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A multiscale-contour-based interpolation framework for generating a time-varying quasi-dense point cloudsequence

Chu-hua HUANG,Dong-ming LU,Chang-yu DIAO

《信息与电子工程前沿（英文）》 2016年第17卷第5期页码 422-434 doi: 10.1631/FITEE.1500316

摘要： To speed up the reconstruction of 3D dynamic scenes in an ordinary hardware platform, we propose an efficient framework to reconstruct 3D dynamic objects using a multiscale-contour-based interpolation from multi-view videos. Our framework takes full advantage of spatio-temporal-contour consistency. It exploits the property to interpolate single contours, two neighboring contours which belong to the same model, and two contours which belong to the same view at different times, corresponding to point-, contour-, and model-level interpolations, respectively. The framework formulates the interpolation of two models as point cloud transport rather than non-rigid surface deformation. Our framework speeds up the reconstruction of a dynamic scene while improving the accuracy of point-pairing which is used to perform the interpolation. We obtain a higher frame rate, spatio-temporal-coherence, and a quasi-dense point cloud sequence with color information. Experiments with real data were conducted to test the efficiency of the framework.

关键词： Multi-view video Free-viewpoint video Point-pair Multiscale-contour-based interpolation Spatio-temporal-contour Consistency Time-varying point cloud sequence

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Effects of time-varying liquid bridge forces on rheological properties, and resulting extrudability and

《结构与土木工程前沿（英文）》页码 1295-1309 doi: 10.1007/s11709-023-0999-1

摘要： Extrudability and constructability are two important, yet contradictory issues pertaining to the construction of three-dimensional (3D) printing concrete. Extrudability is easily achieved when 3D printing cement mortar has a high water content and low cohesion, but the printed structure is easily collapsible. However, a 3D printing cement mortar with a low water content and high cohesion has a relatively stable printed structure although the cement mortar might not be extrudable. This study proposes a particle-based method to simulate 3D printing mortar extrusion and construction as an overall planning tool for building design. First, a discrete element model with time-varying liquid bridge forces is developed to investigate the microscopic effects of these forces on global rheological properties. Next, a series of numerical simulations relevant to 3D printable mortar extrudability and constructability are carried out. The study demonstrates that the effects of time-varying liquid bridge forces on rheological properties and the resulting extrudability and constructability of 3D printing mortar are considerable. Furthermore, an optimized region that satisfies both the extrusion and construction requirements is provided for 3D printing industry as a reference.

关键词： particle-based simulation liquid bridge force rheological property 3D printing mortar extrudability constructability

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reference tracking control design for a class of nonlinear systems with time-varying delays

Mei-qin LIU,Hai-yang CHEN,Sen-lin ZHANG

《信息与电子工程前沿（英文）》 2015年第16卷第9期页码 759-768 doi: 10.1631/FITEE.1500053

摘要： This paper investigates the trajectory tracking control for a class of nonlinear systems with timevarying delays by virtue of Lyapunov-Krasovskii stability theory and the linear matrix inequality (LMI) technique. A unified model consisting of a linear delayed dynamic system and a bounded static nonlinear operator is introduced, which covers most of the nonlinear systems with bounded nonlinear terms, such as the one-link robotic manipulator, chaotic systems, complex networks, the continuous stirred tank reactor (CSTR), and the standard genetic regulatory network (SGRN). First, the definition of the tracking control is given. Second, the performance analysis of the closed-loop system including this unified model, reference model, and state feedback controller is presented. Then criteria on the tracking controller design are derived in terms of LMIs such that the output of the closed-loop system tracks the given reference signal in the sense. The reference model adopted here is modified to be more flexible. A scaling factor is introduced to deal with the disturbance such that the control precision is improved. Finally, a CSTR system is provided to demonstrate the effectiveness of the established control laws.

