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A Hybrid Feature Fusion Traffic Sign Detection Algorithm Based on YOLOv7

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Computers, Materials & Continua 2024年第7期80卷 1425-1440页

作者： Bingyi ren Juwei Zhang tong Wang School of Mechanical Engineering Henan University of Science and TechnologyLuoyang471000China School of Information Engineering Henan University of Science and TechnologyLuoyang471000China School of Electronic Information Zhengzhou Institute of Aeronautical Industry ManagementZhengzhou450046China Henan Province New Energy Vehicle Power Electronics and Power Transmission Engineering Research Center Luoyang471000China

Autonomous driving technology has entered a period of rapid development,and traffic sign detection is one of the important *** target detection networks are difficult to adapt to scenarios where target sizes are seriously imbalanced,and traffic sign targets are small and have unclear features,which makes detection more ***,we propose aHybrid Feature Fusion Traffic Sign detection algorithmbased onYOLOv7(HFFTYOLO).First,a self-attention mechanism is incorporated at the end of the backbone network to calculate feature interactions within scales;Secondly,the cross-scale fusion part of the neck introduces a bottom-up multi-path fusion *** reuse paths at the end of the neck,paying particular attention to cross-scale fusion of highlevel *** addition,we found the appropriate channel width through a lot of experiments and reduced the superfluous *** terms of training,a newregression lossCMPDIoUis proposed,which not only considers the problem of loss degradation when the aspect ratio is the same but the width and height are different,but also enables the penalty term to dynamically change at different ***,our proposed improved method shows excellent results on the TT100K *** with the baseline model,without increasing the number of parameters and computational complexity,AP0.5 and AP increased by 2.2%and 2.7%,respectively,reaching 92.9%and 58.1%.

关键词： Small target detection YOLOv7 traffic sign detection regression loss

Parameter Estimation of Sub-/Super-synchronous Oscillation Based on Interpolated All-phase Fast Fourier Transform with Optimized Window Function

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Journal of Modern Power Systems and Clean Energy 2024年第4期12卷 1031-1041页

作者： Bo Sun xi Wu xi Chen Zixiao Zou Qiang Li Bixing ren School of Electrical Engineering Southeast UniversityNanjingChina State Grid Jiangsu Electric Power Company Limited Research Institute NanjingChina

In recent years,with increasing amounts of renew-able energy sources connecting to power grids,sub-/super-syn-chronous oscillations(SSOs)occurred more *** to the time-variant nature of SsO magnitudes and frequencies,as well as the mutual interferences among SsO modes with close frequencies,the accurate parameter estimation of SsO has be-come a particularly challenging *** solve this issue,this paper proposes an improved spectrum analysis method by im-proving the window function and a spectrum correction method to achieve higher ***,by aiming at the sidelobe characteristics of the window function as evaluation criteria,a combined cosine function is optimized using a genetic algorithm(GA).Furthermore,the obtained window function is self-con-volved to extend its excellent characteristics,which have better performance in reducing mutual interference from other SSO ***,a new form of interpolated all-phase fast Fourier transform(IpApFFT)using the optimized window func-tion is proposed to estimate the parameters of *** meth-od allows for phase-unbiased estimation while maintaining algo-rithmic simplicity and *** performance of the pro-posed method is demonstrated under various conditions,com-pared with other estimation *** results vali-date the effectiveness and superiority of the proposed method.

关键词： Sub-/Super-synchronous oscillation(SSO) window function parameter estimation interpolated all-phase fast Fourier transform(ApFFT)

Cobalt-catalyzed reductive alkynylation to construct C(sp)-C(sp^(3))and C(sp)-C(sp^(2))bonds

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Chinese Chemical Letters 2024年第7期35卷 253-258页

作者： Lei Wan Yizhou tong xi Lu Yao Fu Hefei National Research Center for Physical Sciences at the Microscale iChEMCAS Key Laboratory of Urban Pollutant ConversionAnhui Province Key Laboratory of Biomass Clean EnergyUniversity of Science and Technology of ChinaHefei 230026China Key Laboratory of Precision and Intelligent Chemistry School of Chemistry and Materials ScienceUniversity of Science and Technology of ChinaHefei 230026China

Transition-metal-catalyzed cross-electrophile coupling has emerged as a reliable method for constructing carbon–carbon ***,we report a general method,cobalt-catalyzed reductive alkynylation,to construct C(sp)-C(sp^(3))and C(sp)-C(sp^(2))*** presented reaction has a broad substrate scope,enabling the efficient cross-electrophile coupling between alkynyl bromides with alkyl halides and aryl or alkenyl(pseudo)*** presented reaction is conducted under mild conditions,tolerating many functional groups,thus suitable for the modification and synthesis of biologically active molecules.

