This study aimed to address the challenge of accurately and reliably detecting tomatoes in dense planting environments,a critical prerequisite for the automation implementation of robotic harvesting.However,the heavy ...This study aimed to address the challenge of accurately and reliably detecting tomatoes in dense planting environments,a critical prerequisite for the automation implementation of robotic harvesting.However,the heavy reliance on extensive manually annotated datasets for training deep learning models still poses significant limitations to their application in real-world agricultural production environments.To overcome these limitations,we employed domain adaptive learning approach combined with the YOLOv5 model to develop a novel tomato detection model called as TDA-YOLO(tomato detection domain adaptation).We designated the normal illumination scenes in dense planting environments as the source domain and utilized various other illumination scenes as the target domain.To construct bridge mechanism between source and target domains,neural preset for color style transfer is introduced to generate a pseudo-dataset,which served to deal with domain discrepancy.Furthermore,this study combines the semi-supervised learning method to enable the model to extract domain-invariant features more fully,and uses knowledge distillation to improve the model's ability to adapt to the target domain.Additionally,for purpose of promoting inference speed and low computational demand,the lightweight FasterNet network was integrated into the YOLOv5's C3 module,creating a modified C3_Faster module.The experimental results demonstrated that the proposed TDA-YOLO model significantly outperformed original YOLOv5s model,achieving a mAP(mean average precision)of 96.80%for tomato detection across diverse scenarios in dense planting environments,increasing by 7.19 percentage points;Compared with the latest YOLOv8 and YOLOv9,it is also 2.17 and 1.19 percentage points higher,respectively.The model's average detection time per image was an impressive 15 milliseconds,with a FLOPs(floating point operations per second)count of 13.8 G.After acceleration processing,the detection accuracy of the TDA-YOLO model on the Jetson Xavier NX development board is 90.95%,the mAP value is 91.35%,and the detection time of each image is 21 ms,which can still meet the requirements of real-time detection of tomatoes in dense planting environment.The experimental results show that the proposed TDA-YOLO model can accurately and quickly detect tomatoes in dense planting environment,and at the same time avoid the use of a large number of annotated data,which provides technical support for the development of automatic harvesting systems for tomatoes and other fruits.展开更多
A new grey forecasting model based on BP neural network and Markov chain was proposed. In order to combine the grey forecasting model with neural network, an important theorem that the grey differential equation is eq...A new grey forecasting model based on BP neural network and Markov chain was proposed. In order to combine the grey forecasting model with neural network, an important theorem that the grey differential equation is equivalent to the time response model, was proved by analyzing the features of grey forecasting model（GM（1,1））. Based on this, the differential equation parameters were included in the network when the BP neural network was constructed, and the neural network was trained by extracting samples from grey system＇s known data. When BP network was converged, the whitened grey differential equation parameters were extracted and then the grey neural network forecasting model （GNNM（1,1）） was built. In order to reduce stochastic phenomenon in GNNM（1,1）, the state transition probability between two states was defined and the Markov transition matrix was established by building the residual sequences between grey forecasting and actual value. Thus, the new grey forecasting model（MNNGM（1,1）） was proposed by combining Markov chain with GNNM（1,1）. Based on the above discussion, three different approaches were put forward for forecasting China electricity demands. By comparing GM（1, 1） and GNNM（1,1） with the proposed model, the results indicate that the absolute mean error of MNNGM（1,1） is about 0.4 times of GNNM（1,1） and 0.2 times of GM（I, 1）, and the mean square error of MNNGM（1,1） is about 0.25 times of GNNM（1,1） and 0.1 times of GM（1,1）.展开更多
Stack effect is a dominant driving force for building natural ventilation.Analytical models were developed for the evaluation of stack effect in a shaft,accounting for the heat transfer from shaft interior boundaries....Stack effect is a dominant driving force for building natural ventilation.Analytical models were developed for the evaluation of stack effect in a shaft,accounting for the heat transfer from shaft interior boundaries.Both the conditions with constant heat flux from boundaries to the airflow and the ones with constant boundary temperature were considered.The prediction capabilities of these analytical models were evaluated by using large eddy simulation(LES) for a hypothetical shaft.The results show that there are fairly good agreements between the predictions of the analytical models and the LES predictions in mass flow rate,vertical temperatures profile and pressure difference as well.Both the results of analytical models and LES show that the neutral plane could locate higher than one half of the shaft height when the upper opening area is identical with the lower opening area.Further,it is also shown that the analytical models perform better than KLOTE's model does in the mass flow rate prediction.展开更多
