J Shanghai Jiaotong Univ Sci

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1. Sealing Performance of Pressure-Adaptive Seal

LI Yuanfeng (李元丰), WANG Yiling (王怡灵), ZHANG Wanxin∗ (张万欣), LIU Jinian (刘冀念), MA Jialu (马加炉)

J Shanghai Jiaotong Univ Sci 2022, 27 (6): 747-756. DOI: 10.1007/s12204-022-2510-x

摘要（470）

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A pressure-adaptive seal is developed to meet the demands of quick assembling and disassembling for an individual protection equipment in aerospace. The analysis model, which reflects the main characteristics of the seal structure, is built based on the finite element method and the Roth’s theory of rubber seal, and verified by the prototype test. The influences of precompression ratio, hardness of the sealing ring rubber, and friction coefficient on the sealing performance are investigated by variable parameter method. Results show that the model can describe the essential characteristics of the pressure-adaptive seal structure, which has good follow-up to the cavity pressure to achieve the purpose of pressure self-adaptive. The leakage rate correlates negatively with the precompression ratio of the sealing ring and the hardness of the sealing ring material, while is positively related to the friction coefficient between the sealing ring and the sealing edge. The maximum contact stress on sealing surface has negative correlation with the precompression ratio of the sealing ring, and positive correlation with the hardness of the seal ring material. The damage risk of the sealing ring increases with the increases of the precompression ratio of sealing ring, hardness of sealing ring material, and friction coefficient.

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2. 基于多元动机理论的共享电动汽车出行意愿影响因素研究

BAO Lewen (鲍乐雯), MIAO Rui, ∗ (苗瑞), CHEN Zhihua (陈志华), ZHANG Bo (张博), GUO Peng (郭鹏), MA Yuze (马宇泽)

J Shanghai Jiaotong Univ Sci 2023, 28 (1): 1-9. DOI: 10.1007/s12204-023-2563-5

摘要（463）

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分析城市居民对共享电动汽车的使用意愿对于促进城市交通低碳发展意义重大。考虑到目前共享电动汽车仍存在空闲率高、吸引力不足等问题，本研究提出了一种基于多元动机理论的结构方程模型。首先利用多元动机理论将影响消费者是否选择共享出行方式归为消费者驱动动机、方案驱动动机以及企业驱动动机三类，并对各变量的影响因素进行了细分；随后通过调查问卷得到上海市居民对电动汽车共享出行的意愿数据；最后构建结构方程模型定量化分析了各变量对于出行意愿的影响。研究结果表明：消费者驱动动机（影响权重范围为0.14~0.63）对于共享电动汽车出行意愿的影响最大，远大于方案驱动动机（-0.14~0.15）和企业驱动动机（0.02~0.06）的影响，其中在消费者驱动变量中，绿色出行意识影响最大。基于以上分析，本文分别从消费者、企业及政府层面提出了具体的相关政策建议。

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3. 用于电化学双层电容器的离子液体改性聚乙烯醇和硫氰酸钠聚合物电解质的物理表征

AZEMTSOP Manfo Theodore, MEHRA Ram Mohan, KUMAR Yogesh, GUPTA Meenal

J Shanghai Jiaotong Univ Sci 2023, 28 (2): 161-171. DOI: 10.1007/s12204-021-2397-y

摘要（359）

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以聚乙烯醇（PVA）和硫氰酸钠为主要原料，采用溶液浇铸造工艺研制了新型凝胶聚合物电解质（GPEs）。将1-乙基-3-甲基-咪唑三氰基甲烷化物（[EMIM][TCM]）的离子液体掺入到聚合物-盐配合物体系（PVA + NaSCN），以进一步提高导电性能。利用X射线衍射（XRD）、偏光显微镜术（POM）、傅里叶变换红外光谱（FTIR）和电导率测量对离子液体掺杂的聚合物电解质薄膜进行了表征。通过XRD测试了离子液体掺杂聚合物电解质薄膜的结晶度和非结晶性，发现随着离子液体含量的增加，新型凝胶聚合物电解质的非结晶性增加。POM测评了聚乙烯醇中盐和离子液体的加入对表面形貌的影响。通过FTIR研究了新型凝胶聚合物电解质薄膜的组成性质。采用循环伏安法和电化学阻抗谱对其电学和电化学性能进行了表征。聚合物-盐复合物中离子液体的质量分数为6%时，新型凝胶聚合物电解质薄膜的最大电导率为1.10 × 10^-5 S/cm。离子迁移数约为0.97。利用优化的新型凝胶聚合物电解质薄膜和还原氧化石墨烯基电极制备了电化学双层电容器。由循环伏安法计算的电化学双层电容器电池的比电容为3 F/g。

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4. 双时效处理对15-5PH不锈钢强度-韧性的改善

特日格乐, 张玉妥,

J Shanghai Jiaotong Univ Sci 2023, 28 (2): 270-279. DOI: 10.1007/s12204-021-2390-5

摘要（353）

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为了获得15-5PH不锈钢更好的强度-韧性匹配，采用双时效处理方法研究了15-5PH不锈钢的力学性能和组织演变。在本研究中，Cu析出相和逆变奥氏体对强度-韧性匹配的改善起着决定性作用。采用电子背散射衍射、透射电镜术和扫描透射电镜术对其微观结构进行了观察。分别采用Thermo-Calc软件和X射线衍射计算并测量Cu析出相和逆变奥氏体的体积分数。结果表明，逆变奥氏体在马氏体板条边界处形成，其体积分数也随着时效温度的增加而增加，同时，Cu析出相的尺寸也逐渐增大。双时效处理与传统的单时效处理相比，15-5PH不锈钢的双时效处理可以在保持必要强度的同时提高韧性。15-5PH不锈钢在550 ℃ × 4 h + 580 ℃ × 1 h的双时效处理中，具有最佳的强度和低温（? 40 ℃）韧性匹配，其屈服强度为1.037 GPa，抗拉强度为1.086 GPa，低温（? 40 ℃）冲击功为179 J。

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5. Path Planning and Optimization of Humanoid Manipulator in Cartesian Space

LI Shiqi (李世其), LI Xiao∗ (李肖), HAN Ke (韩可), XIONG Youjun (熊友军), XIE Zheng (谢铮), CHEN Jinliang (陈金亮)

J Shanghai Jiaotong Univ Sci 2022, 27 (5): 614-620. DOI: 10.1007/s12204-022-2416-7

摘要（340）

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To solve the problems of low efficiency and multi-solvability of humanoid manipulator Cartesian space path planning in physical human-robot interaction, an improved bi-directional rapidly-exploring random tree algorithm based on greedy growth strategy in 3D space is proposed. The workspace of manipulator established based on Monte Carlo method is used as the sampling space of the rapidly-exploring random tree, and the opposite expanding greedy growth strategy is added in the random tree expansion process to improve the path planning efficiency. Then the generated path is reversely optimized to shorten the length of the planned path, and the optimized path is interpolated and pose searched in Cartesian space to form a collision-free optimized path suitable for humanoid manipulator motion. Finally, the validity and reliability of the algorithm are verified in an intelligent elderly care service scenario based on Walker2, a large humanoid service robot.

