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Depth-Guided Vision Transformer With Normalizing Flows for Monocular 3D Object Detection

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 673-689页

作者： cong Pan Junran Peng Zhaoxiang zhang the Center for Research on Intelligent Perception and Computing(CRIPAC) National Laboratory of Pattern Recognition(NLPR)Institute of AutomationChinese Academy of Sciences(CASIA)Beijing 100190 the School of Future Technology University of Chinese Academy of Sciences(UCAS)Beijing 100049China the Huawei Inc. Beijing 100085China IEEE the Institute of Automation Chinese Academy of Sciences(CASIA)Beijing 100190 the University of Chinese Academy of Sciences(UCAS) Beijing 100049 the Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science&Innovation Chinese Academy of Sciences(HKISI CAS)Hong Kong 999077China

Monocular 3D object detection is challenging due to the lack of accurate depth *** methods estimate the pixel-wise depth maps from off-the-shelf depth estimators and then use them as an additional input to augment the RGB ***-based methods attempt to convert estimated depth maps to pseudo-LiDAR and then use LiDAR-based object detectors or focus on the perspective of image and depth fusion ***,they demonstrate limited performance and efficiency as a result of depth inaccuracy and complex fusion mode with *** from these approaches,our proposed depth-guided vision transformer with a normalizing flows(NF-DVT)network uses normalizing flows to build priors in depth maps to achieve more accurate depth *** we develop a novel Swin-Transformer-based backbone with a fusion module to process RGB image patches and depth map patches with two separate branches and fuse them using cross-attention to exchange information with each ***,with the help of pixel-wise relative depth values in depth maps,we develop new relative position embeddings in the cross-attention mechanism to capture more accurate sequence ordering of input *** method is the first Swin-Transformer-based backbone architecture for monocular 3D object *** experimental results on the KITTI and the challenging Waymo Open datasets show the effectiveness of our proposed method and superior performance over previous counterparts.

关键词： Monocular 3D object detection normalizing flows Swin Transformer

Deterministic Learning-Based Neural PID Control for Nonlinear Robotic Systems

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1227-1238页

作者： Qinchen Yang Fukai zhang cong Wang The authors are with the School of Control Science and Engineering Shandong UniversityJinan 250061China

Traditional proportional-integral-derivative(PID)controllers have achieved widespread success in industrial ***,the nonlinearity and uncertainty of practical systems cannot be ignored,even though most of the existing research on PID controllers is focused on linear ***,developing a PID controller with learning ability is of great significance for complex nonlinear *** article proposes a deterministic learning-based advanced PID controller for robot manipulator systems with *** introduction of neural networks(NNs)overcomes the upper limit of the traditional PID feedback mechanism’s *** proposed control scheme not only guarantees system stability and tracking error convergence but also provides a simple way to choose the three parameters of PID by setting the proportional *** the partial persistent excitation(PE)condition,the closed-loop system unknown dynamics of robot manipulator systems are accurately approximated by *** on the acquired knowledge from the stable control process,a learning PID controller is developed to further improve overall control performance,while overcoming the problem of repeated online weight *** studies and physical experiments demonstrate the validity and practicality of the proposed strategy discussed in this article.

关键词： PID robot system

Streamflow abrupt change and the driving factors in glacierized basins of Tarim Basin,Northwest China

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Advances in Climate change Research 2024年第1期15卷 75-89页

作者： Cheng-De YANG Min XU Shi-chang KANG cong-Sheng FU Wei zhang Di-Di HU State Key Laboratory of Cryospheric Science Northwest Institute of Eco-Environment and ResourcesChinese Academy of SciencesLanzhou 730000China University of Chinese Academy of Sciences Beijing 100049China Key Laboratory of Watershed Geographic Sciences Nanjing Institute of Geography and LimnologyChinese Academy of SciencesNanjing 210000China

A climate transition towards warm-wet conditions in Northwest China has drawn much *** continuous climate change and universal glacier degradation,increasing water-related hazards and vulnerability have become one of the important problems facing the Tarim ***,the impacts of the climate transition on streamflow abrupt change and extreme hydrological events were less discussed,especially in glacial *** the present study,the discharge datasets in four glacial basins of Tarim Basin from 1979 to 2018 were constructed using the GRU-GSWAT+model *** differences in streamflow characteristics,the shift of hydrological extreme pattern,and potential changes of the controlling factors before and after the abrupt changes were *** results indicated that the abrupt change point(ACP)in streamflow occurred in 2000 in the Qarqan River Basin,2002 in the Weigan River Basin,and 1994 in the Aksu River Basin and the Yarkant River Basin.A general decrease in streamflow before the ACP has shifted to a notable upward trend in the Qarqan River Basin and the Aksu River Basin,while minor upward fluctuations were observed in other ***,the hydrological characteristics in extreme events vary dramatically before and after the ACPs,characterized by a pronouncing shift from drought-dominant pattern to wet events dominated *** driven climate factors have been altered after the ACPs with notable spatial heterogeneity,in which temperature remained as the dominant role in meltwater-dominated basins while the influence of precipitation has increased after the ACPs,whereas the sensitivity of temperature on streamflow change has been enhanced in basins dominated by precipitation such as the Qarqan River *** to the evident warming-wetting trend and glacier compensation effect,both the inter-annual and intra-annual streamflow fluctuations can be efficiently smoothed in basins with a high glacier area ratio(GAR).These findings provide a

