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Contact detection with multi-information fusion for quadruped robot locomotion under unstructured terrain

《机械工程前沿（英文）》 2023年第18卷第3期 doi: 10.1007/s11465-023-0760-4

摘要： Reliable foot-to-ground contact state detection is crucial for the locomotion control of quadruped robots in unstructured environments. To improve the reliability and accuracy of contact detection for quadruped robots, a detection approach based on the probabilistic contact model with multi-information fusion is presented to detect the actual contact states of robotic feet with the ground. Moreover, a relevant control strategy to address unexpected early and delayed contacts is planned. The approach combines the internal state information of the robot with the measurements from external sensors mounted on the legs and feet of the prototype. The overall contact states are obtained by the classification of the model-based predicted probabilities. The control strategy for unexpected foot-to-ground contacts can correct the control actions of each leg of the robot to traverse cluttered environments by changing the contact state. The probabilistic model parameters are determined by testing on the single-leg experimental platform. The experiments are conducted on the experimental prototype, and results validate the contact detection and control strategy for unexpected contacts in unstructured terrains during walking and trotting. Compared with the body orientation under the time-based control method regardless of terrain, the root mean square errors of roll, pitch, and yaw respectively decreased by 60.07%, 54.73%, and 64.50% during walking and 73.40%, 61.49%, and 61.48% during trotting.

关键词： multi-information fusion contact detection quadruped robot probabilistic contact model unstructured terrain

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Information fusion in aquaculture: a state-of the art review

Shahbaz Gul HASSAN,Murtaza HASAN,Daoliang LI

《农业科学与工程前沿（英文）》 2016年第3卷第3期页码 206-221 doi: 10.15302/J-FASE-2016111

摘要： Efficient fish feeding is currently one of biggest challenges in aquaculture to enhance the production of fish quality and quantity. In this review, an information fusion approach was used to integrate multi-sensor and computer vision techniques to make fish feeding more efficient and accurate. Information fusion is a well-known technology that has been used in different fields of artificial intelligence, robotics, image processing, computer vision, sensors and wireless sensor networks. Information fusion in aquaculture is a growing field of research that is used to enhance the performance of an “industrialized” ecosystem. This review study surveys different fish feeding systems using multi-sensor data fusion, computer vision technology, and different food intake models. In addition, different fish behavior monitoring techniques are discussed, and the parameters of water, pH, dissolved oxygen, turbidity, temperature etc., necessary for the fish feeding process, are examined. Moreover, the different waste management and fish disease diagnosis techniques using different technologies, expert systems and modeling are also reviewed.

关键词： aquaculture computer vision information fusion modeling sensor

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一种基于粗糙集的模糊信息融合方法及应用

陈双叶,张微敬

《中国工程科学》 2006年第8卷第12期页码 75-79

摘要：

将粗糙集理论和模糊逻辑技术结合起来，提出了一种基于粗糙集数据处理的模糊信息融合方法。运用粗糙集的基本理论和简约计算方法，从大量原始数据中发现精简的、概略化的规则，结合模糊逻辑推理建立一致粗糙模糊模型，并提出了对模型进行扩充与完备化的概念。脉动真空灭菌温度控制过程的仿真试验研究结果表明了所提方法的有效性和可行性。

关键词：信息融合粗糙集模糊逻辑粗糙模糊模型

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网络中心战作战理念与信息融合技术

朱林,张晓囡,徐兴杰

《中国工程科学》 2005年第7卷第3期页码 69-73

摘要：

探讨了网络中心战的核心内容，指出信息融合技术是网络中心战面临的巨大技术挑战之一，并论述了信息融合技术的主要研究内容，包括信息融合的功能模型、体系结构、信息融合系统工程及融合的算法，总结了信息融合技术在国内外的发展现状，在此基础上，分析了网络中心战条件下信息融合技术的发展方向。

关键词：网络中心战作战理念信息融合

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Iterative HOEO fusion strategy: a promising tool for enhancing bearing fault feature