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6. 用于膝关节辅助的集成式液压驱动可穿戴机器人

赵亚飞, 黄超逸, 邹玉莹, 邹可涵, 邹笑阳, 薛嘉琦, 李晓婷, KOH Keng Huat, 王小军, 赖伟超, 胡勇, 席宁, 王峥

J Shanghai Jiaotong Univ Sci 2023, 28 (3): 289-295. DOI: 10.1007/s12204-023-2602-2

摘要（335）

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与衰老过程有关的疾病可能导致膝关节功能失调，因此需要以可穿戴机器人护膝的形式提供膝关节援助。然而，现有的可穿戴机器人在协助老年人的日常活动中面临着力的有效传递和适应人体运动的困难。尽管软体驱动器已被广泛用于可穿戴机器人中，在便携的基础上实现快速响应和运动控制仍然是一个挑战。针对这些问题，我们提出了一个集成多传感器和直驱液压驱动系统的软体护膝机器人系统。我们在便携式液压系统中实现了可控和快速的力输出。多传感器的反馈使机器人系统能够通过人的生理信号和动作信息与人体进行协作。人类用户的测试结果验证了该膝关节机器人可以通过肌电信号触发而向膝关节提供辅助扭矩。

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7. 基于物联网的高速公路雨雾天气智能限速系统

YAN Beirui (燕北瑞), FANG Cheng (方成), QIU Hao (邱昊), ZHU Wenfeng∗ (朱文峰)

J Shanghai Jiaotong Univ Sci 2023, 28 (1): 10-19. DOI: 10.1007/s12204-023-2564-4

摘要（333）

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山区高速公路不良天气频发，弯段多，且隧道多，雨雾区域性较强，极大影响了交通安全及通行效率。基于物联网的车路协同系统可以实时共享车路信息，扩大车辆的环境感知范围，实现车路协同工作，从而保障交通安全，提高通行效率。因此，针对雨雾天高速公路行车安全问题，本文提出了基于物联网的车路协同行车辅助系统模型。基于雨雾的影响原理，分析降雨，水膜及附着系数方面的作用机理。以天气信息、道路参数、车辆状态为系统输入，以停车视距、防侧翻侧滑为边界约束，构建面向智能交通的车路协同行车辅助系统。与不良天气下某实际高速公路的实车实验表明：该辅助系统有利于提升不良天气下行车安全，支持提升山区高速公路智能化发展水平。

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8. Adaptive Human-Robot Collaboration Control Based on Optimal Admittance Parameters

YU Xinyi (禹鑫燚), WU Jiaxin (吴加鑫), XU Chengjun (许成军), LUO Huizhen (罗惠珍), OU Linlin∗ (欧林林)

J Shanghai Jiaotong Univ Sci 2022, 27 (5): 589-601. DOI: 10.1007/s12204-022-2460-3

摘要（326）

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In order to help the operator perform the human-robot collaboration task and optimize the task performance, an adaptive control method based on optimal admittance parameters is proposed. The overall control structure with the inner loop and outer loop is first established. The tasks of the inner loop and outer loop are robot control and task optimization, respectively. Then an inner-loop robot controller integrated with barrier Lyapunov function and radial basis function neural networks is proposed, which makes the robot with unknown dynamics securely behave like a prescribed robot admittance model sensed by the operator. Subsequently, the optimal parameters of the robot admittance model are obtained in the outer loop to minimize the task tracking error and interaction force. The optimization problem of the robot admittance model is transformed into a linear quadratic regulator problem by constructing the human-robot collaboration system model. The model includes the unknown dynamics of the operator and the task performance details. For relaxing the requirement of the system model, the integral reinforcement learning is employed to solve the linear quadratic regulator problem. Besides, an auxiliary force is designed to help the operator complete the specific task better. Compared with the traditional control scheme, the security performance and interaction performance of the human-robot collaboration system are improved. The effectiveness of the proposed method is verified through two numerical simulations. In addition, a practical human-robot collaboration experiment is carried out to demonstrate the performance of the proposed method.

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9. 助力型下肢外骨骼机器人研究综述

贺贵松, 黄学功, 李峰, 汪辉兴

J Shanghai Jiaotong Univ Sci 2024, 29 (1): 1-15. DOI: 10.1007/s12204-022-2489-3

摘要（297）

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助力型下肢外骨骼机器人是一种可穿戴智能机器人系统，涉及力学、材料、电子、控制、机器人学等诸多领域。该系统借助外部能源为人类提供额外的动力，可以增强人体的机能，帮助穿戴者承受以往无法承受的重量。同时，通过合理的结构设计和被动储能等方式，还可以对特定动作进行辅助。本文首先介绍了助力型下肢外骨骼机器人在国内外的研究现状，针对几种典型样机进行了详细分析。之后又对其结构设计、驱动方式、感知技术、控制方法、能源管理、人机耦合等关键技术进行了综述，并将外骨骼机器人常用的一些设计方法进行了归纳与对比。最后总结了助力型下肢外骨骼机器人研究中依旧存在的问题和可能的解决方案，并对未来的发展趋势进行了展望。

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10. 基于图解法和Alpha shape算法设计带啮合间隙的双螺杆压缩机转子齿形

杨剑, , 徐明照, 陆征

J Shanghai Jiaotong Univ Sci 2023, 28 (2): 243-254. DOI: 10.1007/s12204-021-2396-z

