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中国科学:技术科学（英文版）
中国科学:技术科学（英文版）

周光召

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中国科学:技术科学（英文版）/Journal Science China Technological SciencesCSCDCSTPCDEISCI
查看更多>>《中国科学》是中国科学院主办、中国科学杂志社出版的自然科学专业性学术刊物。《中国科学》任务是反映中国自然科学各学科中的最新科研成果，以促进国内外的学术交流。《中国科学》以论文形式报道中国基础研究和应用研究方面具有创造性的、高水平的和有重要意义的科研成果。在国际学术界，《中国科学》作为代表中国最高水平的学术刊物也受到高度重视。国际上最具有权威的检索刊物SCI，多年来一直收录《中国科学》的论文。1999年《中国科学》夺得国家期刊奖的第一名。
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    A comprehensive review of recent advancements and developments in heat exchanger network synthesis techniques

    XU YueLIU WeiWeiZHANG LuCUI GuoMin...
    335-356页
    查看更多>>摘要：The rapid development of computational technology and the increasing energy demand have improved heat exchanger network(HEN)synthesis.The HEN synthesis involves several optimizations of matches,distributions of heat loads,and stream splitting of heat units.Thus,obtaining good results at high efficiency has been the main standard for evaluating the techniques in the research area of HEN synthesis.This paper first summarizes and analyzes the main contributions of the existing HEN synthesis techniques.To compare related data quantitively,information on ten typical cases is presented in this paper.Furthermore,recently improved solutions for commonly encountered existing literature cases demonstrate the evolution and competition trends in the field of HEN synthesis.The comparison data presented in this paper not only provide a useful reference for future research but also present the optimization directions.Based on the findings of this study,it is noted that there is still a large room for improvement,and current approaches are incapableof dealing with all HEN cases.Moreover,it is still difficult to escape a local optimum and overcome structural constraints when seeking the global optimum.As a follow-up to the current work,the parallel computing mode and adaptively coordinating the ratio of global and local searching abilities are major development trends for future investigation.
      原文链接:
    • 万方数据
    • 维普

    Humanoid robot heads for human-robot interaction:A review

    LI YiZHU LiXiangZHANG ZiQianGUO MingFei...
    357-379页
    查看更多>>摘要：The humanoid robot head plays an important role in the emotional expression of human-robot interaction(HRI).They are emerging in industrial manufacturing,business reception,entertainment,teaching assistance,and tour guides.In recent years,significant progress has been made in the field of humanoid robots.Nevertheless,there is still a lack of humanoid robots that can interact with humans naturally and comfortably.This review comprises a comprehensive survey of state-of-the-art technologies for humanoid robot heads over the last three decades,which covers the aspects of mechanical structures,actuators and sensors,anthropomorphic behavior control,emotional expression,and human-robot interaction.Finally,the current challenges and possible future directions are discussed.
      原文链接:
    • 万方数据
    • 维普

    Stability and performance analysis of the compressed Kalman filter algorithm for sparse stochastic systems

    LI RongJiangGAN DieXIE SiYuLü JinHu...
    380-394页
    查看更多>>摘要：This paper considers the problem of estimating unknown sparse time-varying signals for stochastic dynamic systems.To deal with the challenges of extensive sparsity,we resort to the compressed sensing method and propose a compressed Kalman filter(KF)algorithm.Our algorithm first compresses the original high-dimensional sparse regression vector via the sensing matrix and then obtains a KF estimate in the compressed low-dimensional space.Subsequently,the original high-dimensional sparse signals can be well recovered by a reconstruction technique.To ensure stability and establish upper bounds on the estimation errors,we introduce a compressed excitation condition without imposing independence or stationarity on the system signal,and therefore suitable for feedback systems.We further present the performance of the compressed KF algorithm.Specifically,we show that the mean square compressed tracking error matrix can be approximately calculated by a linear deterministic difference matrix equation,which can be readily evaluated,analyzed,and optimized.Finally,a numerical example demonstrates that our algorithm outperforms the standard uncompressed KF algorithm and other compressed algorithms for estimating high-dimensional sparse signals.
      原文链接:
    • 万方数据
    • 维普

    A variable structure passivity control method for elastic joint robots based on cascaded high-order state estimation