关键词： Abrupt change Streamflow Hybrid model Tarim Basin Glacier

Quantum gate-assisted teleportation in noisy environments:robustness and fidelity improvement

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Communications in Theoretical Physics 2024年第1期76卷 36-48页

作者： Sajede Harraz Jiaoyang zhang Shuang cong Department of Automation University of Science and Technology of ChinaHefei 230027China

Quantum teleportation as the key strategy for quantum communication requires pure maximally shared entangled states among quantum *** practice,quantum decoherence drastically degrades the shared entanglement during entanglement distribution,which is a serious challenge for the development of quantum ***,most of the decoherence control strategies proposed thus far are either resource-intensive or *** overcome this obstacle,we enable noise-resistant teleportation through a noisy channel with a limited number of qubits and without applying time-consuming weak *** apply a quantum gate control unit consisting of a controlled NOT gate and a rotation gate after the original teleportation protocol is ***,we demonstrate that a teleportation fidelity of unity is attainable when environment-assisted measurement is added to the proposed teleportation protocol via quantum ***,we present an entanglement distribution process by employing the designed quantum gate control unit followed by the deterministic standard teleportation protocol to improve teleportation fidelity by establishing improved shared *** performance analysis indicates that the proposed teleportation schemes offer a competitive fidelity and success probability compared with the conventional schemes and a recent weak measurement-based teleportation protocol.

关键词： quantum communication quantum teleportation decoherence control quantum gate environment-assisted measurement

Dynamics of a Reaction-diffusion-ODE System in a Heterogeneous Media

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Acta Mathematicae Applicatae Sinica 2024年第2期40卷 275-301页

作者： cong-hui zhang Hai-feng zhang Mei-rong zhang School of Science Beijing University of Civil Engineering and ArchitectureBeijing 102616China Institute of Applied System Analysis Jiangsu UniversityZhenjiang 212013China Department of Mathematical Sciences Tsinghua UniversityBeijing 100084China

The existence and stability of stationary solutions for a reaction-diffusion-ODE system are investigated in this *** first show that there exist both continuous and discontinuous stationary *** a good understanding of the stability of discontinuous stationary solutions is gained under an appropriate *** addition,we demonstrate the influences of the diffusion coefficient on stationary *** results we obtained are based on the super-/sub-solution method and the generalized mountain pass ***,some numerical simulations are given to illustrate the theoretical results.

关键词： reaction-diffusion-ODE system discontinuous stationary solutions stability asymptotic behavior monotone solutions

Combustion and Self-Desulfurization Characterization of Blended Low-Rank Coals for Improved Resource Utilization in Fluidized Bed Boilers

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Journal of Thermal Science 2024年第3期33卷 1242-1256页

作者： SU Lipeng zhang cong zhang Yongsheng WANG Tao WANG Jiawei Key Laboratory of Power Station Energy Transfer Conversion and System Ministry of EducationNorth China Electric Power UniversityBeijing102206China

The co-combustion of low-rank coals through fluidized bed boiler(CFB)is an effective approach to enhance the level of resource *** date,there has been a lack of investigation concerning the co-combustion kinetics and self-desulfurization characteristics of coal slime,coal gangue,and raw *** this study,we adopted multiple model-free and model-fitting methods to comparatively analyze co-combustion kinetics of blended coals on the basis of thermogravimetric ***,the sulfur balance and self-desulfurization of blended coals in the co-combustion were intensively investigated using a tube furnace *** results reveal that in the presence of coal gangue in blended coals,the average activation energy(E_(a))falls within the range of 65.7 kJ/mol to 100.4 kJ/mol,as determined by four model-free ***,in the absence of coal gangue,only the Flynn-Wall-Ozawa(FWO)and Friedman(FM)methods are deemed appropriate for calculating the average E_(a),yielding a value of 77.3 kJ/*** first order reaction model is confirmed to be reliable for analyzing the co-combustion kinetics of low-rank blended *** of the specific composition of the blended coal,a significant linear correlation exists between the Ea and the natural logarithm of the pre-exponential factor(lnA)within an extensive range of ***,the addition of coal gangue to the blended coal substantially enhances the self-desulfurization level,resulting in an increase from 25.7%to60.7%at 1073 *** self-desulfurization efficiency exhibits a good linear relationship with both the mass ratio of coal gangue to coal slime and the molar ratio of calcium to *** a practical implementation,the optimal addition ratio of coal gangue is a trade-off between the self-desulfurization efficiency and the ignition capacity.

