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2022 IEEE International Conference on Big Data, Big Data 2022

作者： Yang, Lu He, Hualin Liu, Tao Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9781665480451

Road damage detection is particularly essential for improving road traffic safety. Existing methods do not perform well due to complex road conditions and sparse features contained in road damage. Therefore, we propose a new road damage detection network - YPLNet, which could obtain more refined multi-scale contextual features. Specifically, the network proposed in this paper is based on YOLOv5, by adding the PSA module to the backbone network, the spatial information of the feature map at multi-scale is obtained to enrich the feature space, and the long-term information dependence between channels is further constructed. In addition, in the feature fusion stage, the LCFI module is utilized to obtain contextual features under the multi-scale receptive fields, and these contextual features include rich low-level and high-level information. Our proposed network achieves a Mean-F1 Score of 0.635 in the competition. The source code and model are publicly available at https://***/hehualin-tut/YPLNet © 2022 IEEE.

关键词： Damage detection

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Automated Creation of Topological Structure Models of Parallel Mechanisms for Kinematic Performance Evaluation 8

Automated Creation of Topological Structure Models of Parall...

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8th IEEE International Conference on advanced Robotics and mechatronics, ICARM 2023

作者： Wu, Hongye Lin, Ping Ma, Yue Li, Bin Liu, Qi Li, Hongqing School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9798350300178

Considering the diversity of topological structures of parallel mechanisms (PMs), this paper presents an approach for the automated generation of topological structure models based on CAD technology. In this method, joints and links are treated as fundamental elements in the skeleton model of a mechanical system, leading to the development of a library of fundamental components readily available to compose a variety of limbs and PMs. A connection graph and its data structure are then developed for describing, in a hierarchical manner, the assembly information among the fundamental components. Equipped with the knowledge and information mentioned above, the limbs and PMs can finally be assembled automatically by identifying and imposing the geometrical constraints that have been already embedded in the models. The merit of this method lies in that 3D schematic diagrams (termed topological structure models) of various limbs and PMs can be created in an illustrative manner by properly selecting a set of fundamental components and then setting their connections, leading to the digitalized and visible topological structure models that are readily for kinematic performance evaluation. Combined with the CAD-CAE integration technology for the mechanical structure design and static/dynamic performance evaluation, a digital design and simulation framework can be formulated for the rapid design of parallel robotic equipment. © 2023 IEEE.

关键词： Topology

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Direct Visual Odometry by Fusing Luminosity and Depth Information

Direct Visual Odometry by Fusing Luminosity and Depth Inform...

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2021 International Conference on Robotics Automation and intelligent control, ICRAIC 2021

作者： Yin, Jinming Zhou, Haibo Zhang, Haoxin Li, Chenming Sun, Guoqing Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin 300384 China

In the traditional direct visual odometry, it is difficult to satisfy the photometric invariant assumption due to the influence of illumination changes in the real environment, which will lead to errors and drift. This paper proposes an improved direct visual odometry system, which combines luminosity and depth information. The algorithm proposed in this paper uses Kinect 2 to collect RGB images with the corresponding depth information, and selects points with large changes of gray gradient to construct a luminosity error function and uses the corresponding depth information to construct a depth error function. The two error functions are merged into one function and converted into the least squares function of the pose of camera, the Levenberg-Marquardt algorithm is used to solve the camera pose. Finally, the Graph optimization theory and the g2o library are used to optimize the initial pose. Experiments show that the algorithm can reduce the error to a certain extent and reduce the drift caused by illumination changes. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： Vision

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Application of PID control based on BP neural network in the expansion machine of organic Rankine cycle system

Application of PID control based on BP neural network in the...

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Geothermal Resources Council 2018 Annual Meeting: Geothermal's Role in Today's Energy Market, GRC 2018

作者： He, Ruijie Wang, Zhigang Fu, Wencheng Tianjin Key Laboratory Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering United States National Demonstration Center Experimental Mechanical and Electrical Engineering Education United States Tianjin University of Technology China

ISBN: (纸本)0934412235

With the rapid development of China's economy, the relative shortage of energy has become one of the important factors restricting economic and social development. At present, the research and development of energy-saving technology in industrial process have important practical significance. The Organic Rankine Cycle (ORC) system is considered to be a technology for the efficient use of low-temperature heat energy, and many researchers have made efforts on the efficiency of ORC system. In this paper, the dynamic performance of the system is adjusted by using the neural network-based PID control method for the expander in the system. Firstly, the control model of the expander in the system is established, and then the control algorithm is applied to the controlled object to make the system run efficiently. The simulation results show that the algorithm has a good control effect compared with the traditional PID control. This control method can effectively improve the efficiency of ORC system. © 2018 International Journal of Caring Sciences. All rights reserved.

