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14th IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems, CYBER 2024

作者： Yuan, Yeborui Chen, Wenyuan Tang, Jie Yang, Jia School of Electrical Engineering and Automation Tianjin University of Technology Tianjin300384 China Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang State Key Laboratory of Robotics 110016 China University of Chinese Academy of Sciences Beijing100049 China School of Electrical Engineering and Automation Tianjin University of Technology Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin300384 China

ISBN: (纸本)9798331506056

In response to the problem of poor detection performance of the traditional Sobel operator in edge detection, a high-precision edge detection algorithm based on Sobel operator-assisted Holistically-nested Edge Detection (HED) network was proposed, which is named ISAHED here. The algorithm is designed as follows. Firstly, an improved Sobel operator based on the traditional Sobel operator was proposed through adding gradient direction. Then, the image output by the improved Sobel operator is taken as the ground-truth image and as the end-to-end comparison object in a HED-like network. Finally, the ISAHED algorithm outputs edge images with better quality through iterative learning of the HED-like neural network. The experimental results prove that the proposed ISAHED algorithm has better edge detection performance by visually observing the final edge images and further evaluating the values of FOM. This work provides an important reference for the further development of the edge detection technology. © 2024 IEEE.

关键词： Contrastive Learning

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Time parameter measurement system for alternating current filament relay of railway signal lamp 4

Time parameter measurement system for alternating current fi...

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4th International Conference on Advanced Electronic Materials, Computers and Software Engineering, AEMCSE 2021

作者： Zhang, Baofeng Pang, Tao Li, Zhiwei Zhu, Junchao Tianjin University of Technology Tianjin Key Lab. for Control Theory Application Complicated Systems and Biomedical Robot Laboratory Tianjin China

ISBN: (纸本)9781665415965

Aiming at the tedious maintenance work of ac filament conversion relay of railway signal lamp unit, this paper designs a new online detection device for relay working state. By switching relay paths and relying on the collected data, contact voltage image fitting is performed during the conversion process, and time parameters are extracted by different method to obtain the conversion time. Compared with the traditional detection device, the operation and detection time of the device is short, flexible and convenient. © 2021 IEEE.

关键词： Railroads

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Distributed-Observer-Based on Longitudinal Flight control for Hypersonic Vehicle

Distributed-Observer-Based on Longitudinal Flight Control fo...

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Chinese control Conference (CCC)

作者： Yuehui Ji Yiming Zhao Jiaqi Chen Junjie Liu Qiang Gao Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China

An output feedback control is investigated to achieve stable tracking of velocity and altitude in hypersonic flight vehicle in the paper. A distributed observer is proposed to estimate the unmeasurable flight path angel and angle of attack through a strongly connected directed network topology. Then, a nonlinear control is addressed on the longitudinal dynamics of a rigid hypersonic flight vehicle (HFV) with partial measurable states and the estimated states. The system dynamic is divided into the altitude subsystem and the velocity subsystem. In the altitude subsystem, the backstepping design is proposed for constructing the controllers utilizing the estimated states. The nonlinear dynamic inversion controller is introduced to accomplish the velocity tracking. Finally, numerical simulations verify the effectiveness of the proposed control scheme in providing favorable tracking performance and exact state estimation ability.

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GIB-RRT:a gamma interpolation bidirectional RRT algorithm

GIB-RRT:a gamma interpolation bidirectional RRT algorithm

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第35届中国控制与决策会议

作者： Jianyun Ni Hao Li Tie Wang Helei Du Jie Wu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electronic Engineering and Automation Tianjin University of Technology Tianjin Climate Center