In order to obtain accurate prediction model and compensate for the influence of model mismatch on the control performance of the system and avoid solving nonlinear programming problem,an adaptive fuzzy predictive fun...In order to obtain accurate prediction model and compensate for the influence of model mismatch on the control performance of the system and avoid solving nonlinear programming problem,an adaptive fuzzy predictive functional control(AFPFC) scheme for multivariable nonlinear systems was proposed.Firstly,multivariable nonlinear systems were described based on Takagi-Sugeno(T-S) fuzzy models;assuming that the antecedent parameters of T-S models were kept,the consequent parameters were identified on-line by using the weighted recursive least square(WRLS) method.Secondly,the identified T-S models were linearized to be time-varying state space model at each sampling instant.Finally,by using linear predictive control technique the analysis solution of the optimal control law of AFPFC was established.The application results for pH neutralization process show that the absolute error between the identified T-S model output and the process output is smaller than 0.015;the tracking ability of the proposed AFPFC is superior to that of non-AFPFC(NAFPFC) for pH process without disturbances,the overshoot of the effluent pH value of AFPFC with disturbances is decreased by 50% compared with that of NAFPFC;when the process parameters of AFPFC vary with time the integrated absolute error(IAE) performance index still retains to be less than 200 compared with that of NAFPFC.展开更多
To decrease breakdown time and improve machine operation reliability,accurate residual useful life(RUL) prediction has been playing a critical role in condition based monitoring.A data fusion method was proposed to ac...To decrease breakdown time and improve machine operation reliability,accurate residual useful life(RUL) prediction has been playing a critical role in condition based monitoring.A data fusion method was proposed to achieve online RUL prediction of slewing bearings,which consisted of a reliability based RUL prediction model and a data driven failure rate(FR) estimation model.Firstly,an RUL prediction model was developed based on modified Weibull distribution to build the relationship between RUL and FR.Secondly,principal component analysis(PCA) was introduced to process multi-dimensional life-cycle vibration signals,and continuous squared prediction error(CSPE) and its time-domain features were employed as equipment performance degradation features.Afterwards,an FR estimation model was established on basis of the degradation features and relevant FRs using simplified fuzzy adaptive resonance theory map(SFAM) neural network.Consequently,real-time FR of equipment can be obtained through FR estimation model,and then accurate RUL can be calculated through the RUL prediction model.Results of a slewing bearing life test show that CSPE is an effective indicator of performance degradation process of slewing bearings,and that by combining actual load condition and real-time monitored data,the calculation time is reduced by 87.3%and the accuracy is increased by 0.11%,which provides a potential for online RUL prediction of slewing bearings and other various machineries.展开更多
In order to enhance forecasting precision of problems about nonlinear time series in a complex industry system,a new nonlinear fuzzy adaptive variable weight combined forecasting model was established by using concept...In order to enhance forecasting precision of problems about nonlinear time series in a complex industry system,a new nonlinear fuzzy adaptive variable weight combined forecasting model was established by using conceptions of the relative error,the change tendency of the forecasted object,gray basic weight and adaptive control coefficient on the basis of the method of fuzzy variable weight.Based on Visual Basic 6.0 platform,a fuzzy adaptive variable weight combined forecasting and management system was developed.The application results reveal that the forecasting precisions from the new nonlinear combined forecasting model are higher than those of other single combined forecasting models and the combined forecasting and management system is very powerful tool for the required decision in complex industry system.展开更多
In order to study the dynamic response of concrete-filled steel tube(CFST) columns against blast loads,a simplified model is established utilizing the equivalent single-degree-of-freedom(SDOF) method,which considers t...In order to study the dynamic response of concrete-filled steel tube(CFST) columns against blast loads,a simplified model is established utilizing the equivalent single-degree-of-freedom(SDOF) method,which considers the non-uniform distribution of blast loads on real column and the axial load-bending moment(P-M) interaction of CFST columns.Results of the SDOF analysis compare well with the experimental data reported in open literature and the values from finite element modeling(FEM) using the program LS-DYNA.Further comparisons between the results of SDOF and FEM analysis show that the proposed model is effective to predict the dynamic response of CFST columns with different blast conditions and column details.Also,it is found that the maximum responses of the columns are overestimated when ignoring the non-uniformity of blast loads,and that neglecting the effect of P-M interaction underestimates the maximum response of the columns with large axial load ratio against close range blast.The proposed SDOF model can be used in the design of the blast-loaded CFST columns.展开更多
Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the ...Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose （including position and orientation） of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution （DE） algoritlun. A six-degree of freedom （6-DOF） robot is used as a practical simulation example, and the simulation results show： 1） A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2） Search efficiency is increased by improved DE; 3） More calibration configurations may make calibration results better.展开更多
