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intelligent Communication, Sensing and Electromagnetics (ICSE), International Conference on

作者： Heng Du Huaiming Cang Yiwen Bai Xinyi Wang Beijing Elephant Technology Co. Ltd Beijing China School of Transportation Science and Engineering Beihang University Beijing China The State Key Lab of Intelligent Transportation System Beijing China Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology) Tianjin China

ISBN: (数字)9798350354935

ISBN: (纸本)9798350354942

In the field of railway transportation, with the continuous improvement of train running speed and the continuous increase of operating mileage, it becomes particularly important to ensure the safety and integrity of small-target infrastructure along the railway train. Although many small-target detection methods have been proposed, the research on small-target infrastructure detection along rail trains is very rare. To solve this problem, this paper proposes a small-target infrastructure detection network with spatial tracking and multi-level feature extraction based on Yolov8n. The experimental results show that ST-YOLO has a 3.6% mAP improvement on the OSDaR23 dataset compared to the baseline Yolov8n, and shows significant advantages over other state-of-the-art methods.

关键词： Rails Transportation Railway safety Switches Feature extraction Rail transportation Real-time systems Sensors Safety Monitoring

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Analysis of Strengthening Mechanism and Thermal Stability of M23c6 and Laves Phase in a Ferrite Matrix

SSRN

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SSRN 2023年

作者： Jin, Tiejian Shen, Junjie Ruan, Taotao Zhang, Dechang Xu, Yu Ren, He Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

The strengthening of ferrite matrix steel depends on the strengthening mechanism and thermal stability of M23C6 and Laves phases. This study investigated M23C6(Fe,Cr)23C6 and Laves(Fe2Nb) phase-strengthened ferritic steels. The creep microstructure, the interface structure, and the nanoindentation creep behavior of the second phase were studied. Results showed that the dislocation density in (Fe,Cr)23C6 strengthened ferritic steel after creep is lower than Fe2Nb strengthened ferritic steel. The dislocations in the crept (Fe,Cr)23C6 strengthened ferritic steel are straight without accumulation, significantly bending. The dislocations bend and entangle, forming dislocation walls in the crept Fe2Nb-strengthened ferritic steel. The orientation relationships between (Fe,Cr)23C6/Fe2Nb and ferrite matrix are [001]α-Fe//[011](Fe,Cr)23C6, (020)α-Fe//(71[[EQUATION]])(***)23C6,[001]α-Fe//[5[[EQUATION]]]Fe2Nb,(01[[EQUATION]])α-Fe//(03[[EQUATION]])Fe2Nb. The atomic interface mismatch between M23C6/Fe2Nb and the ferrite matrix is 20% of the semi-coherent interface and 1.6% of the coherent interface. The thermal stability of Fe2Nb is better than (Fe,Cr)23C6. The creep stress exponents of (Fe,Cr)23C6 and Fe2Nb in the ferrite matrix are 4.4 and 12.2, respectively. The alloy’s creep deformation follows dislocation climbing over the second phase. Second-phase Fe2Nb strengthening played a more significant role than (Fe,Cr)23C6 in enhancing the ferrite matrix. The results provide a theoretical foundation for developing ferritic heat-resistant steel based on Laves (Fe2Nb) phase strengthening. © 2023, The Authors. All rights reserved.

关键词： Creep

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The design and Research of Resistance Instrument in Ship Towing Test

The Design and Research of Resistance Instrument in Ship Tow...

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IEEE International Conference on Mechatronics and Automation

作者： Nan Li Nan Liu Xueqi Zhang Chao Cui National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China Tianjin Baolai Precision Machinery Industry Group Co. Ltd Tianjin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Based on the requirements of ship resistance towing test, a strain gauge type of resistance instrument has been designed, which consisting of the frame, towing component, course component, measuring component, etc. The towing component is responsible for the towing movement of the ship model, and the course component is responsible for constructing different course angles in the test requirements. An automatic brake mechanism has been equipped in measuring component, which can ensure the stability and accuracy of the tension sensor in towing test. The strength limit on the key components of the resistance instrument has been calculated by finite element analysis software, the optimization has been used in vulnerable components, and the instrument strength and reliability has been insured in the test.

关键词： Resistance Instruments Force Strain measurement Stability analysis Finite element analysis Electrical resistance measurement

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TICNet: Three-Branch Real-Time Semantic Segmentation Network with Intensive Compensation of Railway Track Scenes

TICNet: Three-Branch Real-Time Semantic Segmentation Network...