摘要（293）

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转子间隙是双螺杆压缩机安全运行所需的，对双螺杆压缩机的性能有重大影响。本研究的目的是获得转子端面上具有合理啮合间隙的转子齿廓，使转子接触线上的间隙均匀，使转子啮合光滑。在理想条件下，螺杆压缩机的转子应无间隙或过盈。但由于装配误差、热压缩、应力变形等因素，未进行齿隙改造的转子在运行过程中不可避免地会产生过盈。为了实现双螺杆转子型线间隙的高效高精度设计，提出了一种基于Alpha shape解的双螺杆转子型线间隙设计方法。该方法避免了传统包络原理中复杂的解析计算。转子共轭运动扫描表面上的点的最佳近似是用特定颜色来说明的。对螺杆转子单齿廓的扫面进行粗扫描，获取扫面边界点的基点集。利用基点集的值计算每个间隔的弦长和倾斜角度，调整每个间隔扫描面的位置、相位和放大倍数。最后，将数据点集转换到同一坐标系下生成共轭转子轮廓线。通过实例验证了该方法的可行性和适合性。基于等距轮廓法计算了实际工况下螺杆压缩机内外转子间隙。因此，本研究为双螺杆压缩机转子加工中的啮合间隙设计提供了依据。

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11. System Life and Reliability Modeling of a Multiple Power Takeoffs Accessory Gearbox Transmission

WANG Kai∗ (汪凯), WANG Xianliang (王宪良), ZHU Jiazan (朱加赞), OU Daisong (欧代松), PAN Daifeng (潘代锋)

J Shanghai Jiaotong Univ Sci 2022, 27 (6): 855-866. DOI: 10.1007/s12204-022-2473-y

摘要（290）

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A mathematical model for system life and reliability of a multiple power takeoffs aeroengine accessory gearbox transmission is presented. The geometry model of gear train is distributed into several subsystems by different transmitted powers. The lives of each component are combined to determine the units, subsystems and entire system lives sequentially according to a strict series probability model. The unit and subsystem interface models are defined to dispose the loads of common components. The algorithm verification is presented and a numerical example is given to illustrate the use of this program. The initial design could not fulfill the life requirement. A design modification shows that the gear train has a more balanced life distribution by strengthening the weak parts, and the overall life of entire system is increased above the design requirement. This program can help the designer to approach an optimal accessory gearbox transmission design efficiently.

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12. 手术机器人的力感知技术进展

高红岩1, 2，艾孝杰1, 2，孙正隆3，陈卫东1, 2，高安柱1, 2

J Shanghai Jiaotong Univ Sci 2023, 28 (3): 370-381. DOI: 10.1007/s12204-023-2607-x

摘要（279）

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力感知在微创手术中对于手术情况分析和安全交互至关重要。因此，集成力感知技术的手术机器人能够保证精确和安全的手术过程。在过去的几十年里，手术机器人的力感知技术已经取得了相当大的进展。本文综述了目前用于手术机器人的基于电和光的力传感器，包括压阻式、压电式、电容式、强度/相位调制和光纤布拉格光栅传感器，同时也讨论了它们的原理、应用、优点和局限性。最后，我们对于当前手术机器人力感知技术进行了总结。

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13. 行人轨迹预测的动作感知编码器–解码器网络

FU Jiawei∗ (傅家威), ZHAO Xu (赵旭)

J Shanghai Jiaotong Univ Sci 2023, 28 (1): 20-27. DOI: 10.1007/s12204-023-2565-3

摘要（275）

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准确的行人轨迹预测在自动驾驶系统中至关重要，因为它们对于自主车辆的响应和决策至关重要。在本研究中，我们关注从第一人称视角预测行人未来轨迹的问题。大多数现有的第一人称视角的轨迹预测方法采用了鸟瞰图下的预测方法，忽略了两者之间的差异。为此，我们澄清了两种视角之间的差异，并强调了第一人称视角中动作感知对于轨迹预测的重要性。我们提出了一种基于编码器–解码器框架的新动作感知网络，在编码器末端具有动作预测分支和目标估计分支。在解码器部分，采用双向长短期记忆块来生成行人未来轨迹的最终预测。与其他方法相比，我们的方法在公共数据集上进行了评估，并取得了有竞争力的表现。消融研究证明了动作预测分支的有效性。

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14. Switched Three-Dimensional Decoupling Stabilization of Underactuated Autonomous Underwater Vehicles

FANG Haolin (房浩霖), ZHANG Jiawen (张家闻), LI Jiawang∗ (李家旺)

J Shanghai Jiaotong Univ Sci 2022, 27 (3): 383-392. DOI: 10.1007/s12204-022-2446-1

摘要（271）

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A three-dimensional stabilization problem for underactuated autonomous underwater vehicles (AUVs) is addressed in this paper. A novel coordinate transformation form consisting of state modifications and input transformations is introduced such that the whole system is divided into two decoupled one-order subsystems. Some switching functions are presented to further decouple the underactuated dynamics and to produce persis tently exciting (PE) signals for those underactuated states. Based on the aforementioned results, a quite simple control law is designed to achieve global three-dimensional asymptotic convergence of all states of underactuated AUVs. Comparative simulations are carried out to validate the effectiveness and performance of the proposed control scheme.

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15. 悬臂式齿轮箱体的力学分析方法

王珏, 李朋, 宋诗瑶

J Shanghai Jiaotong Univ Sci 2023, 28 (2): 233-242. DOI: 10.1007/s12204-021-2316-2

摘要（264）

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由于箱体结构的差异，长悬臂式齿轮箱的受力状态与普通齿轮箱不同。传统的力学分析方法将悬臂式齿轮箱体视作悬臂梁，或者是普通箱体，相关研究文献很少。本文以采煤机截割部齿轮箱（SCUG）为例，根据SCUG的疲劳原因，研究了其力学分析方法。建立了力分析模型，找出低频载荷引起的静态疲劳区域，并利用局部共振分析找出高频载荷引起的振动疲劳区域。在力分析模型中，不仅考虑了弯曲力矩，还考虑了齿轮啮合力引起的扭矩。通过切削试验获得了振动响应，通过频域分析获得了局部共振的主频。建立了SCUG的有限元模型，并对其固有频率和应变模态进行了分析，得到了与主频相对应的主要振动模态。因此，获得了由低频和高频载荷引起的大应力区域。结果表明，最恶劣的工作条件是斜切截割，在600 mm切削深度下B-B的应力可达166 MPa。很显然，950 Hz、1 250 Hz和1 400 Hz是SCUG的主要频率（第23、25和27个自然频率）。最后，本文提出了悬臂齿轮箱壳体力学分析方法的一些原则。