基金The National Natural Science Foundation of China (32371993)The Natural Science Research Key Project of Anhui Provincial University(2022AH040125&2023AH040135)The Key Research and Development Plan of Anhui Province (202204c06020022&2023n06020057)。
文摘This study aimed to address the challenge of accurately and reliably detecting tomatoes in dense planting environments,a critical prerequisite for the automation implementation of robotic harvesting.However,the heavy reliance on extensive manually annotated datasets for training deep learning models still poses significant limitations to their application in real-world agricultural production environments.To overcome these limitations,we employed domain adaptive learning approach combined with the YOLOv5 model to develop a novel tomato detection model called as TDA-YOLO(tomato detection domain adaptation).We designated the normal illumination scenes in dense planting environments as the source domain and utilized various other illumination scenes as the target domain.To construct bridge mechanism between source and target domains,neural preset for color style transfer is introduced to generate a pseudo-dataset,which served to deal with domain discrepancy.Furthermore,this study combines the semi-supervised learning method to enable the model to extract domain-invariant features more fully,and uses knowledge distillation to improve the model's ability to adapt to the target domain.Additionally,for purpose of promoting inference speed and low computational demand,the lightweight FasterNet network was integrated into the YOLOv5's C3 module,creating a modified C3_Faster module.The experimental results demonstrated that the proposed TDA-YOLO model significantly outperformed original YOLOv5s model,achieving a mAP(mean average precision)of 96.80%for tomato detection across diverse scenarios in dense planting environments,increasing by 7.19 percentage points;Compared with the latest YOLOv8 and YOLOv9,it is also 2.17 and 1.19 percentage points higher,respectively.The model's average detection time per image was an impressive 15 milliseconds,with a FLOPs(floating point operations per second)count of 13.8 G.After acceleration processing,the detection accuracy of the TDA-YOLO model on the Jetson Xavier NX development board is 90.95%,the mAP value is 91.35%,and the detection time of each image is 21 ms,which can still meet the requirements of real-time detection of tomatoes in dense planting environment.The experimental results show that the proposed TDA-YOLO model can accurately and quickly detect tomatoes in dense planting environment,and at the same time avoid the use of a large number of annotated data,which provides technical support for the development of automatic harvesting systems for tomatoes and other fruits.
基金Project(70572090) supported by the National Natural Science Foundation of China
文摘A new grey forecasting model based on BP neural network and Markov chain was proposed. In order to combine the grey forecasting model with neural network, an important theorem that the grey differential equation is equivalent to the time response model, was proved by analyzing the features of grey forecasting model（GM（1,1））. Based on this, the differential equation parameters were included in the network when the BP neural network was constructed, and the neural network was trained by extracting samples from grey system＇s known data. When BP network was converged, the whitened grey differential equation parameters were extracted and then the grey neural network forecasting model （GNNM（1,1）） was built. In order to reduce stochastic phenomenon in GNNM（1,1）, the state transition probability between two states was defined and the Markov transition matrix was established by building the residual sequences between grey forecasting and actual value. Thus, the new grey forecasting model（MNNGM（1,1）） was proposed by combining Markov chain with GNNM（1,1）. Based on the above discussion, three different approaches were put forward for forecasting China electricity demands. By comparing GM（1, 1） and GNNM（1,1） with the proposed model, the results indicate that the absolute mean error of MNNGM（1,1） is about 0.4 times of GNNM（1,1） and 0.2 times of GM（I, 1）, and the mean square error of MNNGM（1,1） is about 0.25 times of GNNM（1,1） and 0.1 times of GM（1,1）.
基金Project(50838009) supported by the National Natural Science Foundation of ChinaProject(2010DFA72740-03) supported by the National Key Technology Research and Development Program of China
文摘Stack effect is a dominant driving force for building natural ventilation.Analytical models were developed for the evaluation of stack effect in a shaft,accounting for the heat transfer from shaft interior boundaries.Both the conditions with constant heat flux from boundaries to the airflow and the ones with constant boundary temperature were considered.The prediction capabilities of these analytical models were evaluated by using large eddy simulation(LES) for a hypothetical shaft.The results show that there are fairly good agreements between the predictions of the analytical models and the LES predictions in mass flow rate,vertical temperatures profile and pressure difference as well.Both the results of analytical models and LES show that the neutral plane could locate higher than one half of the shaft height when the upper opening area is identical with the lower opening area.Further,it is also shown that the analytical models perform better than KLOTE's model does in the mass flow rate prediction.