《机械工程前沿（英文）》 2023年第18卷第1期 doi: 10.1007/s11465-022-0725-z

摘要： As parameter independent yet simple techniques, the energy operator (EO) and its variants have received considerable attention in the field of bearing fault feature detection. However, the performances of these improved EO techniques are subjected to the limited number of EOs, and they cannot reflect the non-linearity of the machinery dynamic systems and affect the noise reduction. As a result, the fault-related transients strengthened by these improved EO techniques are still subject to contamination of strong noises. To address these issues, this paper presents a novel EO fusion strategy for enhancing the bearing fault feature nonlinearly and effectively. Specifically, the proposed strategy is conducted through the following three steps. First, a multi-dimensional information matrix (MDIM) is constructed by performing the higher order energy operator (HOEO) on the analysis signal iteratively. MDIM is regarded as the fusion source of the proposed strategy with the properties of improving the signal-to-interference ratio and suppressing the noise in the low-frequency region. Second, an enhanced manifold learning algorithm is performed on the normalized MDIM to extract the intrinsic manifolds correlated with the fault-related impulses. Third, the intrinsic manifolds are weighted to recover the fault-related transients. Simulation studies and experimental verifications confirm that the proposed strategy is more effective for enhancing the bearing fault feature than the existing methods, including HOEOs, the weighting HOEO fusion, the fast Kurtogram, and the empirical mode decomposition.

关键词： higher order energy operator fault diagnosis manifold learning rolling element bearing information fusion

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New method of fault diagnosis of rotating machinery based on distance of information entropy

Houjun SU, Tielin SHI, Fei CHEN, Shuhong HUANG

《机械工程前沿（英文）》 2011年第6卷第2期页码 249-253 doi: 10.1007/s11465-011-0124-3

摘要：

This paper introduces the basic conception of information fusion and some fusion diagnosis methods commonly used nowadays in rotating machinery. From the thought of the information fusion, a new quantitative feature index monitoring and diagnosing the vibration fault of rotating machinery, which is called distance of information entropy, is put forward on the basis of the singular spectrum entropy in time domain, power spectrum entropy in frequency domain, wavelet energy spectrum entropy, and wavelet space feature entropy in time-frequency domain. The mathematic deduction suggests that the conception of distance of information entropy is accordant with the maximum subordination principle in the fuzzy theory. Through calculation it has been proved that this method can effectively distinguish different fault types. Then, the accuracy of rotor fault diagnosis can be improved through the curve chart of the distance of information entropy at multi-speed.

关键词： rotating machinery information fusion fault diagnosis Information entropy distance of the information entropy

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基于互信息的水下无线传感器网络目标跟踪与加权融合 None

Duo ZHANG, Mei-qin LIU, Sen-lin ZHANG, Zhen FAN, Qun-fei ZHANG

《信息与电子工程前沿（英文）》 2018年第19卷第4期页码 544-556 doi: 10.1631/FITEE.1601695

摘要：水下无线传感器网络为水下目标跟踪问题提供了可靠有效支持，但水下网络能量和带宽资源有限，只能选择一部分节点参与跟踪任务。融合中心通过收集、融合各个传感器发送的量测进行目标跟踪，因此设计更好的融合权值极为重要。针对水下目标跟踪中的加权融合问题，首先通过计算量测与目标状态之间的互信息，利用互信息衡量融合权重；其次利用互信息融合权重设计一种新的多传感器加权粒子滤波算法，利用克拉美罗（Cramer-Rao）下界设计节点选择方案，以提高跟踪算法效率；最后通过仿真实验对算法进行验证。仿真结果表明，通过选择合适融合权值，目标状态估计精度显著提高。

关键词：目标跟踪；加权融合；互信息；节点选择；水下无线传感器网络

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机械产品的信息化——面向机械装备的信息技术

屈梁生,胡兆勇

《中国工程科学》 2004年第6卷第11期页码 20-28

摘要：

机械工业是我国的传统工业，机械装备技术直接影响和制约国民经济诸多领域的发展。信息科学是一门迅速发展的前沿学科，已经渗透到国民经济的各个领域。文章从机械产品的角度出发，讨论了如何用信息技术来提升和发展传统的机械产品，提出了机械产品信息化的内涵、特点与实现的步骤；结合作者过去的一些科研实践，重点分析了机械产品信息化过程的信息融合和特征提取两个技术关键；文章最后强调了理论开拓是产品拥有自主知识产权和核心技术的前提。

关键词：信息化机械工业信息融合特征提取

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Magnetic confinement fusion: a brief review

