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Composite-mask GAN based on refined optical flow and disparity map for SLAM visual odometry

Optoelectronics Letters 2025年

作者： JI Yuehui JIANG Jingwei LIU Junjie SONG Yu GAO Qiang School of Electrical Engineering and Automation， Tianjin University of Technology Tianjin Key Laboratory of Control Theory and Application for Complex Systems

Although deep learning methods have been widely applied in slam visual odometry over the past decade with impressive improvements， the accuracy remains limited in complex dynamic environments. In this paper， a composite mask-based generative adversarial network is introduced to predict camera motion and binocular depth maps. Specifically， a perceptual generator is constructed to obtain the corresponding parallax map and optical flow from between two neighboring frames. Then， an iterative pose improvement strategy is proposed to improve the accuracy of pose estimation. Finally， a composite mask is embedded in the discriminator to sense structural deformation in the synthesized virtual image， thereby increasing the overall structural constraints of the network model， improving the accuracy of camera pose estimation， and reducing drift issues in the Visual Odometer. Detailed quantitative and qualitative evaluations on the KITTI dataset show that the proposed framework outperforms existing conventional， supervised learning and unsupervised depth VO methods， providing better results in both pose estimation and depth estimation.

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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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Qualitative study on mechanical environment affecting the degradation of the magnesium alloys

Qualitative study on mechanical environment affecting the de...

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International Workshop on Materials and Mechanical Engineering, WMME 2013

作者： Dong, Li-Min Li, Xuan Han, Shi-Hang Ye, Jin-Duo Ma, Yu-Chun Gao, Ya-Lei Zhang, Chun-Qiu Tianjin University of Technology Tianjin Key Laboratory for Control Theory and Application in complicated Systems Tianjin 300384 China

ISBN: (纸本)9783038350347

Explore the degradation rule of the magnesium alloys in simple mechanical environment. Select a kind of magnesium alloy of better degradation by experiment and prepare screws. The experiment totally contains five groups, they are control group one with no specific conditions, experimental group two with 0.1Mpa external pressure, experimental group three with 0.2Mpa external pressure, pig femoral experimental group four with 0.2N shear force, pig femoral experimental group five with 0.3N shear force. Record the volume of hydrogen every certain time interval and observe the surface morphology of magnesium alloy screws through Object Deformation Image Capture System when the experiment is over to reflect the degradation rate of magnesium alloys. And the experiment would be repeated once to ensure the test results. Compared to group one, when external pressure exists, the volume of hydrogen significantly increases. Group two and group three have no significant difference in results, but group three has a greater degree of degradation than group two by observing the surface morphology. The volume of hydrogen of group four and group five is smaller than that of the first group in that smaller volume of screws exposes in SBF. The volume of hydrogen of the fifth group is greater than that of group four. Group five has a greater degree of degradation than the fourth group by observing the surface morphology. The repeated experiment basically keeps the same conditions, but the volume of hydrogen of group three is greater than that of group two. Mechanical environment has an impact on the degradation rate of magnesium alloys. The pressure of the environment affects the degradation rate of magnesium alloys. The greater the pressure, the faster the degradation rate. The external force affects degradation rate of magnesium alloys. The greater the shear force, the faster the degradation rate. © (2014) Trans Tech Publications, Switzerland.

关键词： Degradation

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The simulation of controlling strategy for output current tracking of grid-connected inverter

The simulation of controlling strategy for output current tr...

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2012 IEEE Symposium on Electrical and Electronics Engineering, EEESYM 2012

作者： He, Jun Zhao, Gang Tianjin Key Laboratory for Control Theory and Application in Complicated Systems Tianjin University of Technology Tianjin 300384 China

ISBN: (纸本)9781467323659

The control strategy of grid-connected inverter has always been a core question of generating systems. This paper analyzed three kinds of ways pf inverter's output current based on the current control mode. Those are current hysteretic comparison control method, timing control of current instantaneous comparison method and the triangle wave comparison control method of timing tracking current. And all of three were simulated by MATLAB/Simulink. It turned out to be that the three methods for grid-connected inverter have good grid effect. Each of them has their advantages and disadvantages in grid control strategy. All of them will provide theoretical basis for further research. © 2012 IEEE.

