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Adaptive nonlinear Kalman filters based on credibility theory with noise correlation

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Chinese Journal of Aeronautics 2024年第6期37卷 232-243页

作者： Quanbo GE zihao SONG Bingtao ZHU Bingjun ZHANG School of Automation Nanjing University of Information Science and TechnologyNanjing 210044China Jiangsu Collaborative Innovation Center on Atmospheric Environment and Equipment Technology Nanjing 210044China School of Electrical and Automation Engineering East China Jiaotong UniversityNanchang 330013China School of Logistics Engineering Shanghai Maritime UniversityShanghai 201306China School of Electronic and Information Engineering Tongji UniversityShanghai 200092China

To solve the divergence problem and overcome the difficulty in guaranteeing filtering accuracy during estimation of the process noise covariance or the measurement noise covariance with traditional new information-based nonlinear filtering methods,we design a new method for estimating noise statistical characteristics of nonlinear systems based on the credibility Kalman Filter(KF)theory considering noise *** method first extends credibility to the Unscented Kalman Filter(UKF)and Extended Kalman Filter(EKF)based on the credibility ***,an optimization model for nonlinear credibility under noise related conditions is established considering noise correlation.A combination of filtering smoothing and credibility iteration formula is used to improve the real-time performance of the nonlinear adaptive credibility KF algorithm,further expanding its application scenarios,and the derivation process of the formula theory is ***,the performance of the nonlinear credibility filtering algorithm is simulated and analyzed from multiple perspectives,and a comparative analysis conducted on specific experimental *** simulation and experimental results show that the proposed credibility EKF and credibility UKF algorithms can estimate the noise covariance more accurately and effectively with lower average estimation time than traditional methods,indicating that the proposed algorithm has stable estimation performance and good real-time performance.

关键词： Kalman filter Extended Kalman Filter(EKF) Unscented Kalman Filter(UKF) Credibility Noise correlation

Optimal Design of the Modular Joint Drive Train for Enhancing Cobot Load Capacity and Dynamic Performance

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 26-40页

作者： Peng Li Zhenguo Nie zihao Li Xinjun Liu Department of Mechanical Engineering Tsinghua UniversityBeijing 100084China State Key Laboratory of Tribology in Advanced Equipment Tsinghua UniversityBeijing 100084China Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua UniversityBeijing 100084China

Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of *** to the commonly used design approach of increasing the payload-to-weight ratio of cobot to enhance load capacity,equal attention should be paid to the dynamic response characteristics of cobot during the design process to make the cobot more *** this paper,a new method for designing the drive train parameters of cobot is ***,based on the analysis of factors influencing the load capacity and dynamic response characteristics,design criteria for both aspects are established for cobot with all optimization design criteria normalized within the design ***,with the cobot in the horizontal pose,the motor design scheme is discretized and it takes the joint motor diameter and gearbox speed ratio as optimization design ***,all the discrete values of the optimization objectives are obtained through the enumeration method and the Pareto front is used to select the optimal solution through multi-objective *** on the cobot design method proposed in this paper,a six-axis cobot is designed and compared with the commercial *** result shows that the load capacity of the designed cobot in this paper reaches 8.4 kg,surpassing the 5 kg load capacity commercial cobot which is used as a *** minimum resonance frequency of the joints is 42.70 Hz.

关键词： Multi-objective optimization Modular joint drive train design Load capacity Dynamic response performance

NIR-II fluorescence imaging in liver tumor surgery: A narrative review

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Journal of Innovative Optical Health Sciences 2024年第1期17卷 29-44页

作者： zihao Liu Lifeng Yan Qingsong Hu Dalong Yin Department of General Surgery Anhui Provincial Hospital Anhui Medical UniversityHefei 230001P.R.China Department of Hepatobiliary Surgery and Centre for Leading Medicine and Advanced Technologies of IHM The First A±liated Hospital of USTC Division of Life Sciences and Medicine University of Science and Technology of China Hefei Anhui 230001P.R.China Hefei National Laboratory for Physical Sciences at the Microscale CAS Key Laboratory of Soft Matter Chemistry and Department of Chemical Physics University of Science and Technology of China Hefei 230026P.R.China Anhui Province Key Laboratory of Hepatopancreatobiliary Surgery The First Affiliated Hospital of USTC Division of Life Sciences and Medicine University of Science and Technology of ChinaHefei 230001P.R.China

In liver tumor surgery,the recognition of tumor margin and radical resection of microcancer focis have always been the crucial points to reduce postoperative recurrence of ***,naked-eye inspection and palpation have limited effectiveness in identifying tumor boundaries,and traditional imaging techniques cannot consistently locate tumors in real *** an intraoperative real-time navigation imaging method,NIRfluorescence imaging has been extensively studied for its simplicity,reliable safety,and superior sensitivity,and is expected to improve the accuracy of liver tumor *** recent years,the research focus of NIRfluorescence has gradually shifted from the-rst near-infrared window(NIR-I,700–900 nm)to the second near-infrared window(NIR-II,1.00–1.00 nm).Fluorescence imaging in NIR-II reduces the scattering effect of deep tissue,providing a preferable detection depth and spatial resolution while signi-cantly eliminating liver autofluorescence background to clarify tumor *** combined with tumor antibodies will further improve the precision offluorescence-guided surgical *** the development of a bunch offluorophores with phototherapy ability,NIR-II can integrate tumor detection and treatment to explore a new therapeutic strategy for liver ***,we review the recent progress of NIR-IIfluorescence technology in liver tumor surgery and discuss its challenges and potential development direction.