    ZHANG JieXinNIE PingYunZHANG Bo
    395-407页
    查看更多>>摘要：Passivity-based controllers are widely used to facilitate physical interaction between humans and elastic joint robots,as they enhance the stability of the interaction system.However,the joint position tracking performance can be limited by the structures of these controllers when the system is faced with uncertainties and rough high-order system state measurements(such as joint accelerations and jerks).This study presents a variable structure passivity(VSP)control method for joint position tracking of elastic joint robots,which combines the advantages of passive control and variable structure control.This method ensures the tracking error converges in a finite time,even when the system faces uncertainties.The method also preserves the passivity of the system.Moreover,a cascaded observer,called CHOSSO,is also proposed to accurately estimate high-order system states,relying only on position and velocity signals.This observer allows independent implementation of disturbance compensation in the acceleration and jerk estimation channels.In particular,the observer has an enhanced ability to handle fast time-varying disturbances in physical human-robot interaction.The effectiveness of the proposed method is verified through simulations and experiments on a lower limb rehabilitation robot equipped with elastic joints.
      原文链接:
    • 万方数据
    • 维普

    Multiscale feature learning and attention mechanism for infrared and visible image fusion

    GAO LiLUO DeLinWANG Song
    408-422页
    查看更多>>摘要：Current fusion methods for infrared and visible images tend to extract features at a single scale,which results in insufficient detail and incomplete feature preservation.To address these issues,we propose an infrared and visible image fusion network based on a multiscale feature learning and attention mechanism(MsAFusion).A multiscale dilation convolution framework is employed to capture image features across various scales and broaden the perceptual scope.Furthermore,an attention network is introduced to enhance the focus on salient targets in infrared images and detailed textures in visible images.To compensate for information loss during convolution,jump connections are utilized during the image reconstruction phase.The fusion process utilizes a combined loss function consisting of pixel loss and gradient loss for unsupervised fusion of infraredand visible images.Extensive experiments on the dataset of electricity facilities demonstrate that our proposed method outperforms nine state-of-the-art methods in terms of visual perception and four objective evaluation metrics.
      原文链接:
    • 万方数据
    • 维普

    Navigation for autonomous vehicles via fast-stable and smooth reinforcement learning

    ZHANG RuiXianYANG JiaNanLIANG YeLU ShengAo...
    423-434页
    查看更多>>摘要：This paper investigates the navigation problem of autonomous vehicles based on reinforcement learning(RL)with both stability and smoothness guarantees.By introducing a data-based Lyapunov function,the stability criterion in mean cost is obtained,where the Lyapunov function has a property of fast descending.Then,an off-policy RL algorithm is proposed to train safe policies,in which a more strict constraint is exerted in the framework of model-free RL to ensure the fast convergence of policy generation,in contrast with the existing RL merely with stability guarantee.In addition,by simultaneously introducing constraints on action increments and action distribution variations,the difference between the adjacent actions is effectively alleviated to ensure the smoothness of the obtained policy,instead of only seeking the similarity of the distributions of adjacent actions as commonly done in the past literature.A navigation task of a ground differentially driven mobile vehicle in simulations is adopted to demonstrate the superiority of the proposed algorithm on the fast stability and smoothness.
      原文链接:
    • 万方数据
    • 维普

    Extremum seeking control for UAV close formation flight via improved pigeon-inspired optimization

    YUAN GuangSongDUAN HaiBin
    435-448页
    查看更多>>摘要：This paper proposes a comprehensive design scheme for the extremum seeking control(ESC)of the unmanned aerial vehicle(UAV)close formation flight.The proposed design scheme combines a Newton-Raphson method with an extended Kalman filter(EKF)to dynamically estimate the optimal position of the following UAV relative to the leading UAV.To reflect the wake vortex effects reliably,the drag coefficient induced by the wake vortex is considered as a performance function.Then,the performance function is parameterized by the first-order and second-order terms of its Taylor series expansion.Given the excellent performance of nonlinear estimation,the EKF is used to estimate the gradient and the Hessian matrix of the parameterized performance function.The output feedback of the proposed scheme is determined by iterative calculation of the Newton-Raphson method.Compared with the traditional ESC and the classic ESC,the proposed design scheme avoids the slow continuous time integration of the gradient.This allows a faster convergence of relative position extremum.Furthermore,the proposed method can provide a smoother command during the seeking process as the second-order term of the performance function is taken into account.The convergence analysis of the proposed design scheme is accomplished by showing that the output feedback is a supermartingale sequence.To improve estimation performance of the EKF,a improved pigeon-inspired optimization(IPIO)is proposed to automatically tune the noise covariance matrix.Monte Carlo simulations for a three-UAV close formation show that the proposed design scheme is robust to the initial position of the following UAV.
      原文链接:
    • 万方数据
    • 维普