关键词： H∞ reference tracking Nonlinear system State feedback control Time-varying delays Unified model

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Time-varying formation tracking for uncertain second-order nonlinearmulti-agent systems

Mao-peng RAN, Li-hua XIE, Jun-cheng LI

《信息与电子工程前沿（英文）》 2019年第20卷第1期页码 76-87 doi: 10.1631/FITEE.1800557

摘要：

Our study is concerned with the time-varying formation tracking problem for second-order multi-agent systems that are subject to unknown nonlinear dynamics and external disturbance, and the states of the followers form a predefined time-varying formation while tracking the state of the leader. The total uncertainty lumps the unknown nonlinear dynamics and the external disturbance, and is regarded as an extended state of the agent. To estimate the total uncertainty, we design an extended state observer (ESO). Then we propose a novel ESO based time-varying formation tracking protocol. It is proved that, under the proposed protocol, the ESO estimation error and the time-varying formation tracking error can be made arbitrarily small. An application to the target enclosing problem for multiple unmanned aerial vehicles (UAVs) verifies the effectiveness and superiority of the proposed approach.

关键词： Multi-agent system Time-varying formation Formation tracking Nonlinear dynamics Extended state observer (ESO)

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一种工业过程时变参数估计新算法——修正目标函数法

张承慧

《中国工程科学》 2001年第3卷第11期页码 54-59

摘要：

针对某些工业过程控制参数高度时变的特点和LS拟合算法存在病态估计的现象，提出了一类基于修正目标函数的时变参数估计算法，并给出递推辅助变量算法。此类算法不仅具有较强的实时跟踪能力和较高的估计精度，而且能克服病态估计，摆脱了伪随机信号在工程中带来的麻烦。新算法没有增加计算量，非常适合于工程应用，仿真及实际应用结果都证明新算法是有效的。文中给出了有关新算法的定理及其证明。

关键词：参数估计计算方法 LS算法时变系统工业生产

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时变网络的收敛性及其应用 Research Articles

王庆领

《信息与电子工程前沿（英文）》 2021年第22卷第1期页码 1-140 doi: 10.1631/FITEE.2000160

摘要：本文分析一类时变网络的收敛性。将收敛性质应用于具有未知控制方向的非线性多智能体系统协同控制问题，并提出一类新的基于Nussbaum型函数的控制策略。若时变网络是准平衡的，则所提控制策略可实现具有未知控制方向的非线性多智能体系统的收敛。所提算法的一个重要特点是，该算法可采用经典的Nussbaum型函数解决控制方向未知且不等同问题。最后，提出一个仿真案例验证所提算法的有效性。

关键词：时变网络；未知控制方向；Nussbaum型函数；准平衡条件

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Toward autonomous mining: design and development of an unmanned electric shovel via point cloud-based

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-022-0686-2

摘要： With the proposal of intelligent mines, unmanned mining has become a research hotspot in recent years. In the field of autonomous excavation, environmental perception and excavation trajectory planning are two key issues because they have considerable influences on operation performance. In this study, an unmanned electric shovel (UES) is developed, and key robotization processes consisting of environment modeling and optimal excavation trajectory planning are presented. Initially, the point cloud of the material surface is collected and reconstructed by polynomial response surface (PRS) method. Then, by establishing the dynamical model of the UES, a point to point (PTP) excavation trajectory planning method is developed to improve both the mining efficiency and fill factor and to reduce the energy consumption. Based on optimal trajectory command, the UES performs autonomous excavation. The experimental results show that the proposed surface reconstruction method can accurately represent the material surface. On the basis of reconstructed surface, the PTP trajectory planning method rapidly obtains a reasonable mining trajectory with high fill factor and mining efficiency. Compared with the common excavation trajectory planning approaches, the proposed method tends to be more capable in terms of mining time and energy consumption, ensuring high-performance excavation of the UES in practical mining environment.

