energy conversion Light emitting diodes Electromyography Sensors

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A Novel Engine Safety state Assessment Model with Two-Layer Belief Rule Base Structure

A Novel Engine Safety State Assessment Model with Two-Layer ...

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International Conference on Behavior, Economic and Social Computing (BESC)

作者： Shuo Miao Qian Deng Bingxin Liu Yan Lv Jiayue Fang Wei He Key laboratory of information system and technology Beijing institute of control and electronic technology Beijing China Harbin Normal University Harbin China

ISBN: (数字)9798331531904

ISBN: (纸本)9798331531911

Assessing the safety status of an engine is critical to the stable operation of electromechanical equipment. The belief rule base (BRB) model enables the integration of expert knowledge to assess the engine safety status, reduce the risk of accidents, and minimize major losses. However, when too many attributes are involved, the rapid growth in the number of rules not only increases the computational cost but also affects the model performance. For this reason, this study proposes a unique interval hierarchical BRB (IH-BRB) modeling approach for engine safety state assessment. The first layer utilizes the interval structure BRB as a classifier, effectively addressing the issue of exploding rule combinations. The second layer classifier employs multiple auxiliary BRBs to transform the multi-classification problem into a binary classification problem for each auxiliary BRB. This approach resolves the challenge of accurately evaluating interval BRB when data similarity is low. To complete the final safety state assessment, interpretability constraints are incorporated into the optimization process. This ensures that the optimized parameters align with expert knowledge and the actual situation. The efficacy of the model in engine safety state assessment is validated using the WD615 engine dataset. Comparison trials and experiments on other datasets further illustrate the advantages of the model in terms of assessment accuracy and interpretability.

关键词： Social computing Accuracy Computational modeling Transforms Explosions Safety Computational efficiency Reliability Engines Optimization

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