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Machine Learning and Computer Application (ICMLCA), International Conference on

作者： Yiwen Bai Lu Yang Lei Zhang Yajing Song School of Transportation Science and Engineering Beihang University Beijing China Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology) Tianjin China Traffic Control Technology Co. Ltd Beijing China

ISBN: (数字)9798331530334

ISBN: (纸本)9798331530341

With the rapid development of railway traffic system, real-time semantic segmentation plays a crucial role in railway track scene monitoring. However, most of the existing methods use lightweight convolution to reduce the computational complexity, which results in reduced accuracy. To solve this problem, this paper proposes a real-time semantic segmentation network called TICNet, which is specifically used for accurate segmentation of railway track scenes. TICNet uses a novel three-branch structure designed for efficient feature extraction and accurate segmentation. Results on the RailSem19 dataset show that TICNet has a segmentation accuracy of 62.36% mIoU with an inference speed of 81.2 FPS, which is significantly better than many existing methods.

关键词： Accuracy Convolution Semantic segmentation Semantics Focusing Machine learning Feature extraction Real-time systems Computational complexity Monitoring

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design of Programmable Droplet Manipulation Platform Based on Magnetic control 12

Design of Programmable Droplet Manipulation Platform Based o...

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12th International Conference on CYBER Technology in Automation, control, and intelligent systems, CYBER 2022

作者： Zhang, Xianmiao Liu, Jie Liu, Jiying Wang, Yuzhe Zhang, Mian Xiang, Hongbiao School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Hong Kong Baptist University United International College Division of Culture and Creativity Beijing Normal University Guangdong Zhuhai519087 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Droplet actuation simplifies the handling of various reagents or samples and can be applied to a wide range of fields, including chemistry, biology, biomedical, and others. This paper presents a programmable droplet control system based on a magnetoelastic membrane and electromagnetic pillar array. Different magnetic blocks with different magnetization directions were designed on the silicone rubber membrane, and the magnetoelastic membrane deformed under the magnetic field generated by the array of electromagnetic pillars. By combining the gravitational forces of the droplet and the deformation of the magnetic membranes, the motion of the droplet can be controlled. Furthermore, the surface of membranes was ablated with a laser machine to impart superhydrophobic properties. The simulation results show that with the different magnetic fields, the droplet can move lengthwise, widthwise, and diagonally in the horizontal plane, and multiple droplets can be merged and mixed. In contrast to the traditional droplet control method, the droplet programmable movement control system utilizing superhydrophobic magnetoelastic membranes and an electromagnetic pillar array has better stationarity, flexibility and does not affect the basic properties of the droplets. © 2022 IEEE.

关键词： Silicones

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Location IoU: A New Evaluation and Loss for Bounding Box Regression in Object Detection

Location IoU: A New Evaluation and Loss for Bounding Box Reg...

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International Joint Conference on Neural Networks (IJCNN)

作者： Lu Yang Kai Zhang Jiaqi Liu Chongke Bi Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China Autobrain (Tianjin) Technology LTD Tianjin China College of Intelligence and Computing Tianjin University Tianjin China

ISBN: (数字)9798350359312

ISBN: (纸本)9798350359329

In the field of object detection bounding box regression, IoU (Intersection over Union) is a commonly used evaluation metric for measuring the overlap between predicted and ground truth bounding boxes. One limitation of IoU, however, is that the gradient goes to zero when there is no intersection between bounding boxes. Recent evaluation metrics have been developed to overcome this problem by incorporating penalty terms and other techniques for improving IoU. Despite these advances, existing methods still suffer to some degree from the problems of small gradients and slow rate of convergence. In this paper, a new evaluation method named LIoU (Location IoU) is proposed to address these issues. It can maximize the shared area of the intersection when used as the loss function and incorporate a variable gradient parameter to fit to datasets of different sizes. The experimental results indicate that we achieve 0.27% and 3.48% accuracy improvements respectively in SSD and YOLOv5 network on the VOC dataset, and 2.23% in the YOLOv5 network on the COCO dataset. The results of this study highlight the effectiveness of LIoU in improving the performance of object detection models.

关键词： YOLO Measurement Location awareness Accuracy Shape Neural networks Benchmark testing

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Trajectory Optimization and control Method Based on Multistage Nonlinear Model Predictive control

Trajectory Optimization and Control Method Based on Multista...

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Artificial Intelligence, Networking and Information Technology (AINIT), International Seminar on

作者： Qingchun Zheng Zhi Peng Peihao Zhu Ran Zhai Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

To improve the trajectory optimization efficiency of robot manipulators, this paper proposes a novel approach for trajectory optimization and control of manipulators based on multistage nonlinear model predictive control (msNLMPC). This approach is realized by using a neural state space model as the prediction model of nonlinear model predictive control (NLMPC). The simulation results show that the actual trajectory of the manipulator in our proposed scheme coincides with the desired trajectory. The manipulator achieves the control task of following the optimal trajectory. Our proposed method improves the trajectory optimization efficiency of the robot manipulator.

