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Towards imbalanced motion:part-decoupling network for video portrait segmentation

Science China(Information Sciences) 2024年第7期67卷 197-210页

作者： Tianshu YU Changqun XIA Jia LI State Key laboratory of Virtual Reality Technology and Systems School of Computer Science and EngineeringBeihang University Peng Cheng laboratory

Video portrait segmentation(VPS), aiming at segmenting prominent foreground portraits from video frames, has received much attention in recent years. However, the simplicity of existing VPS datasets leads to a limitation on extensive research of the task. In this work, we propose a new intricate large-scale multi-scene video portrait segmentation dataset MVPS consisting of 101 video clips in 7 scenario categories,in which 10843 sampled frames are finely annotated at the pixel level. The dataset has diverse scenes and complicated background environments, which is the most complex dataset in VPS to our best *** the observation of a large number of videos with portraits during dataset construction, we find that due to the joint structure of the human body, the motion of portraits is part-associated, which leads to the different parts being relatively independent in motion. That is, the motion of different parts of the portraits is imbalanced. Towards this imbalance, an intuitive and reasonable idea is that different motion states in portraits can be better exploited by decoupling the portraits into parts. To achieve this, we propose a part-decoupling network(PDNet) for VPS. Specifically, an inter-frame part-discriminated attention(IPDA)module is proposed which unsupervisedly segments portrait into parts and utilizes different attentiveness on discriminative features specified to each different part. In this way, appropriate attention can be imposed on portrait parts with imbalanced motion to extract part-discriminated correlations, so that the portraits can be segmented more accurately. Experimental results demonstrate that our method achieves leading performance with the comparison to state-of-the-art methods.

关键词： video portrait segmentation imbalanced motion unsupervised part decoupling motion correlation inter-frame attention

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Could near infrared spectroscopy be the new weapon in our understanding of the cerebral and muscle microvascular oxygen demand during exercise?

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Journal of Sport and Health Science 2024年第4期13卷 457-458页

作者： Stephane Perrey EuroMov Digital Health in motion University of MontpellierIMT Mines AlesMontpellier 34090France

Near-infrared spectroscopy(NIRS)has been increasingly utilized in both sport and health sciences to assess various physiological parameters related to exercise performance.1 NIRS methods coupled with the recent development of portable and wearable devices suitable for field-based measurements have revolutionized the study of exercise physiology and the determinants of exercise performance by providing real-time,non-invasive,and spatially localized measurements of tissue oxygenation dynamics.

关键词： cerebral utilized exercise

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It’s not all in your feet: Improving penalty kick performance with humanavatar interaction and machine learning

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The Innovation 2024年第2期5卷 115-121页

作者： Jean-Luc Bloechle Julien Audiffren Thibaut Le Naour Andrea Alli Dylan Simoni Gabriel Wüthrich Jean-Pierre Bresciani Control and Perception laboratory University of FribourgBd Perolles 901700 FribourgSwitzerland motion-up Le PrismePlace Albert Einstein56000 VannesFrance FC Basel 1893 Birsstrasse 320A4002 BaselSwitzerland

Penalty kicks are increasingly decisive in major international football ***,over 30%of shootout kicks are *** outcome of the kick often relies on the ability of the penalty taker to exploit anticipatory movements of the goalkeeper to redirect the kick toward the open side of the ***,this ability is difficult to train using classical *** used an augmented reality simulator displaying an holographic goalkeeper to test and train penalty kick performance with 13 young elite *** learning algorithms were used to optimize the learning rate by maintaining an optimal level of training *** training sessions of 20 kicks reduced the redirection threshold by 120 ms,which constituted a 28%reduction with respect to the baseline ***,redirection threshold reduction was observed for all trained players,and all things being equal,it corresponded to an estimated 35%improvement of the success rate.