关键词： Electric current control

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Effect of radical scavenger on electrical tree in cross-linked polyethylene with large harmonic superimposed DC voltage

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High Voltage 2023年第4期8卷 739-748页

作者： Lewei Zhu Zhonglei Li Kai Hou Maritime College Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry SystemsTianjin University of TechnologyTianjinChina Key Laboratory of Smart Grid of Ministry of Education School of Electrical and Information EngineeringTianjin UniversityTianjinChina

In this study,three kinds of radical scavenger Chimassorb 944,Tinuvin 622,and Tinuvin 770 are used to suppress the growth of electrical trees in cross-linked polyethylene(XLPE)with transient superimposed voltage under the temperature *** tree morphology,tree length,accumulated damage,and time to breakdown are used to investigate the effect of radical scavenger on the electrical treeing *** is found that under the temperature gradient caused by the temperature rise on the high voltage side,only Tinuvin 622 can always suppress the electrical tree as the temperature gradient *** the temperature gradient caused by the temperature rise on the ground side,the three radical scavengers can all suppress the electrical *** breakdown of electrical tree exhibits the strong DC polarity ***,energy levels of these three radical scavengers are calculated through quantum chemistry,and the results indicate that radical scavengers have greater electron affinity,smaller ionisation energy,and smaller energy gap than *** to the surface potential decay test results at 60℃,it is found that all three radical scavengers can introduce deep *** different performances of radical scavengers under different temperature gradients and voltages are determined by the trap distribution characteristics,the molecular structure and chemical reaction of the additives *** is concluded that Tinuvin 622 has potential for use in high voltage direct current XLPE cable application.

关键词： radical electrical harmonic

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controlling the coal dust at transshipment point: A study of the foam-sol foaming device

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International Journal of Mining Science and Technology 2014年第5期24卷 625-630页

作者： Xi Zhilin Jiang Manman Sun Changping Tu Xian School of Environmental Science and Safety Engineering Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Application in Complicated Systems Tianjin University of Technology School of Electrical Engineering Tianjin University of Technology

In order to effectively control the dust at the transshipment point with foam-sol, this paper attempted to study the characteristics of dust diffusion at transshipment point and the foam-sol foaming device with diffusion outlet was also designed in this paper. To study the diffusion rules of coal dust, fluent discrete phase model was utilized in the numerical simulation, as the coal dust was thrown down at a horizontal velocity of 2.5 m/s. A foam-sol foaming device was designed, through which foaming agent could be automatically sucked into the Venturi by the negative pressure. The automatic controller was also equipped,which could transform the energy of the compressed air into the constant pressure difference so that the gelling agent could be qualitatively added into the gel container. The diffusion outlet that could spray out foam-sol in a continuous, conical and 3D manner was also designed. Moreover, this paper also carried out the contrast experiments on dust removal efficiency among water, aqueous foam and foam-sol. The results clearly show that the symmetrical whirlpools appeared below the inlet where the largest whirlpool diameter was 0.52 m, and the horizontal distance from swirl range to the inlet was approximately0.69 m. By using the self-designed foaming device, the foaming was multiplied by 30 times and the volume ratio with water and foaming agent reached 95%:5%. In this context, the gas pressure was controlled at 0.3 MPa, with gas flow at 15 m3/h and water flow at 0.5 m3/h, with water pressure controlled between0.34 and 0.36 MPa. The foam-sol has the highest dust removal efficiency than other agents.