Chuanjun HUANG, Laifeng LI

《能源前沿（英文）》 2018年第12卷第2期页码 305-313 doi: 10.1007/s11708-018-0539-1

摘要： Fusion energy is considered to be the ultimate energy source, which does not contribute to climate change compared with conventional fossil fuel. It is massive compared with unconventional renewable energy and demonstrates fewer safety features compared with unconventional fission energy. During the past several decades, never-ceasing efforts have been made to peacefully utilize the fusion energy in various approaches, especially inertial confinement and magnetic confinement. In this paper, the main developments of magnetic confinement fusion with emphasis on confinement systems as well as challenges of materials related to superconducting magnet and plasma-facing components are reviewed. The scientific feasibility of magnetic confinement fusion has been demonstrated in JET, TFTR, JT-60, and EAST, which instigates the construction of the International Thermonuclear Experimental Reactor (ITER). A fusion roadmap to DEMO and commercial fusion power plant has been established and steady progresses have been made to achieve the ultimate energy source.

关键词： fusion energy magnetic confinement tokamak structural material superconducting magnet

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Turbidity-adaptive underwater image enhancement method using image fusion

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-021-0669-8

摘要： Clear, correct imaging is a prerequisite for underwater operations. In real freshwater environment including rivers and lakes, the water bodies are usually turbid and dynamic, which brings extra troubles to quality of imaging due to color deviation and suspended particulate. Most of the existing underwater imaging methods focus on relatively clear underwater environment, it is uncertain that if those methods can work well in turbid and dynamic underwater environments. In this paper, we propose a turbidity-adaptive underwater image enhancement method. To deal with attenuation and scattering of varying degree, the turbidity is detected by the histogram of images. Based on the detection result, different image enhancement strategies are designed to deal with the problem of color deviation and blurring. The proposed method is verified by an underwater image dataset captured in real underwater environment. The result is evaluated by image metrics including structure similarity index measure, underwater color image quality evaluation metric, and speeded-up robust features. Test results exhibit that the method can correct the color deviation and improve the quality of underwater images.

关键词： turbidity underwater image enhancement image fusion underwater robots visibility

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M-LFM: a multi-level fusion modeling method for shape−performance integrated digital twin of complex

《机械工程前沿（英文）》 2022年第17卷第4期 doi: 10.1007/s11465-022-0708-0

摘要： As a virtual representation of a specific physical asset, the digital twin has great potential for realizing the life cycle maintenance management of a dynamic system. Nevertheless, the dynamic stress concentration is generated since the state of the dynamic system changes over time. This generation of dynamic stress concentration has hindered the exploitation of the digital twin to reflect the dynamic behaviors of systems in practical engineering applications. In this context, this paper is interested in achieving real-time performance prediction of dynamic systems by developing a new digital twin framework that includes simulation data, measuring data, multi-level fusion modeling (M-LFM), visualization techniques, and fatigue analysis. To leverage its capacity, the M-LFM method combines the advantages of different surrogate models and integrates simulation and measured data, which can improve the prediction accuracy of dynamic stress concentration. A telescopic boom crane is used as an example to verify the proposed framework for stress prediction and fatigue analysis of the complex dynamic system. The results show that the M-LFM method has better performance in the computational efficiency and calculation accuracy of the stress prediction compared with the polynomial response surface method and the kriging method. In other words, the proposed framework can leverage the advantages of digital twins in a dynamic system: damage monitoring, safety assessment, and other aspects and then promote the development of digital twins in industrial fields.

关键词： shape−performance integrated digital twin (SPI-DT) multi-level fusion modeling (M-LFM) surrogate model telescopic boom crane data fusion

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Gradient-based compressive image fusion

Yang CHEN,Zheng QIN

《信息与电子工程前沿（英文）》 2015年第16卷第3期页码 227-237 doi: 10.1631/FITEE.1400217

摘要： We present a novel image fusion scheme based on gradient and scrambled block Hadamard ensemble (SBHE) sampling for compressive sensing imaging. First, source images are compressed by compressive sensing, to facilitate the transmission of the sensor. In the fusion phase, the image gradient is calculated to reflect the abundance of its contour information. By compositing the gradient of each image, gradient-based weights are obtained, with which compressive sensing coefficients are achieved. Finally, inverse transformation is applied to the coefficients derived from fusion, and the fused image is obtained. Information entropy (IE), Xydeas’s and Piella’s metrics are applied as non-reference objective metrics to evaluate the fusion quality in line with different fusion schemes. In addition, different image fusion application scenarios are applied to explore the scenario adaptability of the proposed scheme. Simulation results demonstrate that the gradient-based scheme has the best performance, in terms of both subjective judgment and objective metrics. Furthermore, the gradient-based fusion scheme proposed in this paper can be applied in different fusion scenarios.