关键词： Fluorescence guided-surgery liver cancer near infrared-II optical imaging

Multi-UAV cooperative maneuver decision-making for pursuitevasion using improved MADRL

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Defence Technology（防务技术） 2024年第5期35卷 187-197页

作者： Delin Luo zihao Fan Ziyi Yang Yang Xu School of Aerospace Engineering Xiamen UniversityXiamen 361102China School of Civil Aviation Northwestern Polytechnical UniversityXi'an 710072China

Aiming at the problem of multi-UAV pursuit-evasion confrontation, a UAV cooperative maneuver method based on an improved multi-agent deep reinforcement learning(MADRL) is proposed. In this method, an improved Comm Net network based on a communication mechanism is introduced into a deep reinforcement learning algorithm to solve the multi-agent problem. A layer of gated recurrent unit(GRU) is added to the actor-network structure to remember historical environmental states. Subsequently,another GRU is designed as a communication channel in the Comm Net core network layer to refine communication information between UAVs. Finally, the simulation results of the algorithm in two sets of scenarios are given, and the results show that the method has good effectiveness and applicability.

关键词： Reinforcement learning UAV Maneuver decision GRU Cooperative control

Self-reinforced Calcium Phosphate Cement Inspired by Sea Cucumber Dermis

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Journal of Wuhan University of Technology(Materials Science) 2024年第3期39卷 682-688页

作者：吴治文 WANG zihao CAI Zepeng QU Liting 于涛 College of Chemistry and Materials Science Jinan UniversityGuangzhou 510632China Guangdong Provincial Key Laboratory of Spine and Spinal Cord Reconstruction The Fifth Affiliated Hospital(Heyuan Shenhe People’s Hospital)Jinan UniversityHeyuan 517000China

A composite bone cement based onα-TCP with self-reinforcing characteristics is prepared by compounding cellulose whiskers and polyvinyl alcohol in different *** this system,we are inspired by the sea cucumber,which can alter the stiffness of their inner dermis *** the formation of hydrogen bonds between the hydroxyl groups on the cellulose whiskers and PVA,the bone cement matrix can be strengthened during the curing process of *** the process of bone cement blending,there is more water,the hydrogen bond connection is destroyed,so the slurry has better fluidity at this *** the hydration of the bone cement progresses,the reduction of the water phase leads to the formation of a permeable network structure of hydrogen bond connections between the *** dual-phase action of PVA and whiskers greatly increases the mechanical strength of the bone cement system(5.5 to 23.8 MPa),while the presence of polyvinyl alcohol improves the toughness of the bone cement *** work was supposed to explore whether the chemoresponsive materials can be adapted to biomedical materials,for example,bone repair.

关键词： bone repair self-reinforce chemoresponsive hydrogen bond

Summer Atmospheric Water Cycle under the Transition Influence of the Westerly and Summer Monsoon over the Yarlung Zangbo River Basin in the Southern Tibetan Plateau

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Advances in Atmospheric Sciences 2024年第5期41卷 830-846页

作者： Qianhui MA Chunyan ZHANG Donghai WANG zihao PANG School of Atmospheric Sciences Sun Yat-sen UniversityGuangdong Province Key Laboratory for Climate Change and Natural Disaster StudiesKey Laboratory of Tropical Atmosphere-Ocean SystemMinistry of EducationZhuhai 519082China Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai) Zhuhai 519082China Guangdong Meteorological Data Center Guangdong Meteorological ServiceGuangzhou 510080China National Observation and Research Station of Coastal Ecological Environments in Macao Macao Environmental Research InstituteMacao University of Science and TechnologyMacao SAR 999078China National Meteorological Information Center China Meteorological AdministrationBeijing 100081China

This study compares the summer atmospheric water cycle,including moisture sources and consumption,in the upstream,midstream,and downstream regions of the Yarlung Zangbo River Basin in the southern Tibetan *** evolutions of moisture properties under the influence of the westerly and summer southerly monsoon are examined using 5-yr multi-source measurements and ERA5 reanalysis *** that moisture consumption in this study is associated with clouds,precipitation,and diabatic *** to the midstream and downstream regions,the upstream region has less moisture,clouds,and precipitation,where the moisture is brought by the *** early August,the vertical wet advection over this region becomes enhanced and generates more high clouds and *** midstream region has moisture carried by the westerly in June and by the southerly monsoon from July to *** higher vertical wet advection maximum here forms more high clouds,with a precipitation peak in early *** downstream region is mainly affected by the southerly-driven wet *** rich moisture and strong vertical wet advection here produce the most clouds and precipitation among the three regions,with a precipitation peak in late *** height of the maximum moisture condensation is different between the midstream region(325 hPa)and the other two regions(375 hPa),due to the higher upward motion maximum in the midstream *** diabatic heating structures show that stratiform clouds dominate the upstream region,stratiform clouds and deep convection co-exist in the midstream region,and deep convection systems characterize the downstream region.