关键词： Cobalt-catalysis Cross-electrophile coupling Carbon-carbon bond formation Reductive alkynylation Alkyne synthesis

Parameter-Free Shifted Laplacian Reconstruction for Multiple Kernel Clustering

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1072-1074页

作者： xi Wu Zhenwen ren F.Richard Yu the School of National Defence Science and Technology Southwest University of Science and TechnologyMianyang 621010China the School of National Defence Science and Technology Southwest University of Science and TechnologyMianyang 621010 the Guangxi Key Laboratory of Machine Vision and Intelligent Control Wuzhou UniversityWuzhou 543002 the Guangdong Laboratory of Artificial Intelligence and Digital Economy(SZ) Shenzhen 518060China

Dear Editor,This letter proposes a parameter-free multiple kernel clustering(MKC)method by using shifted Laplacian *** MKC can effectively cluster nonlinear data,but it faces two main challenges:1)As an unsupervised method,it is up against parameter problems which makes the parameters intractable to tune and is unfeasible in real-life applications;2)Only considers the clustering information,but ignores the interference of noise within Laplacian.

关键词： parameter letter Parameter

An automatic Q-factor matching method for eliminating 77%of the ZRO of a MEMS vibratory gyroscope in rate mode

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Microsystems & Nanoengineering 2024年第3期10卷 35-48页

作者： Jingbo ren tong Zhou Yi Zhou Yixuan Li Yan Su School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210000China

Mismatching quality factors(Q-factors)is one of the main factors causing zero-rate output(ZRO)in degenerate(DE)Micro-Electro-Mechanical Systems(MEMS)vibratory *** eliminate the ZRO of the DE MEMS gyroscope,this study introduces a method for real-time identification and automatic matching of Q-factors in rate *** leveraging the vibration characteristics of the DE MEMS vibratory gyroscope in rate mode,dedicated online test methods are designed to determine the Q-factors for both the drive and sense modes,enabling online identification of the Q-factor ***,an automatic Q-factor matching system is designed utilizing the mechanical-thermal dissipation mechanism of the resistive *** effectiveness of this proposed method is validated through simulations and experiments conducted on a MEMS disk resonator gyroscope(DRG).The results show a measurement error within 4%for Q-factor identification,and automatic Q-factor matching effectively reduces the ZRO by 77%.Employing this automatic Q-factor matching method successfully reduces the ZRO that is caused by the mismatching of Q-factors in the MEMS DRG from 0.11°/s to 0.025°/s and improves the bias instability(BI)from 0.40°/s to 0.19°/s.

关键词： matching mode method

Image attention transformer network for indoor 3D object detection

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Science China(Technological Sciences) 2024年第7期67卷 2176-2190页

作者： ren KeYan YAN tong HU Zhaoxin HAN HongGui ZHANG YunLu Faculty of Information Technology Beijing University of TechnologyBeijing 100124China

Point clouds and RGB images are both critical data for 3D object detection. While recent multi-modal methods combine them directly and show remarkable performances, they ignore the distinct forms of these two types of data. For mitigating the influence of this intrinsic difference on performance, we propose a novel but effective fusion model named LI-Attention model, which takes both RGB features and point cloud features into consideration and assigns a weight to each RGB feature by attention ***, based on the LI-Attention model, we propose a 3D object detection method called image attention transformer network(IAT-Net) specialized for indoor RGB-D scene. Compared with previous work on multi-modal detection, IAT-Net fuses elaborate RGB features from 2D detection results with point cloud features in attention mechanism, meanwhile generates and refines 3D detection results with transformer model. Extensive experiments demonstrate that our approach outperforms stateof-the-art performance on two widely used benchmarks of indoor 3D object detection, SUN RGB-D and NYU Depth V2, while ablation studies have been provided to analyze the effect of each module. And the source code for the proposed IAT-Net is publicly available at https://***/wisper181/IAT-Net.