关键词： coal slime coal gangue fluidized bed boilers self-desulfurization resource utilization

Evaluation of Auto-Ignition Characteristics of Diesel Surrogate Fuels with the Same Derived Cetane Numbers at changed Thermodynamic Environments

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Journal of Thermal Science 2024年第4期33卷 1590-1606页

作者： zhang cong GUAN Yuanhang HUANG Zhen HAN Dong Key Laboratory for Power Machinery and Engineering Ministry of EducationShanghai Jiao Tong UniversityShanghai200240China College of Smart Energy Shanghai Jiao Tong UniversityShanghai200240China Shanghai Non-carbon Energy Conversion and Utilization Institute Shanghai200240China

The ignition tendency of diesel fuels is highly sensitive to ambient conditions and fuel *** this study,the ignition characteristics of different diesel surrogate fuels with the same derived cetane numbers(DCN)were measured and compared in varied thermodynamic and oxidizing *** combustion pressures,heat release rates,ignition delays,and combustion delays of the test fuels were *** experimental results showed that the diesel surrogate fuels with the same DCNs exhibit similar ignition propensity at standard DCN test ***,for the test conditions of high cetane fuels,high ambient temperatures,and suficient oxygen concentrations,surrogate fuels with the same DCN have similar ignition behaviors,and using the DCN to evaluate fuel ignition tendency is ***,for the test conditions of low cetane fuels,low ambient temperatures,and reduced oxygen concentrations,different ignition behaviors are observed for the surrogate fuels with the same DCN,so at these conditions using DCN as the evaluation index for fuel ignition tendency may lead to higher uncertainty.

关键词： diesel fuels surrogate fuels derived cetane numbers constant volume combustion chamber

Performance evaluation for multi-target tracking with temporal dimension specifics

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Chinese Journal of Aeronautics 2024年第2期37卷 446-458页

作者： Zhenzhen SU Hongbing JI cong TIAN Yongquan zhang School of Computer Science and Technology Xidian UniversityXi’an 710071China School of Electronic Engineering Xidian UniversityXi’an 710071China

With the great development of Multi-Target Tracking(MTT)technologies,many MTT algorithms have been proposed with their own advantages and *** to the fact that requirements to MTT algorithms vary from the application scenarios,performance evaluation is significant to select an appropriate MTT algorithm for the specific application *** this paper,we propose a performance evaluation method on the sets of trajectories with temporal dimension specifics to compare the estimated trajectories with the true *** proposed method evaluates the estimate results of an MTT algorithm in terms of tracking accuracy,continuity and ***,its computation is based on a multi-dimensional assignment problem,which is formulated as a computable form using linear *** enhance the influence of recent estimated states of the trajectories in the evaluation,an attention function is used to reweight the trajectory errors at different time ***,simulation results show that the proposed performance evaluation method is able to evaluate many aspects of the MTT *** evaluations are worthy for selecting suitable MTT algorithms in different application scenarios.

关键词： Multi-target tracking Temporal dimension specifics Performance evaluation Random finite sets Linear programming

Anti-saturation fault-tolerant adaptive torsional vibration control with fixed-time prescribed performance for rolling mill main drive system

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Journal of Iron and Steel Research International 2024年第3期31卷 660-669页

作者： Shuang Liu Chen Du cong zhang Zhen-hua Bai Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan UniversityQinhuangdao 066004HebeiChina National Engineering Research Center for Equipment and Technology of Cold Strip Rolling Yanshan UniversityQinhuangdao 066004HebeiChina

An anti-saturation fault-tolerant adaptive torsional vibration control method with fixed-time prescribed performance for the rolling mill main drive system(RMMDS)was investigated,which is affected by control input saturation,actuator faults,sensor measurement errors,and parameter ***,we gave a continuously differentiable saturation function to approximate the control input saturation characteristic of the RMMDS,translating the saturation characteristic into the matched uncertainty and unknown time-varying gain in the ***,an RMMDS mathematical model with unmatched uncertainty and unknown time-varying gain was developed,taking into account the presence of control input saturation,actuator faults,sensor measurement errors,and parameter *** on the established mathematical model,an error transformation model of the roll speed tracking was constructed by the equivalent error transformation *** to the error transformation model,a barrier Lyapunov function and a novel adaptive controller were studied to ensure that the roll speed tracking error always evolves inside a fixed-time asymmetric ***,numerical simulations were performed in Matlab/Simulink to verify the effectiveness and superiority of the proposed control method in suppressing the RMMDS torsional vibration.

关键词： Fixed-time prescribed performance Control input saturation Actuator fault Unknown time-varying gain Adaptive control Asymmetric constraint