关键词： Coal dust Foaming device Foam-sol Transshipment point Diffusion outlet

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Topological horseshoe analysis and field-programmable gate array implementation of a fractional-order four-wing chaotic attractor

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Chinese Physics B 2018年第1期27卷 300-306页

作者：董恩增王震于晓陈增强王增会 Tianjin Key Laboratory For Control Theory & Applications in Complicated Systems Tianjin University of Technology Department of Automation Nankai University Department of Electrical and Mining Engineering University of South Africa

We present a fractional-order three-dimensional chaotic system, which can generate four-wing chaotic attractor. Dy- namics of the fractional-order system is investigated by numerical simulations. To rigorously verify the chaos properties of this system, the existence of horseshoe in the four-wing attractor is presented. Firstly, a Poincar6 section is selected properly, and a first-return Poincar6 map is established. Then, a one-dimensional tensile horseshoe is discovered, which verifies the chaos existence of the system in mathematical view. Finally, the fractional-order chaotic attractor is imple- mented physically with a field-programmable gate array （FPGA） chip, which is useful in further engineering applications of information encryption and secure communications.

关键词： fractional-order chaotic system Poincar6 map topological horseshoe field-programmable gatearray （FPGA）

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A multi-directional controllable multi-scroll conservative chaos generator:Modelling,analysis,and FPGA implementation

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Chinese Physics B 2021年第2期30卷 232-239页

作者： En-Zeng Dong Rong-Hao Li Sheng-Zhi Du Tianjin Key Laboratory for Control Theory&Applications in Complicated Systems Tianjin University of TechnologyTianjin 300384China Department of Electrical Engineering Tshwane University of TechnologyPretoria 0001South Africa

Combing with the generalized Hamiltonian system theory,by introducing a special form of sinusoidal function,a class of n-dimensional(n=1,2,3)controllable multi-scroll conservative chaos with complicated dynamics is *** dynamics characteristics including bifurcation behavior and coexistence of the system are analyzed in detail,the latter reveals abundant coexisting ***,the proposed system passes the NIST tests and has been implemented physically by *** to the multi-scroll dissipative chaos,the experimental portraits of the proposed system show better ergodicity,which have potential application value in secure communication and image encryption.

关键词： multi-directional controllable multi-scroll conservative chaos coexisting flows field programmable gate array(FPGA)

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An electronic ticket system based on QR code identification technology

An electronic ticket system based on QR code identification ...

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International Conference on Vehicle and Mechanical Engineering and Information Technology, VMEIT 2014

作者： He, Hong Feng, Le Pan, Hong-Yan Tianjin Key Laboratory for Control Theory and Application in Complicated Systems Tianjin University of Technology China Tianjin Open University China

ISBN: (纸本)9783038350606

In order to solve the problem of queuing to buy tickets, no change and waste a lot of valuable time, the electronic ticket system based on QR code identification technology is designed in this paper. The system architecture of bottom-up followed by: physical hardware layer, Android OS layer, image capture and network processing layer, QR Code decoding layer and user interface. In order to achieve the application of QR code and the Android mobile phone in the electronic ticketing system, the system adopts C/S mode and the method of qRCodeCommon generates QR code. The advantages of this system are to use electronic tickets instead of paper tickets, cost savings, while preventing the loss and have great significance to other areas of the ticketing process. © (2014) Trans Tech Publications, Switzerland.

关键词： Android (operating system)

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The research on the new boiler water level automatic control system

The research on the new boiler water level automatic control...

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2011 2nd International Conference on Mechanic Automation and control Engineering, MACE 2011

作者： Jiang, Juyuan Li, Lijing Tianjin Key Laboratory for Control Theory and Application in Complicated Systems School of Electrical Engineering Tianjin University of Technology Tianjin China

ISBN: (纸本)9781424494392

The boiler's drum water level is a material balance indicator between which are the output of steam and water supply. It is a parameter of both the security and the quality. Some questions in the existing automatic control system of the boiler of water level are the low-control accuracy, the poor dynamic characteristics, the weak anti-interference ability and the high energy expenditure, etc. This article describes a new way of boiler of water level of automatic control system for the robustness. We design a new measuring devices of drum water level measuring devices and constitute a single closed-loop control system combined with the technology of frequency conversion. We also give a practical example to illustrate the its actual effect. © 2011 IEEE.

关键词： Water levels

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