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Chinese Automation Congress (CAC)

作者： Yining Wu Runfeng Zhang Fang Liu Zhenzhong Liu Jianguo Wu Haonan Dong 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 Yichang Research Institute of Testing Technology Yichang China Tianjin Hanhailanfan Marine Technology Co. Ltd. Tianjin China School of Computer Science and Engineering Tianjin University of Technology Tianjin China

Waves seriously impact port construction, worldwide route planning, military activities, and wave power generation. To improve the accuracy of significant wave height prediction, we proposed a novel prediction method, a multi-layer perceptron combined with a backpropagation adjustment (MLP-BP) prediction model that combines mutation mode decomposition (VMD) and a simulated annealing optimization algorithm (SA). Firstly, we use the variable modulus method to decompose the significant wave height sequence data and transform the wave height sequence into multiple different sub-modes (IMF) to reduce the complexity and non-stationarity of the data. Secondly, the simulated annealing algorithm (SA) is used to optimize the weight and bias of the MLP-BP neural network to find the optimal parameter configuration and improve the performance and generalization ability of the prediction model. Finally, the decomposed sub-modal components of each significant wave height sequence are inserted into the MLP-BP neural network and the predicted values of each element are summed to obtain the final significant wave height prediction. The prediction results of the SSA-MLP-BP, PSO-MLP-BP, SA-MLP-BP, and VMD-SA-MLP-BP were compared and demonstrated that the VMD-SA-MLP-BP model performed best. The MAE, MAPE, MSE, RMSE, and R2 of the prediction evaluation indexes were 0.036 m, 11.7%, 0.004 m 2 , 0.067 m, and 0.983, respectively, which performed well in predicting significant wave height.

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Research on Change Path Optimization for Complex Mechanical Products Considering upgrade Risk

Research on Change Path Optimization for Complex Mechanical ...

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2021 International Conference on Digital Society and intelligent systems, DSInS 2021

作者： Zhang, Qin Pan, Jinlong Chen, Hu Feng, Yixiong Hong, Zhaoxi Huzhou Vocatinal Technical College Key Laboratory of Robot System Integration and Intelligent Equipment of Huzhou Huzhou313000 China Shanghai Space Propulsion Technology Research Institute Shanghai201109 China Shanghai Institute of Special Equipment Inspection and Technical Research Shanghai200062 China Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310027 China Zhejiang University Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province Hangzhou310027 China

ISBN: (纸本)9781665406307

Affected by uncertain factors such as customer demand, product design process will face with varying degrees of upgrade risk. In order to response to change requirements and reduce the impact of component changes, change path optimization for complex products considering upgrade risk is proposed. The goal of this work is to optimize change paths with multi-objective programming. The optimization model is constructed with the goal of minimizing the change complexity, the minimizing change propagation intensity and minimizing the change time. The improved whale algorithm is proposed to solve the model. A set of non-dominated solutions is obtained which can guide decision makers to choose the appropriate scheme. Finally, a product change path optimization for an elevator is given to verify the effectiveness of the proposed method. © 2021 IEEE.

关键词： Multiobjective optimization

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Hard Sample Matters a Lot in Zero-Shot Quantization

arXiv

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arXiv 2023年

作者： Li, Huantong Wu, Xiangmiao Lv, Fanbing Liao, Daihai Li, Thomas H. Zhang, Yonggang Han, Bo Tan, Mingkui South China University of Technology China Changsha Hisense Intelligent System Research Institute Co. Ltd China Hong Kong Baptist University Hong Kong Key Laboratory of Big Data and Intelligent Robot Ministry of Education China PengCheng Laboratory China Information Technology R&D Innovation Center of Peking University China School of Electronic and Computer Engineering Peking University Shenzhen Graduate School Shenzhen China

Zero-shot quantization (ZSQ) is promising for compressing and accelerating deep neural networks when the data for training full-precision models are inaccessible. In ZSQ, network quantization is performed using synthetic samples, thus, the performance of quantized models depends heavily on the quality of synthetic samples. Nonetheless, we find that the synthetic samples constructed in existing ZSQ methods can be easily fitted by models. Accordingly, quantized models obtained by these methods suffer from significant performance degradation on hard samples. To address this issue, we propose HArd sample Synthesizing and Training (HAST). Specifically, HAST pays more attention to hard samples when synthesizing samples and makes synthetic samples hard to fit when training quantized models. HAST aligns features extracted by full-precision and quantized models to ensure the similarity between features extracted by these two models. Extensive experiments show that HAST significantly outperforms existing ZSQ methods, achieving performance comparable to models that are quantized with real data. Copyright © 2023, The Authors. All rights reserved.