关键词： Rankine cycle

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A control Method of Robotic Arm Based on Improved Deep Deterministic Policy Gradient 20

A Control Method of Robotic Arm Based on Improved Deep Deter...

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20th IEEE International Conference on mechatronics and Automation, ICMA 2023

作者： Shao, Yanpeng Zhou, Haibo Zhao, Shuaishuai Fan, Xiaoyan Jiang, Jiayi Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China

ISBN: (纸本)9798350320831

With the continuous development of Machine Learning, Reinforcement Learning has achieved excellent results in many fields. An improved Deep Deterministic Policy Gradient (DDPG) algorithm is proposed in this paper to optimize Reinforcement Learning control performance, because of the issue of sparse rewards during training in continuous action spaces such as robotic arms, leading to slow convergence and low success rates. The algorithm merges the DDPG algorithm with the Hindsight Experience Relay (HER) algorithm, enabling the agent to learn from the failed experience when learning. Moreover, a double experience replay buffer is introduced, comprising a primary buffer and a secondary buffer containing high-reward experiences, which enhances the sampling probability of high-quality samples. At long last, a PyBullet simulation environment was utilized to execute a simulation experiment. The robotic arm using the improved DDPG algorithm achieved a success rate of nearly 100% in about 220 epochs of training, and the algorithm convergence speed was greatly improved. The trained robotic arm can reach any target point in the workspace. The efficacy of the improved DDPG algorithm is demonstrated by the outcomes, providing a valuable reference for further exploration into the intelligent control of robotic arms for object grasping. © 2023 IEEE.

关键词： Robotic arms

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design and kinematics analysis of a novel liquid-brewing steamer feeding robot

Design and kinematics analysis of a novel liquid-brewing ste...

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2016年土木、建筑与环境工程国际学术会议

作者： Jiashuang Zhang Bin Li Tongchen Zhang Xinhua Zhao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology

ISBN: (纸本)9781138065833

In this paper,a novel steamer feeding robot is designed and *** compared to the currently used steamer feeding robot,the feeding process of the proposed robot is continuous,and this way will greatly improve the efficiency and quality of the feeding ***,the mechanical structure and kinematics of the novel steamer feeding robot are introduced and *** then,the control system of the robot is ***,experiment evidences are given to prove the efficiently of brewing by using this robot.

关键词： design and kinematics analysis of a novel liquid-brewing steamer feeding robot

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The effect of different gravity fields on mass transfer in the rat bone lacunar-canalicular system

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Medicine in Novel Technology and Devices 2023年第1期17卷 141-149页

作者： Hao Wang Jiaming Wang Kangning Li Lilan Gao Aiguo Wang Shuping Wei Linwei Lyu Chunqiu Zhang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control National Demonstration Center for Experimental Mechanical and Electrical Engineering EducationSchool of Mechanical EngineeringTianjin University of TechnologyTianjin300384PR China Tianjin Academy of Traditional Chinese Medicine Affiliated Hosptial PR China

The bone lacunar-canalicular system(LCS)is an important microscopic infrastructure for signaling and solute transport in bone tissue,which guarantees normal physiological processes of the tissue,but the mass transfer laws in the LCS under different gravity fields have not yet been *** rats were injected intraperitoneally with different concentrations of sodium fluorescein tracer and subjected to mass transfer experiments in the LCS under normal gravity and *** fluorescence distribution in the osteon was observed using laser scanning confocal *** hypergravity environment was provided by a self-designed high-G loading *** fluorescence intensity of the Haversian canal in the osteon was the *** fluorescence intensity of lacunae farther away from the Haversian canal was lower,and the fitted curve was *** the increasing distance from the Haversian canal,the curve first rapidly decreased,and then the decreasing trend gradually became *** promoted mass transfer in the LCS,and the 10 G hypergravity showed varying degrees of fluorescence intensity in each layer of the osteon relative to normal gravity,with intensity enhancements in the range of 132.7–249.0%.The fluorescence intensity was also significantly increased when the tracer concentration was halved and the gravity field magnitude was increased to *** conclusion,hypergravity promoted the transport of solute molecules,nutrients,and signaling molecules within the *** effect of hypergravity on mass transfer in the LCS was greater than that of tracer *** may help to understand bone diseases from a mass transfer perspective.