In a complex environment,when B-RRT and RRT algorithms are used for path planning,there will be problems such as long planned paths,large number of iterations,low sampling efficiency and long search *** solve these problems,this paper proposes a gamma interpolation bidirectional RRT algorithm——***,the algorithm uses a bidirectional search strategy to expand two random trees simultaneously to speed up the convergence *** the expansion process,an adaptive goal biasing strategy is introduced to improve the sampling efficiency,and the probability of expansion to the respective target point is continuously changed according to the number of collision detection *** the initial path is obtained,a greedy pruning algorithm is used to simplify the path points and reduce the path *** optimisation method of Gamma interpolation is then devised for the simplified path and combined with cubic uniform B-spline curve to generate shorter and smoothly executable *** proposed algorithm is compared with B-RRT,IB-RRT and B-RRT in different complex environments in simulation experiment,and the results show that the proposed algorithm has better search efficiency and is able to obtain optimal path in the least time and with the most stable efficiency.

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Simultaneous displacement measurement method of multiple targets based on laser self-mixing interference

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Optoelectronics Letters 2021年第3期17卷 165-169页

作者： ZHAO Yan ZHANG Ai-ling ZHANG Hai-wei School of Electrical and Electronic Engineering Tianjin University of TechnologyTianjin 300384China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin 300384China Tianjin Key Laboratory of Film Electronic and Communication Device Tianjin 300384China

In order to simultaneously measure the displacements of multiple targets, the laser self-mixing interference(SMI) measurement method based on variational mode decomposition(VMD) is proposed. The SMI signal containing the motion information of the external targets is detected by a photodiode. The VMD can non-recursively decompose the mixed SMI signal into SMI signals corresponding to different external targets. The displacement signals can be reconstructed by fringe counting method and interpolation method. The experimental results show that the displacement signals of different external targets can be reconstructed with half wavelength accuracy, which verifies the correctness and feasibility of this method. This method can improve the measurement efficiency, which offers an effective method for the multi-channel displacement measurement.

关键词： measurement. displacement mixing

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Named Entity Recognition in Chinese Medical Texts Based on RoBERTa-WWM-IDCNN-CRF

Named Entity Recognition in Chinese Medical Texts Based on R...

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System Simulation Technology and its Application (CCSSTA), IEEE China Conference on

作者： Lan Tang Jie Kong Liang Xu School of Computer Xi‘an Shiyou University Xi‘an China Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China

ISBN: (数字)9798350366600

ISBN: (纸本)9798350366617

Electronic medical records and doctor-patient conversations contain a wealth of useful information, such as disease symptoms, drug names, and cure cycles. Traditional deep learning approaches utilize bidirectional recurrent neural networks to encode text, which cannot effectively capture long-distance dependencies in text. In order to identify medical entity types in various texts more accurately, a named entity recognition approach based on RoBERTa-WWM-IDCNN-CRF is proposed. This approach introduces the RoBERTa-WWM pre-trained model, in order to improve the overall understanding of long Chinese texts for the first time. The model generates semantic representations containing prior knowledge. Then, the generated semantic representations are feed to the IDCNN to extract sentence level characteristics. Finally, the global optimal solution is obtained and the results of the named entity are produced through the CRF. The experiment indicates that the improvement of $F_{1}$ score, accuracy, and recall of RoBERTa-WWM-IDCNN-CRF model are 7.94%, 4.52% and 10.02% comparing with the classical BiLSTM-CRF model.

关键词： Drugs Recurrent neural networks Semantics Named entity recognition Oral communication Medical services systems simulation Feeds Electronic medical records Diseases

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FATUnetr:fully attention Transformer for 3D medical image segmentation

FATUnetr:fully attention Transformer for 3D medical image se...

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IEEE International Conference on Mechatronics and Automation

作者： QingFeng Li Jigang Tong Sen Yang Shengzhi Du Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China Department of Electrical Engineering Tshwane University of Technology South Africa

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Recent studies have explored the applicability of the Transformer model in 3D medical segmentation tasks. The core attention mechanism of transformer, has the property of capturing remote dependencies, which is highly robust when segmenting medical images. Inspired by the emerging visual groupings in Vision Transformers (ViTs), self-attention can be made more robust by improving the intermediate representation. We propose a novel framework called FATUnetr that aims to take advantage of the full attention module to improve accuracy. We also reduce the number of parameters by applying deeply separable convolution at the bottleneck layer. We have verified the effectiveness in the extracranial vault multiple atlas lab.lling (BTCV) dataset for multi-organ segmentation.