关键词： kick penalty learning

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Compliance motion control of the hydraulic dual-arm manipulator with adaptive mass estimation of unknown object

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Frontiers of Mechanical Engineering 2024年第1期19卷 35-52页

作者： Bolin SUN Min CHENG Ruqi DING Bing XU State Key laboratory of Mechanical Transmissions Chongqing UniversityChongqing 400044China Key laboratory of Conveyance and Equipment(Ministry of Education) East China Jiaotong UniversityNanchang 330013China State Key laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China

Given the limited operating ability of a single robotic arm,dual-arm collaborative operations have become increasingly *** with the electrically driven dual-arm manipulator,due to the unknown heavy load,difficulty in measuring contact forces,and control complexity during the closed-chain object transportation task,the hydraulic dual-arm manipulator(HDM)faces more difficulty in accurately tracking the desired motion trajectory,which may cause object deformation or even *** overcome this problem,a compliance motion control method is proposed in this paper for the *** mass parameter of the unknown object is obtained by using an adaptive method based on velocity *** to the difficulty in obtaining the actual internal force of the object,the pressure signal from the pressure sensor of the hydraulic system is used to estimate the contact force at the end-effector(EE)of two hydraulic manipulators(HMs).Further,the estimated contact force is used to calculate the actual internal force on the ***,a compliance motion controller is designed for HDM closed-chain *** position and internal force errors of the object are reduced by the feedback of the position,velocity,and internal force errors of the object to achieve the effect of the compliance motion of the HDM,i.e.,to reduce the motion error and internal force of the *** required velocity and force at the EE of the two HMs,including the position and internal force errors of the object,are inputted into separate position *** addition,the position controllers of the two individual HMs are designed to enable precise motion control by using the virtual decomposition control ***,comparative experiments are carried out on a hydraulic dual-arm test *** proposed method is validated by the experimental results,which demonstrate improved object position accuracy and reduced internal force.

关键词： hydraulic dual-arm manipulator compliance motion control unknown object adaptive mass estimation nonlinear control

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Application of Isogeometric Analysis Method in Three-Dimensional Gear Contact Analysis

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Computer Modeling in Engineering & Sciences 2024年第4期139卷 817-846页

作者： Long Chen Yan Yu Yanpeng Shang Zhonghou Wang Jing Zhang School of Mechanical Engineering University of Shanghai for Science and TechnologyShanghai200093China Zhejiang Fine-motion Robot Joint Technology Co. Ltd.Taizhou317600China

Gears are pivotal in mechanical drives,and gear contact analysis is a typically difficult problem to *** isogeometric analysis(IGA)methods have developed new ideas to solve this *** this paper,a threedimensional body parametric gear model of IGA is established,and a theoretical formula is derived to realize single-tooth contact *** were benchmarked against those obtained from commercial software utilizing the finite element analysis(FEA)method to validate the accuracy of our *** findings indicate that the IGA-based contact algorithmsuccessfullymet theHertz contact *** juxtaposed with the FEA approach,the IGAmethod demonstrated fewer node degrees of freedomand reduced computational units,all whilemaintaining comparable ***,the IGA method appeared to exhibit consistency in analysis accuracy irrespective of computational unit density,and also significantlymitigated non-physical oscillations in contact stress across the tooth *** underscores the prowess of IGA in contact *** conclusion,IGA emerges as a potent tool for addressing contact analysis challenges and holds significant promise for 3D gear modeling,simulation,and optimization of various mechanical components.

关键词： Contact analysis involute gear isogeometric analysis finite element analysis

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Time-history performance optimization of flapping wing motion using a deep learning based prediction model

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Chinese Journal of Aeronautics 2024年第5期37卷 317-331页

作者： Tianqi WANG Liu LIU Jun LI Lifang ZENG School of Aeronautics and Astronautics Zhejiang UniversityHangzhou 310027China Huanjiang laboratory Zhuji 311800China

