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arXiv 2019年

作者： Hu, Hanjiang Wang, Hesheng Liu, Zhe Yang, Chenguang Chen, Weidong Xie, Le Autonomous Robot Lab Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China T Stone Robotics Institute Chinese University of Hong Kong Hong Kong Bristol Robotics Laboratory University of the West of England BristolBS16 1QY United Kingdom School of Material Science and Engineering Shanghai Jiao Tong University Shanghai200240 China

Visual localization is a crucial problem in mobile robotics and autonomous driving. One solution is to retrieve images with known pose from a database for the localization of query images. However, in environments with drastically varying conditions (e.g. illumination changes, seasons, occlusion, dynamic objects), retrieval-based localization is severely hampered and becomes a challenging problem. In this paper, a novel domain-invariant feature learning method (DIFL) is proposed based on ComboGAN, a multi-domain image translation network architecture. By introducing a feature consistency loss (FCL) between the encoded features of the original image and translated image in another domain, we are able to train the encoders to generate domain-invariant features in a self-supervised manner. To retrieve a target image from the database, the query image is first encoded using the encoder belonging to the query domain to obtain a domain-invariant feature vector. We then preform retrieval by selecting the database image with the most similar domain-invariant feature vector. We validate the proposed approach on the CMU-Seasons dataset, where we outperform state-of-the-art learning-based descriptors in retrieval-based localization for high and medium precision scenarios. Copyright © 2019, The Authors. All rights reserved.

关键词： Machine learning

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The Reynolds number effect on dynamics of the wake behind a circular cylinder

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AIP Conference Proceedings 2019年第1期2189卷

作者： Václav Uruba Pavel Procházka 1Institute of Thermomechanics of the Czech Academy of Sciences Dolejškova 5 182 00 Praha 8 Czech Republic 2University of West Bohemia Faculty of Mechanical Engineering Department of Power System Engineering Univerzitní 8 Plzeň Czech Republic

Circular cylinder in cross-flow was studied experimentally using time-resolved PIV technique. Reynolds numbers based on the cylinder diameter were in range from 3 850 up to 19 260. Effect of the Reynolds number on wake time-mean topology as well as the dynamical behavior is studied. The wake dynamics is analyzed using the OPD method. The Oscillation Pattern Decomposition method provides unique information on dynamical patterns topology and oscillations in the flow-field. The pseudo-periodical wavy patterns have been detected within the cylinder wake. The parameters of this behavior are Reynolds number dependent, especially their sizes and shapes. Typical flow-field topologies are presented in the paper. The study is of qualitative character as flow boundary conditions are not well defined.

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Artificial Thermal Sensation: Stretchable Skin‐Like Cooling/Heating Device for Reconstruction of Artificial Thermal Sensation in Virtual Reality (Adv. Funct. Mater. 29/2020)

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Advanced Functional Materials 2020年第29期30卷

作者： Jinwoo Lee Heayoun Sul Wonha Lee Kyung Rok Pyun Inho Ha Dongkwan Kim Hyojoon Park Hyeonjin Eom Yeosang Yoon Jinwook Jung Dongjun Lee Seung Hwan Ko Applied Nano and Thermal Science Lab Department of Mechanical Engineering Seoul National University 1 Gwanak‐ro Gwanak‐gu Seoul 08826 Korea Interactive and Networked Robotics Laboratory Department of Mechanical Engineering Seoul National University 1 Gwanak‐ro Gwanak‐gu Seoul 08826 Korea Thermochemical Energy System R&D Group Korea Institute of Industrial Technology 89 Yangdaegiro‐gil Ipjang‐myeon Seobuk‐ku Cheonan‐si Chungcheongnam‐do 31056 Korea Institute of Advanced Machinery and Design (SNU‐IAMD)/Institute of Engineering Research Seoul National University Gwanak‐ro Gwanak‐gu Seoul 08826 Korea

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BL-10C, the small-angle x-ray scattering beamline at the photon factory

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AIP Conference Proceedings 2019年第1期2054卷

作者： N. Shimizu T. Mori Y. Nagatani H. Ohta S. Saijo H. Takagi M. Takahashi K. Yatabe T. Kosuge N. Igarashi 1Institute of Materials Structure Science High Energy Accelerator Research Organization (KEK) 1-1 Oho Tsukuba Ibaraki 305-0801 Japan 2Mitsubishi Electric System & Service Co. Ltd Accelerator Engineering Center 2-8-8 Umezono Tsukuba Ibaraki 305-0045 Japan

BL-10C at the Photon Factory is one of the world’s oldest small-angle X-ray scattering beamlines. In Spring 2014, the original beamline was scrapped and rebuilt as a beamline equipped with new optical components and an experimental system. Two detectors, PILATUS3 2M and PILATUS3 200K (DECTRIS), were installed for SAXS and WAXS measurements, respectively. Additionally, new devices for sample analysis such as a sample changer, a heating/cooling stage, and a HPLC (High Performance Liquid Chromatography) for SEC-SAXS were installed. Moreover, the control system for optical tuning and measurements at the beamline was overhauled, improving ease of operations via several automatic processes. Herein details of the new BL-10C are described.