关键词： Image segmentation Visualization Three-dimensional displays Attention mechanisms Accuracy Convolution Transformer cores

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PFSC:Pyramid R-CNN for Point-Voxels with Focal Sparse Convolutional Networks for 3D Object Detection

PFSC:Pyramid R-CNN for Point-Voxels with Focal Sparse Convol...

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IEEE International Conference on Mechatronics and Automation

作者： Zhao Su Xuehui Liang Jigang Tong Sen Yang Shengzhi Du Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China Department of Electrical Engineering Tshwane University of Technology Pretoria South Africa

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

In the point cloud 3D object detection task, the point cloud data is unevenly distributed in 3D space. Therefore, whether it is regular sparse convolution or submanifold sparse convolution, there is a significant difference in the detection performance when dealing with objects at different positions using sparse convolutional networks. Therefore, this paper proposes an improvement using focal sparse convolution to break the limitations of traditional convolution methods and enhance the representation ability of sparse convolution. Focal sparse convolution is utilized to replace the currently better-performing two-stage object detection network based on the combination of points and voxels, enhancing the end-to-end training effectiveness and achieving better detection results. And an optional detachable auxiliary network is added, which, during the training stage, combines point features to guide the backbone network in learning the structural information of the 3D point cloud, enhancing the localization accuracy of the backbone network. Extensive experiments have been conducted on the KITTI dataset to validate the proposed method, yielding promising detection results and demonstrating the effectiveness of the approach.

关键词： Point cloud compression Training Location awareness Three-dimensional displays Accuracy Mechatronics Convolution

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Path Planning of Mobile Robot Based on Improved Artificial Potential Field Method

Path Planning of Mobile Robot Based on Improved Artificial P...

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第35届中国控制与决策会议

作者： Jianyun Ni Helei Du Tie Wang Hao Li Chenyang Xue Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electronic Engineering and Automation Tianjin University of Technology Tianjin Climate Center Tianjin University of Technology

An improved artificial potential field method is proposed to address the problems of target unreachability and falling into local minima in the path planning process of the traditional artificial potential field ***,the distance factor between the robot and the target point is introduced to solve the target unreachability problem;secondly,the robot is guided out of the local minima point by setting the virtual target point through the double-circle strategy;finally,in order to satisfy the continuity of robot velocity and acceleration,the resulting path is smoothed by using three uniform B-sample *** experimental results show that the improved algorithm can effectively solve the problems of target unreachability and falling into local minima in the traditional algorithm,and the smoothness of the path after the spline treatment is better compared with the original path.

关键词： artificial potential field method target unreachable local minimum point bicircular strategy virtual target point B-sample curve

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Linear active disturbance rejection control of phase-shifted full-bridge converter based on improved particle swarm optimization algorithm

Linear active disturbance rejection control of phase-shifted...

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IEEE International Conference on Mechatronics and Automation

作者： HongSen Wang YanJuan Wu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin Key Laboratory of New Energy Power Conversion Transmission and Intelligent Control Tianjin University of Technology Binshui Xidao 391 Tianjin China

In order to improve the dynamic performance and disturbance suppression ability of conventional PID control phase shift full-bridge converter, LADRC based on improved particle swarm optimization is proposed. The voltage loop transfer function of phase-shifted full-bridge converter is derived based on the state space average method. Secondly, LESO and LSEF are designed to estimate and compensate the external disturbance and internal uncertainty in real time. Finally, the advantages of linear active disturbance rejection controller are verified by simulation experiments. The experimental results show that the controller has better disturbance suppression performance and dynamic performance than the traditional PID controller.

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