Flapping Wing Micro Aerial Vehicles(FWMAVs)have caused great concern in various fields because of their high efficiency and *** wing motion is a very important factor that affects the performance of the aircraft,and previous works have always focused on the time-averaged performance ***,the time-history performance is equally important in the design of motion mechanism and flight control *** this paper,a time-history performance optimization framework based on deep learning and multi-island genetic algorithm is presented,which is designed in order to obtain the optimal two-dimensional flapping wing ***,the training dataset for deep learning neural network is constructed based on a validated computational fluid dynamics *** aerodynamic surrogate model for flapping wing is obtained after the convergence of *** surrogate model is tested and proved to be able to accurately and quickly predict the time-history curves of lift,thrust and ***,the optimization framework is used to optimize the flapping wing motion in two specific cases,in which the optimized propulsive efficiencies have been improved by over 40%compared with the ***,a dimensionless parameter C_(variation)is proposed to describe the variation of the time-history characteristics,and it is found that C_(variation)of lift varies significantly even under close time-averaged *** the importance of time-history performance in practical applications,the optimization that integrates the propulsion efficiency as well as C_(variation)is carried *** final optimal flapping wing motion balances good time-averaged and time-history performance.

关键词： FWMAV Flapping wing motion Deep learning Unsteady aerodynamic performance Optimization Time-history curve

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Wearable Leg Movement Monitoring System for High-Precision Real-Time Metabolic Energy Estimation and motion Recognition

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Research 2024年第2期2023卷 417-429页

作者： Jinfeng Yuan Yuzhong Zhang Shiqiang Liu Rong Zhu State Key laboratory of Precision Measurement Technology and Instruments Department of Precision InstrumentTsinghua UniversityBeijing 100084China

Comprehensive and quantitative assessment of human physical activity in daily life is valuable for healthcare,especially for those who suffer from obesity and neurological disorders or are at high risk of *** wearable devices,e.g.,smartwatches,are insufficient and inaccurate for monitoring highly dynamic limb movements and assessing human ***,we report a new wearable leg movement monitoring system incorporating a custom-made motion sensor with machine learning algorithm to perceive human motion accurately and comprehensively during diverse walking and running *** system enables real-time multimodal perceptions of personal identity,motion state,locomotion speed,and energy expenditure for wearers.A general law of extracting real-time metabolic energy from leg movements is verified although individual gaits show *** addition,we propose a novel sensing configuration combining unilateral lower leg movement velocity with its angular rate to achieve high accuracy and good generalizability while simplifying the wearable *** performances in personal identification(accuracy of 98.7%)and motion-state recognition(accuracy of 93.7%)are *** wearable system also exhibites high-precision real-time estimations of locomotion speed(error of 3.04%to 9.68%)and metabolic energy(error of 4.18%to 14.71%)for new subjects across various time-varying *** wearable system allows reliable leg movement monitoring and quantitative assessment of bodily kinematic and kinetic behaviors during daily activities,as well as safe identity authentication by gait parameters,which would greatly facilitate smart life,personal healthcare,and rehabilitation training.

关键词： smart enable monitoring

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Underdetermined direction of arrival estimation with nonuniform linear motion sampling based on a small unmanned aerial vehicle platform

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Defence Technology（防务技术） 2024年第3期33卷 352-363页

作者： Xinwei Wang Xiaopeng Yan Tai An Qile Chen Dingkun Huang Science and Technology on Electromechanical Dynamic Control laboratory School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China

Uniform linear array(ULA)radars are widely used in the collision-avoidance radar systems of small unmanned aerial vehicles(UAVs).In practice,a ULA's multi-target direction of arrival(DOA)estimation performance suffers from significant performance degradation owing to the limited number of physical *** improve the underdetermined DOA estimation performance of a ULA radar mounted on a small UAV platform,we propose a nonuniform linear motion sampling underdetermined DOA estimation *** the motion of the UAV platform,the echo signal is sampled at different ***,according to the concept of difference co-array,a virtual ULA with multiple array elements and a large aperture is synthesized to increase the degrees of freedom(DOFs).Through position analysis of the original and motion arrays,we propose a nonuniform linear motion sampling method based on ULA for determining the optimal *** the condition of no increase in the aperture of the physical array,the proposed method obtains a high DOF with fewer sampling runs and greatly improves the underdetermined DOA estimation performance of *** results of numerical simulations conducted herein verify the superior performance of the proposed method.