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16. Automatic Removal of Multiple Artifacts for Single-Channel Electroencephalography

ZHANG Chenbei (张晨贝), SABOR Nabil, LUO Junwen (罗竣文), PU Yu (蒲宇), WANG Guoxing (王国兴), LIAN Yong∗ (连勇)

J Shanghai Jiaotong Univ Sci 2022, 27 (4): 437-451. DOI: 10.1007/s12204-021-2374-5

摘要（259）

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Removing different types of artifacts from the electroencephalography (EEG) recordings is a critical step in performing EEG signal analysis and diagnosis. Most of the existing algorithms aim for removing single type of artifacts, leading to a complex system if an EEG recording contains different types of artifacts. With the advancement in wearable technologies, it is necessary to develop an energy-efficient algorithm to deal with different types of artifacts for single-channel wearable EEG devices. In this paper, an automatic EEG artifact removal algorithm is proposed that effectively reduces three types of artifacts, i.e., ocular artifact (OA), transmission- line/harmonic-wave artifact (TA/HA), and muscle artifact (MA), from a single-channel EEG recording. The effectiveness of the proposed algorithm is verified on both simulated noisy EEG signals and real EEG from CHB- MIT dataset. The experimental results show that the proposed algorithm effectively suppresses OA, MA and TA/HA from a single-channel EEG recording as well as physical movement artifact.

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17. Modification Method of Longitudinal Bow Structure for Ice-Strengthened Merchant Ship

DING Shifeng (丁仕风), ZHOU Li∗ (周利), GU Yingjie (顾颖杰), ZHOU Yajun (周亚军)

J Shanghai Jiaotong Univ Sci 2022, 27 (3): 298-306. DOI: 10.1007/s12204-022-2442-5

摘要（259）

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Merchant ships, which are quite different from icebreakers, usually require the light ice-strengthened bow under the floe-ice condition. According to ice-class B, requirements of China Classification Society (CCS), intermediate frames and thick hull plates are necessary for the ice belt area to resist floe-ice impact. However, due to the limited space, it is not practical to set so many intermediate longitudinals from manufacture point of view. In this paper, a modification method is proposed to solve the problem by maintaining the frame spacing and increasing the plate thickness. The aim is to make sure that the bow owns the equivalent ice-bearing capacity with the original frame spacing. At first, a bulk carrier with ice-class B is used for case study. According to the requirements of the ice class rule, a designed ice thickness is used to calculate the ice load acting on the bow area due to the impact of ice floe. Two structural models are presented to perform the strength analysis under ice load, including the out-shell plate model and the longitudinal model. The results show that increasing the plate thickness is helpful to remove the negative effect induced by enlarging the spacing of the longitudinal. A reasonable curve is presented to modify the bow for the ice-strengthened merchant ship, which shows the relationship between the increase of plate thickness and the spacing of longitudinal. Moreover, a model test of floe-ice–ship interaction is conducted to measure the dynamic ice load, based on which nonlinear dynamic FE analysis is used to verify the presented plate-thickness–longitudinal spacing curve. The results show that the proposed method can be used to improve the ice-strengthened bow structure effectively, which provides theoretical foundation to modify the requirement of CCS’s ice class rule.

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18. Dynamic Stability Analysis of Backhoe Dredger Based on Time Domain Method

CHEN Yihua1 (陈熠画), CHEN Xinquan1∗ (陈新权), YANG Qi1,2 (杨启), OUYANG Yiping1 (欧阳义平)

J Shanghai Jiaotong Univ Sci 2022, 27 (3): 339-345. DOI: 10.1007/s12204-021-2272-x

摘要（257）

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When incidents happen with the positioning spud of a backhoe dredger, the hull loses stability, heels significantly, and may even capsize under extreme conditions. Coupling the hydrodynamics and spud vibrations, this paper investigates the dynamic stability of a backhoe dredger after spud failure based on the time domain method. The maximum dynamic heeling angle verifies the stability of the backhoe dredger. To identify the influences of environmental load, operating conditions, and spud-soil interactions, numerical motion simulations were conducted in the time domain. The main conclusions on dynamic stability consider the influences of relative environmental and operational factors. This study provides a powerful and efficient approach to analyze the dynamic stability of backhoe dredgers and to design flooding angles.

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19. Bending Prediction Method of Multi-Cavity Soft Actuator

HUO Qianjun (霍前俊), LIU Sheng∗ (刘胜), XU Qingyu (徐青瑜), ZHANG Yuanfei (张远飞), ZHANG Yaoyao (张耀耀), LI Xu (李旭)

J Shanghai Jiaotong Univ Sci 2022, 27 (5): 631-637. DOI: 10.1007/s12204-021-2334-0

摘要（252）

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The multi-cavity soft actuator is assembled from single-cavity soft actuator through a reasonable geometric distribution. It has the characteristic that the pneumatic soft actuator is driven by its own deformation and has more degrees of freedom. Pneumatic soft actuator is widely used as an emerging discipline and its strong compliance has been greatly developed and applied. However, as the most application potential type of soft actuators, there is still a lack of simple and effective deformation prediction methods for studying the spatial deformation of multi-cavity soft actuators. To solve this problem, a vector equation method is proposed based on the analysis of the principle of the space deformation of the two-cavity, three-cavity and four-cavity soft actuators. Furthermore, a nonlinear mathematical model of the air pressure, space position and deformation trajectory of the soft actuator end is established by combining the vector equation method. Finally, the three-channel soft actuator is verified through experiments. The results show that the mathematical model can better predict the space deformation trajectory of the soft actuator, which provides a new research method for studying the space deformation of the multi-channel soft actuator.

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20. Improved Spatial Registration Algorithm for Sensors on Multiple Mobile Platforms

LÜ Runyan (吕润妍), PENG Na (彭娜), WU Yi (吴怡), CAI Yunze∗ (蔡云泽)

J Shanghai Jiaotong Univ Sci 2022, 27 (5): 638-648. DOI: 10.1007/s12204-022-2457-y

摘要（252）

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This paper focuses on the spatial registration algorithm under the earth-centered earth-fixed (ECEF) coordinate system for multiple mobile platforms. The sensor measurement biases are discussed with the platform attitude information taken into consideration. First, the biased measurement model is constructed. Besides, the maximum likelihood registration (MLR) algorithm is discussed to simultaneously estimate the measurement biases and the target state. Finally, an improved online MLR (IMLR) algorithm is proposed through a sliding window of adaptive size. Simulation results demonstrate that the proposed IMLR algorithm effectively improves the realtime ability of the system and can approach similar estimation accuracy to the conventional MLR algorithm.