关键词： Bone Lacunar-canalicular system Mass transfer Hypergravity

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Ionic liquid choline chloride-urea dissolving cattle bone extracted hydroxyapatite

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Journal of Bionanoscience 2018年第3期12卷 437-441页

作者： Song, Wei Yang, Yan Deng, Yu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Department of Osteo-Internal Medicine Tianjin Hospital Tianjin300211 China School of Materials Science and Chemical Engineering Tianjin University of Science and Technology Tianjin300457 China

The dissolving technique of ionic liquid (IL) was applied in extraction process of hydroxyapatite (HAp). Product HAp was extracted by IL choline chloride-urea (ChCl-Urea) dissolving cattle bone. The optimum conditions for regeneration process of cattle bone were determined by single factor, orthogonal and verification experiments. IR spectra of regenerated bone, undissolved bone and raw bone showed that the main groups of regenerated bone did not change. It was indicated that ionic liquid did not damage the bone collagen of raw bone, and the collagen was only dissolved by IL. IR spectrum of the product HAp revealed that its components were similar to those of the natural bone. SEM pattern showed that the crystal shape of the product HAp appeared rod-like shape mostly, and the crystal structure was relatively complete. XRD diffraction explained that there was no difference between product HAp and standard HAp for the crystalline form and compositions. Copyright © 2018 American Scientific Publishers All rights reserved.

关键词： Hydroxyapatite

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Numerical Simulation and Analysis of HLTZ60-LJ-233 Water Turbine Transformation 2

Numerical Simulation and Analysis of HLTZ60-LJ-233 Water Tur...

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2nd International Conference on Computational Modeling, Simulation and Data Analysis, CMSDA 2022

作者： Zhang, Meiping Wang, Shoujun Zhou, Xuejun Tianjin University of Technology Tianjin Key Laboratory of Advanced Electromechanical System Design and Intelligent Control Tianjin300384 China Tianjin Sino-German University of Applied Technology Tianjin300350 China

ISBN: (纸本)9798350345759

In order to study the internal flow state of the mixed-flow turbine, this paper takes the modified HLTZ60-LJ-233 model turbine as the research object, combines with the modeling software UG, uses the grid division software ICEM, and then imports the flow field analysis software Fluent, and the turbine full-flow flow field analysis based on the k-ω turbulence model. © 2022 IEEE.

关键词： Turbulence models

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Research on workflow recognition for liver rupture repair surgery

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Mathematical Biosciences and Engineering 2024年第2期21卷 1844-1856页

作者： Men, Yutao Zhao, Zixian Chen, Wei Wu, Hang Zhang, Guang Luo, Feng Yu, Ming Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China Medical Support Technology Research Department Systems Engineering Institute Academy of Military Sciences People’s Liberation Army Tianjin300161 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

Liver rupture repair surgery serves as one tool to treat liver rupture, especially beneficial for cases of mild liver rupture hemorrhage. Liver rupture can catalyze critical conditions such as hemorrhage and shock. Surgical workflow recognition in liver rupture repair surgery videos presents a significant task aimed at reducing surgical mistakes and enhancing the quality of surgeries conducted by surgeons. A liver rupture repair simulation surgical dataset is proposed in this paper which consists of 45 videos collaboratively completed by nine surgeons. Furthermore, an end-to-end SA-RLNet, a self attention-based recurrent convolutional neural network, is introduced in this paper. The self-attention mechanism is used to automatically identify the importance of input features in various instances and associate the relationships between input features. The accuracy of the surgical phase classification of the SA-RLNet approach is 90.6%. The present study demonstrates that the SA-RLNet approach shows strong generalization capabilities on the dataset. SA-RLNet has proved to be advantageous in capturing subtle variations between surgical phases. The application of surgical workflow recognition has promising feasibility in liver rupture repair surgery. ©2024 the Author(s), licensee AIMS Press. This is an open access article distributed under the terms of the Creative Commons.

关键词： Image classification

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