关键词： Deep neural networks

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Design of a Capsule robot system for Gastric Hemorrhage Detection using Luminol

Design of a Capsule Robot System for Gastric Hemorrhage Dete...

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IEEE International Conference on Mechatronics and Automation

作者： Yuchen Mao Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Application Complicated Systems and Intelligent Robot Laboratory School of Electrical Engineering and Automation Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing China

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system.

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A Stiffness Variable Passive Compliance Device with Recon gurable Elastic Inner Skeleton and Origami Shell

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Chinese Journal of Mechanical Engineering 2020年第5期 85-97页

作者： Zhuang Zhang Genliang Chen Weicheng Fan Wei Yan Lingyu Kong Hao Wang Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Intelligent Robot Research Center Zhejiang Lab

Devices with variable sti ness are drawing more and more attention with the growing interests of human-robot interaction, wearable robotics, rehabilitation robotics, etc. In this paper, the authors report on the design, analysis and experiments of a sti ness variable passive compliant device whose structure is a combination of a reconfigurable elastic inner skeleton and an origami shell. The main concept of the reconfigurable skeleton is to have two elastic trapezoid four-bar linkages arranged in orthogonal. The sti ness variation generates from the passive deflection of the elastic limbs and is realized by actively switching the arrangement of the leaf springs and the passive joints in a fast, simple and straightforward manner. The kinetostatics and the compliance of the device are analyzed based on an e-cient approach to the large deflection problem of the elastic links. A prototype is fabricated to conduct experiments for the assessment of the proposed concept. The results show that the prototype possesses relatively low sti ness under the compliant status and high sti ness under the sti status with a status switching speed around 80 ms.

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Design and Experiment of a Double-Wing Wave Energy Converter for Marine Ranch

SSRN

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SSRN 2022年

作者： Chen, Weixing Lin, Xiongsen Lu, Yunfei Li, Shaoxun State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Research Center of Marine Intelligent Equipment and Robot Institute of Marine Equipment Shanghai Jiao Tong University Shanghai China

Aiming at the problem of large power consumption and expensive power supply cost of marine ranch, a double-wing wave energy converter integrated with marine ranch platform is proposed. Based on the mechanical structure and hydrodynamic parameters of the system, the frequency-domain dynamic model is established. According to the Cummins equation and the state space identification of the convolution term of the radiation force, the time-domain simulation of the system excited by wave is built. In addition, a 1:10 scaled prototype is manufactured and a tank experiment is carried out to study its performance. The accuracy of the simulation model is verified with the comparison between experimental and simulation results. The experimental results show that the power output of the prototype reaches 0.74 W under the regular wave with a period of 2.0 s and a wave height of 16 cm. Finally, adopting the similarity theory, the power output of the full-size system is calculated to be 2340.09 W. This study provides new ideas for solving the energy supply problem of marine ranch. © 2022, The Authors. All rights reserved.

关键词： Wave energy conversion

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Design and Analysis of Double-Layer Deployable Unit Based on Hybrid Mechanism

SSRN

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SSRN 2022年

作者： Zhou, Yu Han, Xinyang Chen, Weixing Zhao, Xianchao Gao, Feng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Research Center of Marine Intelligent Equipment Robot Institute of Marine Equipment Shanghai Jiao Tong University Shanghai China

The space deployable mast is composed of basic deployable units which are mostly single-layer hollow structures with poor rigidity. This paper proposed the configuration design method of the double-layer deployable unit based on the hybrid mechanism. First, the single-layer parallel mechanisms with screw motion of the moving platform are obtained based on the reciprocal screw theory. Then, mirror the single-layer parallel mechanism about the moving platform and couple the coincident pair to form the middle platform. Finally, three kinds of double-layer hybrid mechanisms serving as the basic units of the deployable mast were obtained. The kinematics and dynamics of the deployable mast based on the double-layer deployable units were analyzed. It was found that the deployable mast based on the double-layer deployable unit had the same fundamental frequency compared with the conventional triangular prism deployable mast. The maximum bending displacement was increased by about 11%, and the maximum tensile displacement was increased by about 9%, which effectively improves the support strength of the deployable mast as the spacecraft accessory. © 2022, The Authors. All rights reserved.