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21. 具有增强注意力的前景分割网络

姜锐1，朱瑞祥1，蔡萧萃1，苏虎2

J Shanghai Jiaotong Univ Sci 2023, 28 (3): 360-369. DOI: 10.1007/s12204-023-2603-1

摘要（251）

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运动物体分割（MOS）是包括医疗机器人在内的所有机器人视觉系统的基本功能之一。基于深度学习的MOS方法，特别是深度端到端MOS方法，在该领域正得到积极研究。前景分割网络（FgSegNets）是最近提出的代表性深度端到端MOS方法。本研究探索了一种新的机制，通过引入相对较少的参数来提高FgSegNets的空间特征学习能力。具体来说，我们提出了增强注意力（EA）模块，它是注意力模块和轻量级增强模块的并行连接，顺序注意力和残差注意力为其特殊情况。还提出将EA与FgSegNet_v2集成，采用轻量级卷积块注意力模块作为注意力模块，并在编码器的两个最大池化层之后插入EA。派生的新模型名为FgSegNet_v2_EA。消融研究验证了所提出的EA模块和集成策略的有效性。CDnet2014数据集上的实验结果显示，FgSegNet_v2_EA在场景相关评估和场景无关评估设置下分别比FgSegNet_v2提高了0.08％和14.5％，这表明EA对提高FgSegNet_v2的空间特征学习能力具有积极作用。

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22. 外参标定的激光-视觉-惯性里程计

MAO Tianyang (茅天阳), ZHAO Wentao (赵文韬), WANG Jingchuan∗ (王景川), CHEN Weidong (陈卫东)

J Shanghai Jiaotong Univ Sci 2023, 28 (1): 70-76. DOI: 10.1007/s12204-023-2570-6

摘要（249）

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为了实现精确定位，自动驾驶汽车通常依赖分布于移动平台周围的多传感器感知系统。标定是一个耗时的过程，机械形变会导致外参标定误差。因此，我们提出了一种激光-视觉-惯性里程计，它与自适应滑动窗口机制相结合，允许在线非线性优化和外参标定。在自适应滑动窗口机制中，利用时空对齐管理到达不同频率的测量。在具有在线标定的非线性优化中，视觉特征、点云特征和惯性测量单元（IMU）测量用于估计自身运动并执行外参标定。在公共数据集和真实场景中进行了大量实验。结果表明，当面临具有挑战性的传感器退化条件时，所提出的系统优于最先进的开源方法。

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23. 基于多传感器数据融合的室内车辆定位

WANG Mingyang (王明阳), SHI Liangren∗ (时良仁), LI Yuanlong (李元龙)

J Shanghai Jiaotong Univ Sci 2023, 28 (1): 77-85. DOI: 10.1007/s12204-023-2571-5

摘要（247）

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在车辆前轮转角和后轮线速度未知的前提下，本文提出了一种基于卡尔曼滤波的室内车辆定位方法。本文使用超宽带传感器获取室内车辆的位置和速度，用惯性测量单元获取车辆的加速度和朝向角。为融合这些信息提高实时定位性能，本文分别基于线性卡尔曼滤波和扩展卡尔曼滤波提出了两种算法。然后本文编写对应算法，通过仿真和实验验证方法的可行性并测试性能。在实验中，整定卡尔曼滤波的超参数后，运行两种算法并和LiDAR提供的真值做比对，计算各自的正确率和准确率。结果表明，在室内车辆低速运动时，本文的方法与传感器直接提供的定位数据相比可以有效提高正确率和准确率，取得理想的定位效果。

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24. Airframe Damage Region Division Method Based on Structure Tensor Dynamic Operator

CAI Shuyu∗ (蔡舒妤), SHI Lizhong (师利中)

J Shanghai Jiaotong Univ Sci 2022, 27 (6): 757-767. DOI: 10.1007/s12204-022-2498-2

摘要（247）

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In order to improve the accuracy of damage region division and eliminate the interference of damage adjacent region, the airframe damage region division method based on the structure tensor dynamic operator is proposed in this paper. The structure tensor feature space is established to represent the local features of damage images. It makes different damage images have the same feature distribution, and transform varied damage region division into consistent process of feature space division. On this basis, the structure tensor dynamic operator generation method is designed. It integrates with bacteria foraging optimization algorithm improved by defining double fitness function and chemotaxis rules, in order to calculate the parameters of dynamic operator generation method and realize the structure tensor feature space division. And then the airframe damage region division is realized. The experimental results on different airframe structure damage images show that compared with traditional threshold division method, the proposed method can improve the division quality. The interference of damage adjacent region is eliminated. The information loss caused by over-segmentation is avoided. And it is efficient in operation, and consistent in process. It also has the applicability to different types of structural damage.

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25. Construction on Aerodynamic Surrogate Model of Stratospheric Airship

QIN Pengfei (秦鹏飞), WANG Xiaoliang∗ (王晓亮)

J Shanghai Jiaotong Univ Sci 2022, 27 (6): 768-779. DOI: 10.1007/s12204-022-2494-6

摘要（245）

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Stratospheric airship can stay at an altitude of 20 km for a long time and carry various loads to achieve long-term stable applications. Conventional stratospheric airship configuration mainly includes a low-resistance streamline hull and inflatable “X”-layout fins that realize the self-stabilization. A fast aerodynamic predictive method is needed in the optimization design of airship configuration and the flight performance analysis. In this paper, a predictive surrogate model of aerodynamic parameters is constructed for the stratospheric airship with “X” fins based on the neural network. First, a geometric shape parameterized model, and a flow field parameterized model were established, and the aerodynamic coefficients of airships with different shapes used as the training and test samples were calculated based on computational fluid dynamics (SA turbulence model). The improved Bayesian regularized neural network was used as the surrogate model, and 20 types of airships with different shapes were used to test the effectiveness of network. It showed that the correlation coefficients of Cx, Cy, Cz, CM,x, CM,y, CM,z were 0.928 7, 0.991 7, 0.991 9, 0.958 2, 0.986 1, 0.984 2, respectively. The aerodynamic coefficient distribution contour at different angles of attack and sideslip angles is used to verify the reliability of the method. The method can provide an effective way for a rapid estimation of aerodynamic coefficients in the airship design.

