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An Online Exploratory Maximum Likelihood Estimation Approach to Adaptive Kalman Filtering

IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 228-254页

作者： Jiajun Cheng Haonan Chen Zhirui Xue Yulong Huang Yonggang Zhang the college of intelligent Systems science and Engineering Harbin Engineering University the Engineering Research Center of Navigation Instruments Ministry of Education the college of intelligent Systems science and Engineering the college of Future technology Harbin Engineering University IEEE

Over the past few decades, numerous adaptive Kalman filters(AKFs) have been proposed. However, achieving online estimation with both high estimation accuracy and fast convergence speed is challenging, especially when both the process noise and measurement noise covariance matrices are relatively inaccurate. Maximum likelihood estimation(MLE) possesses the potential to achieve this goal, since its theoretical accuracy is guaranteed by asymptotic optimality and the convergence speed is fast due to weak dependence on accurate state ***, the maximum likelihood cost function is so intricate that the existing MLE methods can only simply ignore all historical measurement information to achieve online estimation,which cannot adequately realize the potential of MLE. In order to design online MLE-based AKFs with high estimation accuracy and fast convergence speed, an online exploratory MLE approach is proposed, based on which a mini-batch coordinate descent noise covariance matrix estimation framework is developed. In this framework, the maximum likelihood cost function is simplified for online estimation with fewer and simpler terms which are selected in a mini-batch and calculated with a backtracking method. This maximum likelihood cost function is sidestepped and solved by exploring possible estimated noise covariance matrices adaptively while the historical measurement information is adequately utilized. Furthermore, four specific algorithms are derived under this framework to meet different practical requirements in terms of convergence speed, estimation accuracy,and calculation load. Abundant simulations and experiments are carried out to verify the validity and superiority of the proposed algorithms as compared with existing state-of-the-art AKFs.

关键词： Adaptive Kalman filtering coordinate descent maximum likelihood estimation mini-batch optimization unknown noise covariance matrix

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Dynamic Event-Triggered Active Disturbance Rejection Formation Control for Constrained Underactuated AUVs

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IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 460-462页

作者： Zhiguang Feng Sibo Yao IEEE the college of intelligent Systems science and Engineering Harbin Engineering University

Dear Editor,This letter addresses the formation control problem for constrained underactuated autonomous underwater vehicles (AUVs). The feasibility condition of the virtual control law is eliminated by introducing a nonlinear state dependence function (NSDF) that transforms the state of each AUV in the formation.

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COMPrompter: reconceptualized segment anything model with multiprompt network for camouflaged object detection

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science China(Information sciences) 2025年第1期68卷 189-203页

作者： Xiaoqin ZHANG Zhenni YU Li ZHAO Deng-Ping FAN Guobao XIAO Zhejiang Province Key Laboratory of intelligent Informatics for Safety and Emergency Wenzhou University Nankai International Advanced Research Institute (SHENZHEN FUTIAN) college of Computer science Nankai University School of Computer science and technology Tongji University

We rethink the segment anything model(SAM) and propose a novel multiprompt network called COMPrompter for camouflaged object detection(COD). SAM has zero-shot generalization ability beyond other models and can provide an ideal framework for COD. Our network aims to enhance the single prompt strategy in SAM to a multiprompt strategy. To achieve this, we propose an edge gradient extraction module, which generates a mask containing gradient information regarding the boundaries of camouflaged objects. This gradient mask is then used as a novel boundary prompt, enhancing the segmentation process. Thereafter, we design a box-boundary mutual guidance module, which fosters more precise and comprehensive feature extraction via mutual guidance between a boundary prompt and a box prompt. This collaboration enhances the model's ability to accurately detect camouflaged objects. Moreover, we employ the discrete wavelet transform to extract high-frequency features from image embeddings. The high-frequency features serve as a supplementary component to the multiprompt ***, our COMPrompter guides the network to achieve enhanced segmentation results, thereby advancing the development of SAM in terms of COD. Experimental results across COD benchmarks demonstrate that COMPrompter achieves a cutting-edge performance, surpassing the current leading model by an average positive metric of 2.2% in COD10K. In the specific application of COD, the experimental results in polyp segmentation show that our model is superior to top-tier methods as well. The code will be made available at https://***/guobaoxiao/COMPrompter.