基金Project(2007AA04Z162) supported by the National High-Tech Research and Development Program of ChinaProjects(2006T089, 2009T062) supported by the University Innovation Team in the Educational Department of Liaoning Province, China
文摘In order to obtain accurate prediction model and compensate for the influence of model mismatch on the control performance of the system and avoid solving nonlinear programming problem,an adaptive fuzzy predictive functional control(AFPFC) scheme for multivariable nonlinear systems was proposed.Firstly,multivariable nonlinear systems were described based on Takagi-Sugeno(T-S) fuzzy models;assuming that the antecedent parameters of T-S models were kept,the consequent parameters were identified on-line by using the weighted recursive least square(WRLS) method.Secondly,the identified T-S models were linearized to be time-varying state space model at each sampling instant.Finally,by using linear predictive control technique the analysis solution of the optimal control law of AFPFC was established.The application results for pH neutralization process show that the absolute error between the identified T-S model output and the process output is smaller than 0.015;the tracking ability of the proposed AFPFC is superior to that of non-AFPFC(NAFPFC) for pH process without disturbances,the overshoot of the effluent pH value of AFPFC with disturbances is decreased by 50% compared with that of NAFPFC;when the process parameters of AFPFC vary with time the integrated absolute error(IAE) performance index still retains to be less than 200 compared with that of NAFPFC.
基金Projects(51375222,51175242)supported by the National Natural Science Foundation of China
文摘To decrease breakdown time and improve machine operation reliability,accurate residual useful life(RUL) prediction has been playing a critical role in condition based monitoring.A data fusion method was proposed to achieve online RUL prediction of slewing bearings,which consisted of a reliability based RUL prediction model and a data driven failure rate(FR) estimation model.Firstly,an RUL prediction model was developed based on modified Weibull distribution to build the relationship between RUL and FR.Secondly,principal component analysis(PCA) was introduced to process multi-dimensional life-cycle vibration signals,and continuous squared prediction error(CSPE) and its time-domain features were employed as equipment performance degradation features.Afterwards,an FR estimation model was established on basis of the degradation features and relevant FRs using simplified fuzzy adaptive resonance theory map(SFAM) neural network.Consequently,real-time FR of equipment can be obtained through FR estimation model,and then accurate RUL can be calculated through the RUL prediction model.Results of a slewing bearing life test show that CSPE is an effective indicator of performance degradation process of slewing bearings,and that by combining actual load condition and real-time monitored data,the calculation time is reduced by 87.3%and the accuracy is increased by 0.11%,which provides a potential for online RUL prediction of slewing bearings and other various machineries.
基金Project(08SK1002) supported by the Major Project of Science and Technology Department of Hunan Province,China
文摘In order to enhance forecasting precision of problems about nonlinear time series in a complex industry system,a new nonlinear fuzzy adaptive variable weight combined forecasting model was established by using conceptions of the relative error,the change tendency of the forecasted object,gray basic weight and adaptive control coefficient on the basis of the method of fuzzy variable weight.Based on Visual Basic 6.0 platform,a fuzzy adaptive variable weight combined forecasting and management system was developed.The application results reveal that the forecasting precisions from the new nonlinear combined forecasting model are higher than those of other single combined forecasting models and the combined forecasting and management system is very powerful tool for the required decision in complex industry system.
基金Project(KJZH14220)supported by the Achievement Transfer Program of Institutions of Higher Education in Chongqing,China
文摘In order to study the dynamic response of concrete-filled steel tube(CFST) columns against blast loads,a simplified model is established utilizing the equivalent single-degree-of-freedom(SDOF) method,which considers the non-uniform distribution of blast loads on real column and the axial load-bending moment(P-M) interaction of CFST columns.Results of the SDOF analysis compare well with the experimental data reported in open literature and the values from finite element modeling(FEM) using the program LS-DYNA.Further comparisons between the results of SDOF and FEM analysis show that the proposed model is effective to predict the dynamic response of CFST columns with different blast conditions and column details.Also,it is found that the maximum responses of the columns are overestimated when ignoring the non-uniformity of blast loads,and that neglecting the effect of P-M interaction underestimates the maximum response of the columns with large axial load ratio against close range blast.The proposed SDOF model can be used in the design of the blast-loaded CFST columns.
基金Projects(60775049,60805033) supported by National Natural Science Foundation of ChinaProject(2007AA704317) supported by the National High Technology Research and Development Program of China
文摘Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose （including position and orientation） of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution （DE） algoritlun. A six-degree of freedom （6-DOF） robot is used as a practical simulation example, and the simulation results show： 1） A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2） Search efficiency is increased by improved DE; 3） More calibration configurations may make calibration results better.