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26. 基于充电态势感知的充电站负荷预测方法

SHI Yiwei1 (史一炜), LIU Zeyu1 (刘泽宇), FENG Donghan1∗ (冯冬涵), ZHOU Yun1∗ (周云), ZHANG Kaiyu2 (张开宇), LI Hengjie3 (李恒杰)

J Shanghai Jiaotong Univ Sci 2023, 28 (1): 28-38. DOI: 10.1007/s12204-023-2566-2

摘要（245）

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电动汽车将成为连接智能交通系统与电力系统的关键节点，先进的汽车电子技术提高了电动车的感知、计算和通信能力。这些技术为充电导航和充电负荷预测提供了条件，为充电拥堵和变压器过载问题提供了一种解决方案。本研究提出了一种保护车主隐私的充电态势感知框架和方法，仅依赖于出行服务商提供的公开信息，可开展充电站侧的超短期负荷预测。案例分析中，选取上海市浦东新区的一个区域开展实验，从在线地图平台和充电服务平台采集数据。结果显示，基于态势感知的方法，在低通信和算力要求下，各站的充电负荷可以提前1分钟以上得到准确预测。本工作为进一步研究充电站优化运行策略和电力市场环境中的交易模式提供了基础。

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27. Improved Nonsingular Fast Terminal Sliding Mode Control of Unmanned Underwater Hovering Vehicle

HE Chenlua (何晨璐), FENG Zhengpinga,b∗ (冯正平)

J Shanghai Jiaotong Univ Sci 2022, 27 (3): 393-401. DOI: 10.1007/s12204-022-2447-0

摘要（241）

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An improved nonsingular fast terminal sliding mode manifold based on scaled state error is proposed in this paper. It can significantly accelerate the convergence rate of the state error which is initially far from the origin and achieve the fixed-time convergence. In addition, conventional double power term based reaching law is improved to ensure the convergence of sliding state in the presence of disturbances. The proposed approach is applied to the hovering control of an unmanned underwater vehicle. The controller exhibits both fast convergence and strong robustness to model uncertainty and external disturbances

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28. Design and Overall Strength Analysis of Multi-Functional Elastic Connections Floating Breakwater System

HUO Fali∗ (霍发力), YANG Hongkun (杨宏坤), GUO Jianting (郭建廷), JI Chunyan (嵇春艳), NIU Jianjie (牛建杰), WANG Ke (王珂)

J Shanghai Jiaotong Univ Sci 2022, 27 (3): 326-338. DOI: 10.1007/s12204-022-2413-x

摘要（238）

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As a new type of marine structure, floating breakwater can provide suitable water area for coastal residents. In this paper, a multi-module floating breakwater with three cylinders was designed. According to the characteristics of each module, the elastic connector was created. The cabins with functions such as living, generating electricity and entertainment were arranged. A linear spring constrained design wave (LSCDW) method for strength analysis of floating marine structures with multi-module elastic connections was proposed. The numerical model was verified by 1 : 50 similarity ratio in the test tank. According to the analysis of design wave and extreme wave conditions, considering the mooring loads and environmental loads and connector loads, the overall strength of breakwater was analyzed by LSCDW method. These studies can provide new insights and theoretical guidance for the design of multi-module floating structures.

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29. Generation Approach of Human-Robot Cooperative Assembly Strategy Based on Transfer Learning

LÜ Qibing (吕其兵), LIU Tianyuan (刘天元), ZHANG Rong (张荣), JIANG Yanan (江亚南), XIAO Lei (肖雷), BAO Jingsong∗ (鲍劲松)

J Shanghai Jiaotong Univ Sci 2022, 27 (5): 602-613. DOI: 10.1007/s12204-022-2493-7

摘要（237）

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In current small batch and customized production mode, the products change rapidly and the personal demand increases sharply. Human-robot cooperation combining the advantages of human and robot is an effective way to solve the complex assembly. However, the poor reusability of historical assembly knowledge reduces the adaptability of assembly system to different tasks. For cross-domain strategy transfer, we propose a human-robot cooperative assembly (HRCA) framework which consists of three main modules: expression of HRCA strategy, transferring of HRCA strategy, and adaptive planning of motion path. Based on the analysis of subject capability and component properties, the HRCA strategy suitable for specific tasks is designed. Then the reinforcement learning is established to optimize the parameters of target encoder for feature extraction. After classification and segmentation, the actor-critic model is built to realize the adaptive path planning with progressive neural network. Finally, the proposed framework is verified to adapt to the multi-variety environment, for example, power lithium batteries.

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30. Semantic Segmentation-Based Road Marking Detection Using Around View Monitoring System

XU Hanqing (徐汉卿), YANG Ming∗ (杨明), DENG Liuyuan (邓琉元), LI Hao (李颢), WANG Chunxiang, (王春香), HAN Weibin (韩伟斌), YU Yuelong (于跃龙)

J Shanghai Jiaotong Univ Sci 2022, 27 (6): 833-843. DOI: 10.1007/s12204-021-2401-6

摘要（236）

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Road marking detection is an important branch in autonomous driving, understanding the road information. In recent years, deep-learning-based semantic segmentation methods for road marking detection have been arising since they can generalize detection result well under complicated environments and hold rich pixel-level semantic information. Nevertheless, the previous methods mostly study the training process of the segmentation network, while omitting the time cost of manually annotating pixel-level data. Besides, the pixel-level semantic segmentation results need to be fitted into more reliable and compact models so that geometrical information of road markings can be explicitly obtained. In order to tackle the above problems, this paper describes a semantic segmentation-based road marking detection method using around view monitoring system. A semiautomatic semantic annotation platform is developed, which exploits an auxiliary segmentation graph to speed up the annotation process while guaranteeing the annotation accuracy. A segmentation-based detection module is also described, which models the semantic segmentation results for the more robust and compact analysis. The proposed detection module is composed of three parts: vote-based segmentation fusion filtering, graph-based road marking clustering, and road-marking fitting. Experiments under various scenarios show that the semantic segmentation-based detection method can achieve accurate, robust, and real-time detection performance.