关键词： Unmanned aerial vehicle(UAV) Uniform linear array(ULA) Direction of arrival(DOA) Difference co-array Nonuniform linear motion sampling method

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Biomimetic soft robotic wrist with 3-DOF motion and stiffness tunability based on ring-reinforced pneumatic actuators and a particle jamming joint

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Science China(Technological Sciences) 2024年第3期67卷 774-790页

作者： HU TeTe LU XinJiang YI Jian WANG YuHui XU Du State Key laboratory of Precision Manufacturing for Extreme Service Performance School of Mechanical and Electrical EngineeringCentral South UniversityChangsha 410083China

The human wrist, a complex articulation of skeletal muscles and two-carpal rows, substantially contributes to improvements in maneuverability by agilely performing three-degree-of-freedom(3-DOF) orienting tasks and regulating stiffness according to variations in interaction forces. However, few soft robotic wrists simultaneously demonstrate dexterous 3-DOF motion and variable stiffness;in addition, they do not fully consider a soft-rigid hybrid structure of integrated muscles and two carpal *** this study, we developed a soft-rigid hybrid structure to design a biomimetic soft robotic wrist(BSRW) that is capable of rotating in the x and y directions, twisting around the z-axis, and possessing stiffness-tunable capacity. To actuate the BSRW, a lightweight soft-ring-reinforced bellows-type pneumatic actuator(SRBPA) with large axial, linear deformation(η_(lcmax)=70.6%,η_(lemax)=54.3%) and small radial expansion(η_(demax)=3.7%) is designed to mimic the motion of skeletal muscles. To represent the function of two-carpal rows, a compact particle-jamming joint(PJJ) that combines particles with a membrane-covered ballsocket mechanism is developed to achieve various 3-DOF motions and high axial load-carrying capacity(>60 N). By varying the jamming pressure, the stiffness of the PJJ can be adjusted. Finally, a centrally positioned PJJ and six independently actuated SRBPAs, which are in an inclined and antagonistic arrangement, are sandwiched between two rigid plates to form a flexible,stable, and compact BSRW. Such a structure enables the BSRW to have a dexterous 3-DOF motion, high load-carrying ability,and stiffness tunability. Experimental analysis verify 3-DOF motion of BSRW, producing force of 29.6 N and 36 N and torque of2.2 Nm in corresponding rotations. Moreover, the range of rotational angle and stiffness-tuning properties of BSRW are studied by applying jamming pressure to the PJJ. Finally, a system combining a BSRW and a soft enclosing gripper is proposed to demo

关键词： pneumatic soft actuators particle jamming robotic wrist soft robotics stiffness-tunable

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Spatial correlations in ground motion intensity measuring from the 2023 Türkiye earthquake

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Earthquake Research Advances 2024年第1期4卷 14-22页

作者： Guoliang Shao Ruizhi Wen Hongwei Wang Yeifei Ren Baofeng Zhou Key laboratory of Earthquake Engineering and Engineering Vibration Institute of Engineering MechanicsChina Earthquake AdministrationHarbin150080 China Key laboratory of Earthquake Disaster Mitigation Ministry of Emergency ManagementHarbin150080 China

When evaluating an area's seismic risk or resilience,it is necessary to use the spatial correlation to analyze the ground motion parameters of multiple sites together in an *** two large earthquakes in Türkiye provided the possibility for spatial correlation analysis of ground motion intensity measurements in this *** on the strong motion records provided by The Disaster and Emergency Management Authority of Türkiye(AFAD),this study uses the local ground motion prediction equation in Türkiye to give spatial correlation analysis of Intensity *** study gives an exponential model based on a semivariogram and compares it with the correlation model obtained from previous studies.

关键词： Spatial correlation Semi-variance Türkiye GMPE

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