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LCFNet: Loss Compensation Fusion Network for Real-Time Semantic Segmentation of Urban Road Scenes

LCFNet: Loss Compensation Fusion Network for Real-Time Seman...

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International Conference on intelligent Transportation

作者： Lu Yang Yiwen Bai Fenglei Ren Shiyu Zhang Chongke Bi Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology) Tianjin China College of Intelligence and Computing Tianjin University Tianjin China

Semantic segmentation is used by intelligent transportation systems to understand and sense the traffic environment. However, achieving semantic segmentation in real-time is a challenge due to the necessity of both high accuracy and fast processing. This is especially valuable for applications such as autonomous driving and industrial robotics. In this paper, we propose a real-time semantic segmentation network, called LCFNet, which makes use of three-branch structure. The LCFNet consists of Lightweight Detail Guidance Fusion (L-DGF) and Lightweight Semantic Guidance Fusion (L-SGF) modules. Both modules aggregate information from various network layers. In the termination of network, a Total Guidance Fusion (TGF) module is proposed for processing information from all three branches. Depth-wise Convolution Pyramid Pooling (DCPP) module is also included to optimize accuracy and simplify computation. The effectiveness of LCFNet is demonstrated on two typical semantic segmentation datasets, Cityscapes and CamVid. On a single NVIDIA GeForce GTX 2080 Ti GPU, LCFNet reaches 77.02% mIoU at 95.97 FPS and 81.17% mIoU at 204.82 FPS, respectively.

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Surgical Gesture Recognition in Open Surgery Based on 3DCNN and SlowFast

Surgical Gesture Recognition in Open Surgery Based on 3DCNN ...

引用

IEEE Information Technology, Networking, Electronic and Automation control Conference

作者： Yutao Men Jian Luo Zixian Zhao Hang Wu Feng Luo Guang Zhang Ming Yu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education(Tianjin University of Technology) Tianjin China Systems Engineering Institute Academy of Military Sciences People's Liberation Army Tianjin China

ISBN: (数字)9798350370805

ISBN: (纸本)9798350370812

In the field of computer-aided medicine, automated surgical gesture recognition is an important research direction. Its main applications include automated skills assessment, intraoperative guidance, and education and training systems. Current research has focused on robotic surgery, and there is less research on surgical gestures for open surgery. Therefore, in this study, a new simulated open surgery dataset was developed, and a series of surgical gestures for open surgery were defined for closure the abdomen surgery with the cooperation of professional doctors. In addition, this paper uses the classical algorithm 3DCNN and SlowFast model in the field of action recognition to perform offline recognition of surgical gestures for open surgery on the dataset. 3DCNN uses R3D and R(2+1)D models. The experimental results show that on the self-built open surgical dataset, the R3D model has the best surgical gesture recognition results, with an accuracy rate of 90.4%, a precision rate of 90.5%, and a recall rate of 90.0%.

关键词： Training Automation Accuracy Surgery Gesture recognition Medical services Information technology Robots Abdomen

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design, Fabrication, and Characterization of Soft Robotic Claw Inspired by Parrot Feet for Grasping

SSRN

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SSRN 2024年

作者： Hao, Tianze Feng, Jingjing Ma, Yue Liu, Songtao Wang, Jutao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology School of Mechanical Engineering Tianjin300384 China Automation Equipment Company Limited Tianjin301701 China Tianjin University of Technology China

Soft pneumatic actuators (SPAs) have demonstrated the ability to generate contraction, expansion, and bending strokes in three-dimensional space during pressurization. Gripper composed of SPAs are expected to serve as end effectors to improve the adaptability and lightweight of mobile robots in complex environments. In this study, a soft robotic claw inspired by the zygodactyl structure of parrot feet is developed featuring pneu-net actuators with oblique air chambers. These chambers enable bending and twisting movements, ensuring effective contact with the cylindrical landing objects. Integration of a thin steel sheet as the strain limiting layer not only improves static stability, but also augments the output force by approximately 57%, significantly ameliorating the claw’s gripping strength. Comparative gripping tests on diverse everyday items, indicate that while soft claw with vertical chambers adeptly handle centrosymmetric objects, whose with oblique chambers excel at at securing objects with large diameters, making them particularly suitable for perching applications on unmanned aerial vehicles. Moreover, enhancing the actuators with a uniformly soft surface texture, approximately 1.8 mm in height, notably increases friction force, thereby improving grip and stability. Comprehensive static stability assessments on birch logs confirmed its effective gripping and perching capabilities. The proposed soft claw has certain application prospects in situations that require flexible operation and complex grasping tasks due to its lightweight, flexibility, and strong adaptability. © 2024, The Authors. All rights reserved.

关键词： Pneumatic actuators

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