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31. 基于栅格图特征点提取下的蚁群算法路径规划

LI Erchao∗ (李二超), QI Kuankuan (齐款款)

J Shanghai Jiaotong Univ Sci 2023, 28 (1): 86-99. DOI: 10.1007/s12204-023-2572-4

摘要（233）

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针对传统蚁群算法路径搜索方向和视野范围、无法找到最短路径、容易发生死锁和路径不平滑等问题，提出一种新环境下的蚁群算法。首先，提取障碍物特征点对栅格地图环境进行预处理，能够避免进入陷阱，从而解决死锁问题；其次，以这些特征点为寻路访问节点，减少节点的访问，待选移动的方向更多，待选特征点的位置决定寻路视野范围；然后，以特征点为基础，采用信息素不平等分布和双向并行路径搜索，提高解的构造效率，采用改进启发函数，增强路径搜索的引导作用，动态调整信息素挥发系数避免算法陷入早熟；接着，采用贝塞尔曲线平滑路径，得到的路径平滑且最短；最后，在不同复杂程度和不同尺度的栅格地图中，与传统蚁群算法和其他改进蚁群算法进行仿真对比，验证了本文算法的可行性和优越性。

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32. Two-Stage Scheme for Disturbance Rejection Hovering Control of Underwater Vehicles

BI Anyuana (毕安元), FENG Zhengpinga,b∗ (冯正平), ZHU Yuchena (朱昱琛), DENG Xua (邓旭)

J Shanghai Jiaotong Univ Sci 2022, 27 (3): 375-382. DOI: 10.1007/s12204-021-2341-1

摘要（228）

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A two-stage model-independent hovering control scheme for underwater vehicles, which are subject to unknown yet constant external disturbance, to eliminate steady-state depth error is proposed. Proportional derivative (PD) state feedback control law is adopted as the ballast mass planner at the first stage for the vehicle to reach both hydrostatic balance and a steady depth. The residual depth error is then removed by an additional disturbance rejection control at the second stage. Global asymptotic stability of the whole system is guaranteed via Lyapunov approach. The effectiveness of the proposed scheme is illustrated by the simulation of diving control of an underwater vehicle with hydraulic variable ballast system.

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33. 基于场端RGB-D相机阵列的室内停车场车辆定位系统

CAO Bingquan1,2,3 (曹炳全), HE Yuesheng1,2,3∗ (贺越生), ZHUANG Hanyang4 (庄瀚洋), YANG Ming1,2,3 (杨明)

J Shanghai Jiaotong Univ Sci 2023, 28 (1): 61-69. DOI: 10.1007/s12204-023-2569-z

摘要（225）

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准确的车辆定位是室内停车场自动驾驶任务的关键技术，例如自主代客泊车。与此同时，注重场端的协作式驾驶系统已成为实现智能驾驶的一条重要途径。本文提出了一种新颖且实用的车辆定位系统，该系统将场端RGB-D相机阵列用于室内停车场。在所提出的系统中，本文设计了一种兼具简便性与高效性的深度数据预处理方法，以减轻庞大数据量所带来的计算负担。同时，本系统未实现传感器网络中所有相机的硬件同步功能，这主要是考虑到其异常繁琐且会显著降低本系统在大规模部署中的可扩展性。因此，为了解决伴随车辆运动所带来的数据畸变问题，本文提出了一种通过在分布式深度数据之中进行模板点云配准的车辆定位方法。最后，本文在真实环境中搭建了一套完整的硬件系统，验证了本文方案的可行性。具体实验表明，与真值数据相比，本文方法可实现输出频率为15 Hz且最大均方根误差为5 cm的车辆定位效果，证明了本文所提出的车辆定位系统的有效性和准确性。

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34. Further Result on the Observer Design for One-Sided Lipschitz Systems

YANG Ming1 (杨明), HUANG Jun1∗ (黄俊), ZHANG Wei2 (章伟)

J Shanghai Jiaotong Univ Sci 2022, 27 (6): 817-822. DOI: 10.1007/s12204-020-2252-6

摘要（225）

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This paper investigates the problem of observer design for a class of control systems. Different from current works, the nonlinear functions in the system only satisfy the property of the one-sided Lipschitz (OSL) condition but not quadratic inner-boundedness (QIB). Moreover, the case where the OSL constant is negative is specially investigated. Firstly, a full-order observer is constructed for the original system. Then, a reduced-order observer is also designed by using the decomposition method. The advantage and effectiveness of the proposed design scheme are shown in a numerical simulation.

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35. 射频/直流溅射沉积铜掺杂氧化锌薄膜的合成与表征

KHAN Mohibul, ALAM Md. Shabaz, AHMED Sk. Faruque

J Shanghai Jiaotong Univ Sci 2023, 28 (2): 172-179. DOI: 10.1007/s12204-022-2462-1

摘要（225）

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采用射频/直流反应溅射技术在玻璃衬底上制备了未掺杂和掺铜氧化锌（Zn_1-xCu_xO，其中x = 0~0.065）的纳米晶体薄膜。本工作旨在研究ZnO和Cu掺杂ZnO薄膜的晶体结构，并研究Cu掺杂对ZnO薄膜光学带隙的影响。利用X射线衍射仪（XRD）、扫描电子显微镜和原子力显微镜对纳米级薄膜的结晶度、薄膜厚度和表面形貌进行了鉴定和确认。在衍射角34.44°密勒指数（002）的XRD峰值证实了ZnO薄膜的存在。由XRD（002）峰计算得出，当ZnO薄膜中Cu的原子分数（x_Cu）从0增加到6.5%时，未掺杂ZnO薄膜的晶粒尺寸从27 nm减小到22 nm。通过傅里叶变换红外光谱仪研究了在400~4000 cm^-1波数范围内所有沉积薄膜的不同键合信息。通过紫外可见分光光度计分析了所有沉积薄膜的光学带隙能：随着xCu从0增加到6.5%，其变化范围为3.35 eV到3.19 eV。随着x_Cu从0增加到6.5%，沉积薄膜的Urbach能量从115 meV增加到228 meV。

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36. 一种基于双螺纹斜齿轮管的新型同心圆管机器人

陈韦池, 刘浩城, 李子建, 郭靖, 翟振坤, 孟伟,

J Shanghai Jiaotong Univ Sci 2023, 28 (3): 296-306. DOI: 10.1007/s12204-023-2595-x