关键词： segment anything model camouflaged object detection boundary prompt

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Study on the Radiation Synthesis Mechanism and the Electrochemical Property of Polyaniline

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Chinese Journal of Polymer science 2025年第2期43卷 328-340页

作者： Shuo Yan Zi-Fang Guo Zhi-Qing Ge Bao-Ying Zhang Ya-Ru Zhang Yi-Shao Li Mo-Zhen Wang Xue-Wu Ge State Key Laboratory of Precision and intelligent Chemistry Department of Polymer Science and EngineeringUniversity of Science and Technology of ChinaHefei230026China School of Nuclear science and technology University of Science and Technology of ChinaHefei230026China

As a highly promising conductive polymer material,the synthesis method,structure regulation,and performance improvement of polyaniline(PANI)are hot research *** this work,the radiation-induced polymerization of aniline in HNO_(3)solution was successfully achieved at room temperature without the use of chemical *** the analysis of the radiation chemical reactions of inorganic acids and nitrate salt solutions,the characterization of the intermediate free radicals in the irradiated systems,and the influence of the pH of the solutions on the polymerization activity and product morphologies,the radiation-induced polymerization mechanism of aniline is discussed in detail and *** at a condition of[HNO_(3)]>[aniline],i.e.,pH<2.5,PANI can be successfully obtained underγ-ray *** polymerization begins with the oxidation of aniline cations to aniline cation radicals by·NO_(3)generated by radiolysis reactions,and undergoes repeated three steps of monomer free radical recombination,deprotonation,and oxidation reaction of·NO_(3),thus forming a PANI *** addition to the polymerization reaction,the aniline units are protonated and oxidized because of the strongly acidity and oxidation of the reaction system under γ-ray irradiation,which means that the molecular chain structure of the radiation-synthesized PANI can be regulated by pH,nitrate concentration,and irradiation ***-synthesized PANI has a moderate protonation and oxidation state,which can be used for the preparation of PANI supercapacitors with better electrochemical properties than those prepared by chemical oxidation under the same *** work presents a new radiation-synthesis method and polymerization mechanism of PANI,which not only expands the application of radiation technique in the field of polymer synthesis,but also provides a new idea for the structural regulation and electrochemical property optimization of PANI.

关键词： Aniline Radiation-induced polymerization Polyaniline Electrochemical property

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Processing,microstructure,and mechanical properties of wire arc additively-manufactured AZ91 magnesium alloy using cold arc process

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Transactions of Nonferrous Metals Society of China 2025年第1期35卷 91-104页

作者： Bai-hao CAI Ji-kang FAN Jie LI Dong-qing YANG Yong PENG Ke-hong WANG Key Laboratory of Controlled Arc intelligent Additive technology Ministry of Industry and Information TechnologyNanjing University of Science and TechnologyNanjing 210094China School of Materials science and Engineering Nanjing University of Science and TechnologyNanjing 210094China

Thin walls of an AZ91 magnesium alloy with fine equiaxed grains were fabricated via cold arc-based wire arc additive manufacturing(CA-WAAM),and the droplet transfer behaviours,microstructures,and mechanical properties were *** results showed that the cold arc process reduced splashing at the moment of liquid bridge breakage and effectively shortened the droplet transfer *** microstructures of the deposited samples exhibited layered characteristics with alternating distributions of coarse and fine *** layer-by-layer deposition,the β-phase precipitated and grew preferentially along grain boundaries,while the fineη-Al_(8)Mn_(5)phase was dispersed in the α-Mg *** mechanical properties of the CA-WAAM deposited sample showed isotropic *** ultimate tensile strength and elongation in the building direction(BD)were 282.7 MPa and 14.2%,*** microhardness values of the deposited parts were relatively uniform,with an average value of HV 69.6.

关键词： AZ91 magnesium alloy droplet transfer microstructure mechanical properties cold arc process

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Research on Stock Price Prediction Method Based on the GAN-LSTM-Attention Model

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Computers, Materials & Continua 2025年第1期82卷 609-625页

作者： Peng Li Yanrui Wei Lili Yin college of Computer science and technology Harbin University of Science and TechnologyHarbin150006China

Stock price prediction is a typical complex time series prediction problem characterized by dynamics,nonlinearity,and *** paper introduces a generative adversarial network model that incorporates an attention mechanism(GAN-LSTM-Attention)to improve the accuracy of stock price ***,the generator of this model combines the Long and Short-Term Memory Network(LSTM),the Attention Mechanism and,the Fully-Connected Layer,focusing on generating the predicted stock *** discriminator combines the Convolutional Neural Network(CNN)and the Fully-Connected Layer to discriminate between real stock prices and generated stock ***,to evaluate the practical application ability and generalization ability of the GAN-LSTM-Attention model,four representative stocks in the United States of America(USA)stock market,namely,Standard&Poor’s 500 Index stock,Apple Incorporatedstock,AdvancedMicroDevices Incorporatedstock,and Google Incorporated stock were selected for prediction experiments,and the prediction performance was comprehensively evaluated by using the three evaluation metrics,namely,mean absolute error(MAE),root mean square error(RMSE),and coefficient of determination(R2).Finally,the specific effects of the attention mechanism,convolutional layer,and fully-connected layer on the prediction performance of the model are systematically analyzed through ablation *** results of experiment show that the GAN-LSTM-Attention model exhibits excellent performance and robustness in stock price prediction.

