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| 1 | A Second-Order Sliding Mode Controller of Quad-Rotor UAV Based on PID Sliding Mode Surface with Unbalanced Load显示文摘Quad-rotor unmanned aerial vehicle(UAV)is a typical multiple-input-multiple-output underactuated system with couplings and nonlinearity.Usually,the flying environment is very complex,so that it is impossible for the UAV to avoid effects derived from disturbances and uncertainties.In order to improve the reliability of flight control,we established the dynamic model of quad-rotor UAV by Newton-Euler equation in unbalanced load conditions.Considering external disturbances in the attitude,a second-order sliding mode controller was designed with PID sliding mode surface and Extended State Observer(ESO).The simulation experiments have got good control performance,illustrating the effectiveness of our controller.Meanwhile,the controller was implemented in a quadrotor UAV,which carried a pan-tilt camera for aerial photography.The actual flight experiments proved that this paper dealt with the high stabilization flight control problem for the quad-rotor UAV,which laid a good foundation for autonomous flight of the UAV. | KANG Bing MIAO Yan LIU Fu DUAN Jilu WANG Ke JIANG Shoukun | 2021 | Journal of Systems Science & Complexity2021，34，2： | 5 |
| 2 | Thermodynamic Study on Process in Copper Converters(The slag-making stage)显示文摘The so-called Goto’s model was modified by introducing a parameter of the oxygen efficiency from industrial trials, as well as the selected and newly re-assessed thermodynamic data. The application of the model to copper converters in Guixi Smelter has been carried out by the combination of thermodynamic calculations with the mass and heat balance using the plant data obtained in industrial trials for many heats. For the slag-making stage, good agreements have been reached betWeen the calculated and measured temperature, blowing time as well as the contents for main elements in the matte and the slag. Relativel}’’ large deviations for contents of Zn and Pb in the slag may be caused by the complex chemical composition of the real molten slag, which ma}; result in a large difference of γzn. and γPb,adopted with their real values. It is noted that the model can simulate the slag-making stage of copper converting process in industrial Pierce-Smith converters well. | Chunlin Chen Tuping Zhou Jiayun Zhang Shoukun Wei Xingxiang Lu Meng Bai Jinhong Jiang(Metallurgy School, University of Science and Technology Beijing, Beijing 100083, China)(Guixi Smelter, Jiangxi Province 333424, China) | 1999 | International Journal of Minerals,Metallurgy and Materials1999，13，3： | 2 |
| 3 | Thermodynamic Study on Process in Copper Converters (The Copper-making Stage)显示文摘Theoretical calculations were based on thermodynamic equilibrium in the multi-component and multi-phase system with heat and mass balance as well as the oxygen efficiency to take account for the effects of process kinetics. The variations of temperature, mass fractions of dissolved oxygen and sulfur in blister copper, partial pressures for O2, S2, SO2 in gas phase for the copper-making stage were calculated. The model predicted temperature, time of blowing as well as mass of the blister copper at end points for 6 heats showed a fairly good agreements with corresponding plant data. The calculated content of 0.065% and content of 0.87% in blister copper were both at reasonable levels. Compared with the so called Goto model, the present model has very much improved process description of copper-making stage as well as the prediction of end points for a copper converter by introducing the oxygen efficiency. | Chunlin Chen, Jiayun Zhang, Tuping Zhou, Shoukun Wei, Xingxiang Lu2), Meng Bai, Jinhong Jiang ( Metallurgy School, University of Science and Technology Beijing, Beijing 100083, China Guixi Smelter, Jiangxi, 335424) | 2000 | International Journal of Minerals,Metallurgy and Materials2000，14，3： | 1 |
| 4 | Part-Whole Relational Few-Shot 3D Point Cloud Semantic Segmentation显示文摘This paper focuses on the task of few-shot 3D point cloud semantic segmentation.Despite some progress,this task still encounters many issues due to the insufficient samples given,e.g.,incomplete object segmentation and inaccurate semantic discrimination.To tackle these issues,we first leverage part-whole relationships into the task of 3D point cloud semantic segmentation to capture semantic integrity,which is empowered by the dynamic capsule routing with the module of 3D Capsule Networks(CapsNets)in the embedding network.Concretely,the dynamic routing amalgamates geometric information of the 3D point cloud data to construct higher-level feature representations,which capture the relationships between object parts and their wholes.Secondly,we designed a multi-prototype enhancement module to enhance the prototype discriminability.Specifically,the single-prototype enhancement mechanism is expanded to the multi-prototype enhancement version for capturing rich semantics.Besides,the shot-correlation within the category is calculated via the interaction of different samples to enhance the intra-category similarity.Ablation studies prove that the involved part-whole relations and proposed multi-prototype enhancement module help to achieve complete object segmentation and improve semantic discrimination.Moreover,under the integration of these two modules,quantitative and qualitative experiments on two public benchmarks,including S3DIS and ScanNet,indicate the superior performance of the proposed framework on the task of 3D point cloud semantic segmentation,compared to some state-of-the-art methods. | Shoukun Xu Lujun Zhang Guangqi Jiang Yining Hua Yi Liu | 2024 | Computers, Materials & Continua2024，78，3： | 0 |
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