摘要（221）

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鼻咽癌是一种源于鼻黏膜的恶性肿瘤，常发生在头颈部。同心管机器人可形成复杂的形状，并可到达难以触及的病灶，因此常用于微创手术。然而一些同心管机器人由于其传动设计显得笨重，本文提出了一种基于双螺纹斜齿轮管的轻型螺旋齿轮传动装置。其驱动单元的紧凑和小型化，使得这种同心管机器人比传统同心管机器人更轻巧。通过运动学分析，得到了齿轮管姿态与电机输出角的映射关系。本文对驱动机构的精度、稳定性和重复性进行了测试。实验结果表明：该系统在平移试验中的定位误差小于0.3 mm；稳定性试验中滚动角度误差小于0.6°；平移重复性试验误差小于0.005 mm。最后使用同心管机器人进行了尖端瞄准试验，验证了同心管机器人用于手术的可行性。

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37. 基于AHP-CRITIC算法的商用车驾驶行为安全性评价

PANG Na1 (庞娜), LUO Wenguang1∗ (罗文广), WU Ruoyuan1 (吴若园), LAN Hongli1 (蓝红莉), QIN Yongxin1 (覃永新), SU Qi2 (苏琦)

J Shanghai Jiaotong Univ Sci 2023, 28 (1): 126-135. DOI: 10.1007/s12204-023-2575-1

摘要（220）

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为预防和减少道路交通事故，提高驾驶员的安全意识，改善驾驶员的不良驾驶行为，研究了一种商用车驾驶行为安全性评价方法。根据商用车行驶数据，提取了3项驾驶风格分类指标及4项一级、10项二级安全评价指标。其中针对商用车运输货物的稳定性程度，将加速度这一指标按照统计学中的第三四分位法分为三个等级，并建立了安全性指标评价表达式。利用k-means++将驾驶员分为保守型、温和型、激进型3种驾驶类型，采用层次分析法（AHP）和客观权重赋权法（CRITIC）相结合的方法计算各指标对应的权重，结合安全性指标得分标准计算各类驾驶员的驾驶行为得分。运用商用车驾驶员实际驾驶行为数据对建立的安全性评价模型进行验证，计算结果表明AHP-CRITIC评价模型能够明显区分出不同驾驶风格的驾驶员，验证了改进后算法的合理性，表明了该评价体系可以对驾驶员安全性驾驶行为进行有效的评价，为运输企业等管理部门提供参考。

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38. 基于四电极微流控装置使用介电泳分离循环肿瘤细胞的数值研究

王雨坤, 丁显廷, 张执南

J Shanghai Jiaotong Univ Sci 2023, 28 (4): 391-. DOI: 10.1007/s12204-022-2459-9

摘要（219）

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这项数值研究提出了一种基于微流控芯片的介电泳细胞分选技术。在介电泳力和流体阻力的共同作用下，白细胞和循环肿瘤细胞因介电特性不同而分离。本文首先针对器件几何、单细胞、介电泳力、电场和流场建立了数学模型，模拟了细胞运动。进而基于仿真模型，对重要边界参数进行了讨论，以优化该装置的细胞分选能力，并同时提供了边界电压和流体流速之间的适当匹配关系。此外，还探究了流场出入口条件，以控制其中的粒子运动。本研究的意义在于验证了该微流控芯片的细胞分选能力，为罕见病变细胞的分离提供了逻辑设计。

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39. Breast Pathological Image Classification Based on VGG16 Feature Concatenation

LIU Min (刘敏), YI Ming (易鸣), WU Minghu∗ (武明虎), WANG Juan (王娟), HE Yu (何宇)

J Shanghai Jiaotong Univ Sci 2022, 27 (4): 473-484. DOI: 10.1007/s12204-021-2398-x

摘要（218）

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Breast cancer is one of the malignancies that endanger women’s health all over the world. Considering that there is some noise and edge blurring in breast pathological images, it is easier to extract shallow features of noise and redundant information when VGG16 network is used, which is affected by its relative shallow depth and small convolution kernel. To improve the pathological diagnosis of breast cancers, we propose a classification method for benign and malignant tumors in the breast pathological images which is based on feature concatenation of VGG16 network. First, in order to improve the problems of small dataset size and unbalanced data samples, the original BreakHis dataset is processed by data augmentation technologies, such as geometric transformation and color enhancement. Then, to reduce noise and edge blurring in breast pathological images, we perform bilateral filtering and denoising on the original dataset and sharpen the edge features by Sobel operator, which makes the extraction of shallow features by VGG16 model more accurate. Based on transfer learning, the network model trained with the expanded dataset is called VGG16-1, and another model trained with the image denoising and sharpening and mixed with the original dataset is called VGG16-2. The features extracted by VGG16-1 and VGG16-2 are concatenated, and then classified by support vector machine. The final experimental results show that the average accuracy is 98.44%, 98.89%, 98.30% and 97.47%, respectively, when the proposed method is tested with the breast pathological images of 40×, 100×, 200× and 400× on BreakHis dataset.

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40. Machine Learning-Based Approach to Liner Shipping Schedule Design

DU Jian1∗ (杜剑), ZHAO Xu2 (赵旭), GUO Liming2 (郭力铭), WANG Jun2 (王军)

J Shanghai Jiaotong Univ Sci 2022, 27 (3): 411-423. DOI: 10.1007/s12204-021-2338-9

摘要（217）

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This paper studied a tactical liner shipping schedule design issue under sail and port time uncertainties, which is the determination of the planned arrival time at each port call as well as the punctuality rate and number of assigned ship on the route. A number of studies have tried to introduce the operational speed adjustment measure into this tactical schedule design issue, to alleviate the discrepancies between designed schedule and maritime practice. On the one hand, weather conditions can lead to speed loss phenomenon of ships, which may result in the failure of ships’ punctual arrivals. On the other hand, improving the ability of speed adjustment can decrease the late-arrival compensation, but increase the fuel consumption cost. Then, we formulated a machine learning-based liner shipping schedule design model aiming at above-mentioned two limitations on speed adjustment measure. And a machine learning-based approach has been designed, where the speed adjustment simulation, the neural network training and the reinforcement learning were included. Numerical experiments were conducted to validate our results and derive managerial insights, and then the applicability of machine learning method in shipping optimization issue has been confirmed.

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