关键词： Compressive sensing (CS) Image fusion Gradient-based image fusion CS-based image fusion

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Analysis of spinal lumbar interbody fusion cage subsidence using Taguchi method, finite element analysis

Christopher John NASSAU, N. Scott LITOFSKY, Yuyi LIN

《机械工程前沿（英文）》 2012年第7卷第3期页码 247-255 doi: 10.1007/s11465-012-0335-2

摘要：

Subsidence, when implant penetration induces failure of the vertebral body, occurs commonly after spinal reconstruction. Anterior lumbar interbody fusion (ALIF) cages may subside into the vertebral body and lead to kyphotic deformity. No previous studies have utilized an artificial neural network (ANN) for the design of a spinal interbody fusion cage. In this study, the neural network was applied after initiation from a Taguchi L₁₈ orthogonal design array. Three-dimensional finite element analysis (FEA) was performed to address the resistance to subsidence based on the design changes of the material and cage contact region, including design of the ridges and size of the graft area. The calculated subsidence is derived from the ANN objective function which is defined as the resulting maximum von Mises stress (VMS) on the surface of a simulated bone body after axial compressive loading. The ANN was found to have minimized the bone surface VMS, thereby optimizing the ALIF cage given the design space. Therefore, the Taguchi-FEA-ANN approach can serve as an effective procedure for designing a spinal fusion cage and improving the biomechanical properties.

关键词： anterior lumbar interbody fusion (ALIF) artificial neural network (ANN) finite element interbody cage lumbar interbody fusion subsidence taguchi method

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煤矿智能化重构人与煤空间关系研究

范京道,金智新,王国法,李川,刘渭,闫振国

《中国工程科学》 2023年第25卷第2期页码 243-253 doi: 10.15302/J-SSCAE-2023.07.014

摘要：

人与煤的空间关系是煤炭安全高效生产的重要因素，研究煤矿智能化技术对于人与煤空间秩序的重构过程将为煤炭行业高质量发展提供核心技术支撑。本文系统论述了人与煤空间关系的演进历程与研究进展，论证提出了在煤矿工业化生产中利用空间融合可以突破传统二元空间结构制约的观点，据此建立了煤矿智能化人 ‒ 物理 ‒ 信息（HPC）空间之间虚实互动的三元空间形态；进一步阐述了煤矿智能化可改变煤矿生产要素的物理空间位置和生产相对运动状态，将重构新生产力三要素、一体化的智能生产管理模式、矿工的社会价值发展空间，从而支持构建万物互联的煤矿生产工业场景并实现人由煤中向人在煤外的重大转变；剖析了智能化采煤、智能化建井案例，揭示了煤矿智能化建设对于变革人与煤空间关系的实践价值。研究建议，以煤矿智能化HPC空间理论为基础，以人的解放及全面发展为核心目标，建立新一代技术与现代煤矿相融合的发展模式，以安全高效、智能绿色发展推动煤炭行业整体升级。

关键词：煤矿智能化；空间关系；HPC空间；虚实融合；生产力要素

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Development and testing of a wireless smart toolholder with multi-sensor fusion

《机械工程前沿（英文）》 2023年第18卷第4期 doi: 10.1007/s11465-023-0774-y

摘要： The smart toolholder is the core component in the development of intelligent and precise manufacturing. It enables in situ monitoring of cutting data and machining accuracy evolution and has become a focal point in academic research and industrial applications. However, current table and rotational dynamometers for milling force, vibration, and temperature testing suffer from cumbersome installation and provide only a single acquisition signal, which limits their use in laboratory settings. In this study, we propose a wireless smart toolholder with multi-sensor fusion for simultaneous sensing of milling force, vibration, and temperature signals. We select force, vibration, and temperature sensors suitable for smart toolholder fusion to adapt to the cutting environment. Thereafter, structural design, circular runout, dynamic balancing, static stiffness, and dynamic inherent frequency tests are conducted to assess its dynamic and static performance. Finally, the smart toolholder is tested for accuracy and repeatability in terms of force, vibration, and temperature. Experimental results demonstrate that the smart toolholder accurately captures machining data with a relative deviation of less than 1.5% compared with existing force gauges and provides high repeatability of milling temperature and vibration signals. Therefore, it is a smart solution for machining condition monitoring.

关键词： wireless smart toolholder multi-sensor fusion circular runout dynamic balancing static stiffness dynamic inherent frequency