    A novel lightweight computerized ECG interpretation approach based on clinical 12-lead data

    LIU YunQingQIN ChengJinLIU JinLeiJIN YanRui...
    449-463页
    查看更多>>摘要：Although 12-lead electrocardiograms(ECGs)provide a wide range of spatiotemporal characteristics,interpreting them for arrhythmia detection is difficult due to a lack of reliable large-scale clinical datasets.Herein,we proposed an innovative lightweight computerized ECG interpretation approach based on 12-lead data.Our model was trained,validated,and tested on 53845 standard 12-lead ECG records collected at Shanghai First People's Hospital in affiliation with Shanghai Jiao Tong University.The experiments revealed that our approach had a classification accuracy of 94.41％in the classification task of seven types of rhythms,which was markedly superior to related single-lead and 12-lead ECG classification methods.Moreover,the average receiver operating characteristic area under the curve reached a value of 0.940,and the precision values for sinus tachycardia and sinus bradycardia were 0.945 and 0.91,respectively,with specificity values of 0.996 and 0.994.By employing our boosting method,we were able to improve the accuracy to 94.85％.To investigate the performance degradation of the proposed neural network in some classes,an ECG cardiologist was enlisted to review questionable ECGs;this process provides a promising direction for network performance improvement.Therefore,the proposed computerized ECG interpretation approach has practical significance because it could help professional physicians analyze patients'heart conditions based on real-time 12-lead ECG or grade their disease severity in advance.
      原文链接:
    • 万方数据
    • 维普

    Neural networks-based iterative learning control consensus for periodically time-varying multi-agent systems

    CHEN JiaXiLI JunMinCHEN WeiShengGAO WeiFeng...
    464-474页
    查看更多>>摘要：In this paper,the problem of adaptive iterative learning based consensus control for periodically time-varying multi-agent systems is studied,in which the dynamics of each follower are driven by nonlinearly parameterized terms with periodic disturbances.Neural networks and Fourier base expansions are introduced to describe the periodically time-varying dynamic terms.On this basis,an adaptive learning parameter with a positively convergent series term is constructed,and a distributed control protocol based on local signals between agents is designed to ensure accurate consensus of the closed-loop systems.Furthermore,con-sensus algorithm is generalized to solve the formation control problem.Finally,simulation experiments are implemented through MATLAB to demonstrate the effectiveness of the method used.
      原文链接:
    • 万方数据
    • 维普

    Experimental study on effects of gas flow rate on soot characteristics in diffusion flames coupled with plasma

    QI DanDanCHEN MingXiaoTU XinLIU Dong...
    475-485页
    查看更多>>摘要：This study examined the evolution of morphology and nanostructure of soot particles from the plasma-flame interaction for various gas flow rates.The current study used both optical diagnostic and sampling methods to explore the soot production and combustion characteristics.Soot particles were characterized at the same positions downstream from the flame zone by ther-mophoretic sampling and transmission electron microscopy.Moreover,X-ray diffraction analysis,and thermogravimetric analysis were performed to study the nanostructure and oxidation reactivity of soot.A reduction in soot concentration was found with the plasma addition,which illustrated an inhibition effect of plasma on soot emission.The increased gas flow rate promoted soot concentration since a growing number of carbons participated in the combustion process.Depending on the gas flow rate(carbon content)variation and plasma activation,either liquid-like soot material with irregularly shaped protrusions or chain-like structure,or a mixture of both,were generated from the diffusion flames.The soot produced by plasma-flame interaction also demonstrated a high correlation between nanostructure and reactivity.The soot from lower carbon content with plasma activation had a shorter fringe length and larger fringe tortuosity related to higher oxidation reactivity.On the contrary,soot from the highest carbon content without plasma-flame interaction exhibited prevalent fullerene-like nanostructures with evident large or small shells and also had a higher carbonization degree resulting in lower oxidation reactivity,
      原文链接:
    • 万方数据
    • 维普