关键词： Yarlung Zangbo River Basin atmospheric water cycle constrained variational analysis moisture source and consumption

BACNN: Multi-scale feature fusion-based bilinear attention convolutional neural network for wood NIR classification

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Journal of Forestry Research 2024年第4期35卷 202-214页

作者： zihao Wan Hong Yang Jipan Xu Hongbo Mu Dawei Qi College of Science Northeast Forestry UniversityHarbin 150040People’s Republic of China

Effective development and utilization of wood resources is *** modification research has become an integral dimension of wood science research,however,the similarities between modified wood and original wood render it challenging for accurate identification and classification using conventional image classification ***,the development of efficient and accurate wood classification techniques is *** paper presents a one-dimensional,convolutional neural network(i.e.,BACNN)that combines near-infrared spectroscopy and deep learning techniques to classify poplar,tung,and balsa woods,and PVA,nano-silica-sol and PVA-nano silica sol modified woods of *** results show that BACNN achieves an accuracy of 99.3%on the test set,higher than the 52.9%of the BP neural network and 98.7%of Support Vector Machine compared with traditional machine learning methods and deep learning based methods;it is also higher than the 97.6%of LeNet,98.7%of AlexNet and 99.1.of ***,the classification method proposed offers potential applications in wood classification,especially with homogeneous modified wood,and it also provides a basis for subsequent wood properties studies.

关键词： Wood classification Near infrared spectroscopy Bilinear network SE module Anti-noise algorithm

Tungsten oxide/nitrogen-doped carbon nanotubes composite catalysts for enhanced redox kinetics in lithium-sulfur batteries

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Chinese Journal of Chemical Engineering 2024年第3期67卷 58-67页

作者： Deqing He zihao Xie Qian Yang Wei Wang Chao Su School of Energy and Power Jiangsu University of Science and TechnologyZhenjiang 212100China State Key Laboratory of Materials-Oriented Chemical Engineering College of Chemical EngineeringNanjing Tech UniversityNanjing 211816China

The sluggish redox kinetics of polysulfides in lithium-sulfur(Li-S)batteries are a significant obstacle to their widespread adoption as energy storage ***,recent studies have shown that tungsten oxide(WO_(3))can facilitate the conversion kinetics of polysulfides in Li-S ***,we fabricated host materials for sulfur using nitrogen-doped carbon nanotubes(N-CNTs)and WO_(3).We used low-cost components and simple procedures to overcome the poor electrical conductivity that is a disadvantage of metal *** composites of WO_(3) and N-CNTs(WO_(3)/N-CNTs)create a stable framework structure,fast ion diffusion channels,and a 3D electron transport network during electrochemical reaction *** a result,the WO_(3)/N-CNT-Li2S6 cathode demonstrates high initial capacity(1.62 mA·h·g^(-1. at 0.5℃),excellent rate performance(61. mA·h·g^(-1. at 5.5℃),and a low capacity decay rate(0.093%up to 600 cycles at 2℃).This work presents a novel approach for preparing tungsten oxide/carbon composite catalysts that facilitate the redox kinetics of polysulfide conversion.

关键词： Li-S batteries Composites Ion diffusion channels 3D electron transport network Redox kinetics

Multi-Robot Collaborative Hunting in Cluttered Environments With Obstacle-Avoiding Voronoi Cells

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1643-1655页

作者： Meng Zhou zihao Wang Jing Wang Zhengcai Cao the School of Electrical and Control Engineering North China University of TechnologyBeijing 100144China IEEE the College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China

This work proposes an online collaborative hunting strategy for multi-robot systems based on obstacle-avoiding Voronoi cells in a complex dynamic environment. This involves firstly designing the construction method using a support vector machine(SVM) based on the definition of buffered Voronoi cells(BVCs). Based on the safe collision-free region of the robots, the boundary weights between the robots and the obstacles are dynamically updated such that the robots are tangent to the buffered Voronoi safety areas without intersecting with the obstacles. Then, the robots are controlled to move within their own buffered Voronoi safety area to achieve collision-avoidance with other robots and obstacles. The next step involves proposing a hunting method that optimizes collaboration between the pursuers and evaders. Some hunting points are generated and distributed evenly around a circle. Next, the pursuers are assigned to match the optimal points based on the Hungarian ***, a hunting controller is designed to improve the containment capability and minimize containment time based on collision risk. Finally, simulation results have demonstrated that the proposed cooperative hunting method is more competitive in terms of time and travel distance.

关键词： Dynamic obstacle avoidance multi-robot collaborative hunting obstacle-avoiding Voronoi cells task allocation