关键词： 3D object detection transformer attention mechanism

Hierarchical Controller Synthesis Under Linear Temporal Logic Specifications Using Dynamic Quantization

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IEEE/CAA Journal of Automatica Sinica 2024年第10期11卷 2082-2098页

作者： Wei ren Zhuo-Rui Pan Weiguo xia xi-Ming Sun the Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology the School of Control Science and Engineering Dalian University of TechnologyDalian 116024China

Linear temporal logic(LTL)is an intuitive and expressive language to specify complex control tasks,and how to design an efficient control strategy for LTL specification is still a *** this paper,we implement the dynamic quantization technique to propose a novel hierarchical control strategy for nonlinear control systems under LTL *** on the regions of interest involved in the LTL formula,an accepting path is derived first to provide a high-level solution for the controller synthesis ***,we develop a dynamic quantization based approach to verify the realization of the accepting *** realization verification results in the necessity of the controller design and a sequence of quantization regions for the controller ***,the techniques of dynamic quantization and abstraction-based control are combined together to establish the local-to-global control *** abstraction construction and controller design are local and dynamic,thereby resulting in the potential reduction of the computational *** each quantization region can be considered locally and individually,the proposed hierarchical mechanism is more efficient and can solve much larger problems than many existing ***,the proposed control strategy is illustrated via two examples from the path planning and tracking problems of mobile robots.

关键词： Abstraction-based control design dynamic quantization formal methods linear temporal logic(LTL)

Establishment of an Iron Deficiency Model by Iron Depletion in Pregnant Rats

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Biomedical and Environmental Sciences 2024年第2期37卷 210-215页

作者： CHEN xi HAN Chao ZHAO Jin Peng SHEN Shi WANG Li Yuan ren Shou WANG tong Lei MA Yan XU Ze Chao HUO Jun Sheng Key Laboratory of Trace Element Nutrition National Health Commission of the People’s Republic of ChinaNational Institute for Nutrition and HealthChinese Center for Disease Control and PreventionBeijing 100050China

Anemia,a global public health problem,has significant adverse consequences on the cognitive development of children and the work capacity of adults;affecting social and economic ***,roughly 43%of children under five years of age,38%of pregnant women,and 29%of nonpregnant women had *** during pregnancy significantly increases the risk of low birth weight and preterm birth.A 10 g/L increase in hemoglobin has been estimated to decrease the risk of maternal and perinatal mortality by 29%and 28%.

关键词： mortality pregnancy anemia

Economical Quadrupedal Multi-Gait Locomotion via Gait-Heuristic Reinforcement Learning

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Journal of Bionic Engineering 2024年第4期21卷 1720-1732页

作者： Lang Wei Jinzhou Zou xi Yu Liangyu Liu Jianbin Liao Wei Wang tong Zhang School of Power and Mechanical Engineering Wuhan UniversityLuojiashanWuhan430072HubeiChina State Key Laboratory of Information Engineering in Surveying Mapping and Remote SensingWuhan UniversityLuojiashanWuhan430072HubeiChina

In order to strike a balance between achieving desired velocities and minimizing energy consumption,legged animals have the ability to adopt the appropriate gait pattern and seamlessly transition to another if *** ability makes them more versatile and efficient when traversing natural terrains,and more suitable for long *** the same way,it is meaningful and important for quadruped robots to master this *** achieve this goal,we propose an effective gait-heuristic reinforcement learning framework in which multiple gait locomotion and smooth gait transitions automatically emerge to reach target velocities while minimizing energy *** incorporate a novel trajectory generator with explicit gait information as a memory mechanism into the deep reinforcement learning *** allows the quadruped robot to adopt reliable and distinct gait patterns while benefiting from a warm start provided by the trajectory ***,we investigate the key factors contributing to the emergence of multiple gait *** tested our framework on a closed-chain quadruped robot and demonstrated that the robot can change its gait patterns,such as standing,walking,and trotting,to adopt the most energy-efficient gait at a given ***,we deploy our learned controller to a quadruped robot and demonstrate the energy efficiency and robustness of our method.

关键词： Legged robots Deep reinforcement learning Central pattern generator Quadrupedal gait