关键词： autonomous excavation unmanned electric shovel point cloud excavation trajectory planning

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Attuned design of demand response program and M-FACTS for relieving congestion in a restructured market environment

Y. HASHEMI,H. SHAYEGHI,B. HASHEMI

《能源前沿（英文）》 2015年第9卷第3期页码 282-296 doi: 10.1007/s11708-015-0366-6

摘要： This paper addresses the attuned use of multi-converter flexible alternative current transmission systems (M-FACTS) devices and demand response (DR) to perform congestion management (CM) in the deregulated environment. The strong control capability of the M-FACTS offers a great potential in solving many of the problems facing electric utilities. Besides, DR is a novel procedure that can be an effective tool for reduction of congestion. A market clearing procedure is conducted based on maximizing social welfare (SW) and congestion as network constraint is paid by using concurrently the DR and M-FACTS. A multi-objective problem (MOP) based on the sum of the payments received by the generators for changing their output, the total payment received by DR participants to reduce their load and M-FACTS cost is systematized. For the solution of this problem a nonlinear time-varying evolution (NTVE) based multi-objective particle swarm optimization (MOPSO) style is formed. Fuzzy decision-making (FDM) and technique for order preference by similarity to ideal solution (TOPSIS) approaches are employed for finding the best compromise solution from the set of Pareto-solutions obtained through multi-objective particle swarm optimization-nonlinear time-varying evolution (MOPSO-NTVE). In a real power system, Azarbaijan regional power system of Iran, comparative analysis of the results obtained from the application of the DR & unified power flow controller (UPFC) and the DR & M-FACTS are presented.

关键词： multi-converter flexible alternative current transmission systems (M-FACTS) demand response fuzzy decision making multi-objective particle swarm optimization-nonlinear time-varying evolution (MOPSO-NTVE)

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脉冲型惯性双向联想记忆神经网络新解 Research Articles

Chaouki AOUITI, Mahjouba Ben REZEG, Yang CAO

《信息与电子工程前沿（英文）》 2020年第21卷第2期页码 324-339 doi: 10.1631/FITEE.1900181

摘要：探究了具有混合时滞和脉冲效应的惯性双向联想记忆神经网络。该研究为类似系统的反周期解的存在性、唯一性和全局指数稳定性提供了新的实用条件。使用微分不等式技术证明我们的主要结果，并给出一个仿真算例证明新结果的有效性。

关键词：惯性神经网络；反周期解；全局指数稳定；脉冲；时变延迟；双向联想记忆

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不对称时变状态约束下非线性系统自适应有限时间事件触发控制 Research Article

魏岩1,罗均2,严怀成3,王曰英2

《信息与电子工程前沿（英文）》 2021年第22卷第12期页码 1551-1684 doi: 10.1631/FITEE.2000692

摘要：研究了状态约束下多输入多输出不确定非线性系统的自适应有限时间事件触发控制问题。为防止系统状态违反非对称时变约束，建立tan型非线性映射函数，将所考虑的系统转化为等价无约束系统。在虚拟控制信号中引入光滑切换函数，以避免传统有限时间动态面控制方法在零附近的奇异现象。同时，采用模糊逻辑系统补偿未知非线性函数。引入合适的事件触发机制确定何时控制律更新。利用李雅普诺夫稳定性理论分析，证明闭环系统是半全局最终有限时间稳定的，且不违反状态约束。最后，通过仿真实例验证了所设计控制方法的有效性。

关键词：事件触发控制；非线性映射；自适应模糊控制；有限时间；状态约束

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带有时变时滞的分数阶阻尼系统可控性研究 Research Articles

何彬彬1,周华成2,寇春海3

《信息与电子工程前沿（英文）》 2020年第21卷第6期页码 809-962 doi: 10.1631/FITEE.1900736

摘要：本文研究线性与非线性分数阶阻尼系统的可控性。该系统具有多重时变时滞，且时滞位于控制函数中。对于线性系统，基于Mittag-Leffler函数，定义一个可控性Gramian矩阵，该矩阵对于判定线性系统是否可控具有重要作用。此外，对于两种特殊线性系统，给出易于判别的若干等价可控性条件。对于非线性系统，在相应线性系统可控前提下，给出充分条件确保系统可控性。最后，给出两个数值示例验证结论有效性。

关键词：可控性；分数阶阻尼系统；时变时滞；Gramian矩阵

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Building a dense surface map incrementally from semi-dense point cloud andRGBimages