关键词： Stock price prediction generative adversarial network attention mechanism time-series prediction

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Time-Varying Formation Tracking Control of Heterogeneous Multi-Agent Systems With Intermittent Communications and Directed Switching Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous intelligent Unmanned Systems the Frontiers science Center for intelligent Autonomous System of Ministry of Education the college of Electronic and Information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education the School of Information science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems Control theory Autonomous systems Stability

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Bound state noise-like pulses generation from composite filtering effects

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Optoelectronics Letters 2025年第3期21卷 142-148页

作者： CHANG Qingyu ZHANG Caishi college of Physics & Optoelectronic Engineering Jinan University Guangdong-Hong Kong-Macao Joint Laboratory for intelligent Micro-Nano Optoelectronic technology School of Physics and Optoelectronic EngineeringMacau University of Science and Technology School of Innovation Engineering Macau University of Science and Technology

This paper demonstrated the generation of multi-wavelength bound state noise-like pulse (BNLP) in a dispersion-managed composite-filtered fiber laser consisting of nonlinear polarization rotation (NPR) and *** the case of BNLP,the generation is caused by the interaction between two noise-like pulses (NLPs) induced by the comb-filtering effect,and bound state level can be artificially controlled in the *** work provides a new method for generating low-coherence pulses and establishes a research idea for the study of the comb-filtering effects.

关键词： A

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Mechanical properties and flow stress constitutive relationship of Ti–6Al–4V alloy with equiaxed microstructure at cryogenic temperatures

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Chinese Journal of Aeronautics 2025年第1期38卷 365-379页

作者： Jingwen HU Xun CHEN Yashun WANG Chen YANG college of Intelligence science and technology National University of Defense TechnologyChangsha 410073China Laboratory of science and technology on Integrated Logistics Support National University of Defense TechnologyChangsha 410073China

This paper investigates the uniaxial tensile mechanical properties and flow behavior of Ti-6Al-4V alloys with equiaxed microstructure at cryogenic temperatures ranging from 77 K to298 K and strain rates from 10^(-4)/s to 10^(-2)/*** electron microscopy is utilized to analyze the fracture morphology,aiming to reveal the fracture behavior at various *** applicability of the Zener-Hollomon parameter and the Johnson-Cook model in describing the flow stress of Ti-6Al-4V at cryogenic temperatures is ***,a constitutive relationship modeling method based on the variational recurrent networks is *** test results show a significant increase in the strength of equiaxed Ti-6Al-4V alloy under cryogenic conditions while the plastic deformation process is ***,the fracture analysis indicates that even at 77 K,the fracture process is still dominated by ductile fracture,and brittle fracture does not occur within the range of 77 K to 298 *** fitting results validate the performance of the Zener-Hollomon parameter and the Johnson-Cook model in describing the deformation flow stress of Ti-6Al-4V alloy at cryogenic *** results also indicate that the proposed constitutive relationship modeling method based on the variational recurrent network performs better,making it a potential method for widespread applications.

关键词： Titanium alloys Mechanical properties Cryogenics Fracture testing Flow behavior

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Anchoring thiol-rich traps in 1D channel wall of metal-organic framework for efficient removal of mercury ions

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Chinese Chemical Letters 2025年第2期36卷 432-435页

作者： Xudong Zhao Yuxuan Wang Xinxin Gao Xinli Gao Meihua Wang Hongliang Huang Baosheng Liu college of Chemical Engineering and technology Taiyuan University of Science and Technology Instrumental Analysis Center Taiyuan University of Science and Technology State Key Laboratory of Separation Membranes and Membrane Processes School of Chemical Engineering and TechnologyTiangong University college of Materials science and Engineering Taiyuan University of Science and Technology

Metal-organic frameworks （MOFs） attract broad interests in mercury （Hg） ion adsorption field,while unreasonable distribution of active groups commonly restricts their utilization *** this work,we constructed a new MOF （TYUST-6） with dense thiol-rich traps in the 1D pore *** accessible channel and rational distribution of thiols allow the smooth diffusion of Hg ions and thereby result in a high Langmuir adsorption capacity of 1347.6 mg/g,almost reaching the theoretical maximum （1444.3 mg/g）.Adsorption equilibrium needs 10 and 30 min at the initial concentrations of 10 and 100 mg/L,*** co-existing ions and solution pH show almost negligible interferences on the adsorption,and adsorbent regeneration can be well *** experimental characterizations and theoretical calculations,the thiol groups in the pore wall are proved to be the dominant interaction ***,this work reports a novel high-capacity adsorbent for Hg2+,and proposes a feasible guideline for designing effective adsorbents.

关键词： Adsorption Mercury ion Metal-organic frameworks Thiol groups Waste water treatment

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