关键词： Screws

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A Bio-Inspired Wave-Energy Wing for Ocean robot

SSRN

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SSRN 2022年

作者： Chen, Weixing Lu, Yunfei Li, Shaoxun Gao, Feng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Research Center of Marine Intelligent Equipment and Robot Institute of Marine Equipment Shanghai Jiao Tong University Shanghai China

Highlights1. The deployable wave-energy wing for ocean robot is proposed2. The index to evaluated the wave energy capture performance is proposed.3. The wave tank experiment and the performance of the wave-energy wing... 详细信息

关键词： Wave energy conversion

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A Novel Neutral-Point Potential Balance Control Method Based on Voltage Feedback for Neutral-Point Clamped Three-Level Inverter

SSRN

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SSRN 2022年

作者： Fan, Bo Cao, Zhe Wang, Chunguang Niu, Zongxian Yang, Chenhui Wu, Xiaodan Information Engineering College Henan University of Science and Technology Luoyang471023 China Henan Key Laboratory of Robot and Intelligent Systems Henan University of Science and Technology Luoyang471023 China KRC Crane System Co. Ltd Luoyang471023 China

Neutral-point potential imbalance is not only an inherent problem of neutral-point clamped three-level converters, but also the key factor affecting their performance. The traditional capacitor neutral-point potential balance control methods based on space vector modulation, such as VSVPWM, have several shortcomings including the uncompensated region of neutral-point voltage and the slow dynamic response. A novel voltage feedback control method on neutral-point potential balance is proposed in this paper. A coefficient is introduced to define the degree of neutral-point potential imbalance. The composite signal composed of this coefficient and neutral point current is designed. Based on the improved reasonable sectors' division, the suitable small vectors are selected by this composite signal to obtain the switching sequence of power devices. The voltage feedback control method is employed to realize accurate neutral-point potential balance of NPC three-level inverter. The experimental results show that this method can quickly balance the neutral-point potential fluctuation caused by disturbance. It has the advantages of low switching loss, stable output voltage and current waveform, and good dynamic performance. © 2022, The Authors. All rights reserved.

关键词： Voltage control

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Cross-View Fused Network for Multi-View RGB-Based Action Recognition

Cross-View Fused Network for Multi-View RGB-Based Action Rec...

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International Conference on Vision, Image and Signal Processing (ICVISP)

作者： Yingyuan Yang Guoyuan Liang Xinyu Wu Biao Liu Chao Wang Jun Liang Jianquan Sun Chinese Academy of Sciences Shenzhen Institutes of Advanced Technology Shenzhen China The University of Chinese Academy of Sciences Beijing China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen Institutes of Advanced Technology Shenzhen China Guangzhou gosuncn robot Co. Ltd Guangzhou China China Nuclear Power Technology Research Institute Co. Ltd Shenzhen China

ISBN: (数字)9798331541460

ISBN: (纸本)9798331541477

As the increasing number of multi-camera surveillance systems, researchers have been investigating the potential of multi-view action recognition. The skeleton-based methods are favorable due to the good performance. However, relying on specialized hardware with depth sensors or the efficient estimation for human poses, makes them less suitable for real-world deployment. In this study, we concentrate on the RGB modality for multi-view action recognition and propose a novel cross-view fused network. In details, gated adaptive fusion is utilized to aggregate the global representation across different views and spatio-temporal cross-attention module is employed to facilitate the effective fusion for spatio-temporal features. Based on three well-known multi-view action datasets: NTU-60, NTU-120, and N-UCLA, a series of experiments are conducted and verifies the effectiveness and robustness of the method under multi-view scenarios.

关键词： Image recognition Aggregates Interactive systems Logic gates Streaming media Signal processing Video surveillance Robustness Real-time systems Sensors

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