Qian-shan LI,Rong XIONG,Shoudong HUANG,Yi-ming HUANG

《信息与电子工程前沿（英文）》 2015年第16卷第7期页码 594-606 doi: 10.1631/FITEE.14a0260

摘要： Building and using maps is a fundamental issue for bionic robots in field applications. A dense surface map, which offers rich visual and geometric information, is an ideal representation of the environment for indoor/outdoor localization, navigation, and recognition tasks of these robots. Since most bionic robots can use only small light-weight laser scanners and cameras to acquire semi-dense point cloud and RGB images, we propose a method to generate a consistent and dense surface map from this kind of semi-dense point cloud and RGB images. The method contains two main steps: (1) generate a dense surface for every single scan of point cloud and its corresponding image(s) and (2) incrementally fuse the dense surface of a new scan into the whole map. In step (1) edge-aware resampling is realized by segmenting the scan of a point cloud in advance and resampling each sub-cloud separately. Noise within the scan is reduced and a dense surface is generated. In step (2) the average surface is estimated probabilistically and the non-coincidence of different scans is eliminated. Experiments demonstrate that our method works well in both indoor and outdoor semi-structured environments where there are regularly shaped objects.

关键词： Bionic robot Robotic mapping Surface fusion

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FULL TIME-SPACE GOVERNANCE STRATEGY AND TECHNOLOGY FOR CROPLAND NON-POINT POLLUTION CONTROL IN CHINA

《农业科学与工程前沿（英文）》 2023年第10卷第4期页码 593-606 doi: 10.15302/J-FASE-2023522

摘要：

Ensuring food safety while reducing agricultural non-point source pollution is quite challenging, especially in developing and underdeveloped countries. Effective systematic strategies and comprehensive technologies need to be developed for agricultural non-point source pollution control at the watershed scale to improve surface water quality. In this review, a proposal is made for a full time-space governance strategy that prioritizes source management followed by endpoint water pollution control. The 4R chain technology system is specifically reviewed, including source reduction, process retention, nutrient reuse and water restoration. The 4R chain technology system with the full time-space governance strategy was applied at the scale of an administrative village and proved to be a feasible solution for reducing agricultural non-point source pollution in China. In the future, a monitoring system needs to be established to trace N and P transport. Additionally, new smart fertilizer and intelligent equipment need to be developed, and relevant governance standards and supportive policies need to be set to enhance the efficacy of agricultural non-point source pollution control.

关键词： 4R chain technology system agricultural non-point source pollution case study full time-space governance strategy

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基于双目立体匹配和B样条的三维人脸点云孔洞修补算法 Research Articles

黄源1,2,达飞鹏1,2

《信息与电子工程前沿（英文）》 2022年第23卷第3期页码 398-408 doi: 10.1631/FITEE.2000508

摘要：在基于结构光的三维人脸点云数据采集过程中，由于环境、遮挡以及光照强度等因素影响，采集到的数据往往会出现孔洞区域，从而影响后续识别效果。本文提出一种采用立体匹配技术结合B样条的孔洞修补方法。算法首先利用光栅投影过程中获取的相位信息定位点云中的孔洞区域，同时提取边界点集。然后将立体匹配算法获取的人脸点云数据同光栅投影法采集的数据进行配准，在孔洞处选取初始修补控制点。再利用B样条曲线形状可由少数关键点大致描述这一特性，将控制点作为关键点放入孔洞区域进行曲面重建迭代计算。仿真使用光滑陶瓷杯和人脸模型进行，结果表明，该算法能够准确再现被测物体表面的细节和复杂形状。同时也说明所提方法具有强鲁棒性，能够在完全无先验信息的情况下对物体复杂区域实现孔洞修补，并且修补后的点云更加接近原始数据。该方法可广泛应用于需要精确人脸识别的领域。

关键词：三维点云；孔洞修补；立体匹配；B样条

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两相分配生物反应器——浊点系统在生物转化中的应用

王志龙

《中国工程科学》 2005年第7卷第5期页码 73-78

摘要：

利用两相分配生物反应器可以控制底物由非水相向水相释放，增加底物的溶解度和解除底物对微生物的抑制，保护产物降解，降低下游分离费用；论述了两相分配生物反应器的基本原理和发展概况，并以胆固醇边链切除生物转化为例，介绍了新开发的浊点系统两相分配生物反应器的巨大潜力。

关键词：两相分配生物转化非离子表面活性剂浊点系统生物反应器