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Numerical study of travelling wave type solutions for the nonlinear heat equation

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AIP Conference Proceedings 2019年第1期2176卷

作者： A. L. Kazakov L. F. Spevak 1Institute of Engineering Science Ural Branch of the Russian Academy of Sciences 34 Komsomolskaya St. Ekaterinburg 620034 Russia 2Matrosov Institute for System Dynamics and Control Theory Siberian Branch of the Russian Academy of Sciences 134 Lermontov St. Irkutsk 664033 Russia

The problem of constructing solutions to the nonlinear heat equation with power nonlinearity is considered. The solutions have the form of a traveling wave and simulate the propagation of disturbances over a cold background with a finite velocity. It is shown that the construction can be reduced to the Cauchy problem for an ordinary second- order differential equation with a singularity multiplying the highest derivative. Its solutions are constructed using the boundary element method based on the dual reciprocity method. A computational experiment is carried out. The results are compared with the solutions of the same problems by the power series method. The calculations have shown the correctness of the developed boundary element algorithm and its advantage compared to the power series segments and the step-by-step method previously proposed by the authors.

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Experiments on the relationship between the structural parameters of contraposition transducers and the acoustic levitation transportation trajectory

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Proceedings of Meetings on Acoustics 2019年第1期38卷

作者： Huijuan Dong Mingyang Sui Chuncheng Mao Guanyu Mu Jie Zhao 1School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA dhj@*** 2State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 CHINA 954479126@*** ***@*** mu-guanyu@*** jzhao@***

Standing wave acoustic levitation transportation technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers’ central lines are mounted at a certain angle which is named a contraposition transducer array. The levitator developed in this work is constructed using the array and a reflector. Accordingly, a standing wave acoustic field is formed to levitate and transport particles by optimizing the angle between central lines of the two transducers, the distance between the two transducers’ output and their reflectors, the exciting phase differential on the two transducers. In this standing wave acoustic field, the trapped objects can be levitated and transported by modulating the exciting phase difference of the two transducers. In this work, the locations of the levitated particles are acquired by a high speed video camera and are clarified using the Hough Circle algorithm. The experiments carried out by the authors have demonstrated the effects of the levitator’s structure parameters (including the angle between central lines of the two transducers, the distance between the two transducers’ output and the reflector) on the transportation trajectory.

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COMSOL-based simulations and experiments on the classifying trajectory of the mixed particles levitated in standing wave field

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Proceedings of Meetings on Acoustics 2019年第1期38卷

作者： Huijuan Dong Fanbin Meng Bin Lan Guanyu Mu Jie Zhao 1School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA dhj@*** 2State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 CHINA mengfanbin96@*** ***@*** mu-guanyu@*** jzhao@***

In this work, a standing wave acoustic field formed by using two contraposition transducers is used to classify the mixed powder. COMSOL-based simulations reveal the influence of the factors on the drop trajectories of the particles within an acoustic field. Then the experiments are carried out to demonstrate those obtained using COMSOL-based simulations. Finally, the separation experiments of the mixed powder of iron and dioxide silica are achieved, including the mixed powder both in the same diameter and the different diameter respectively.

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Simulation of fluid flow in the pore space of the core obtained by x-ray microtomography

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AIP Conference Proceedings 2019年第1期2181卷

作者： Evgeny Marfin Denis Chachkov Alexey Abdrashitov Aidar Kadyirov 1Institute of Power Engineering and Advanced Technologies FRC Kazan Scientific Center Russian Academy of Sciences 2/31 Lobachevsky Street Kazan 420111 Russia 2Joint Supercomputer Center Kazan Branch Russian Academy of Sciences Branch of Federal Scientific Center “Research Institute for System Studies of the RAS” 2/31 Lobachevsky Street Kazan 420015 Russia

This paper considers the results of numerical simulation of fluid flow. The computational domain represented the three-dimensional pore space obtained from processing digital images of X-ray microtomography. The model of the laminar fluid flow was used in calculations and described by the continuity and Navier–Stokes equations. The numerical simulation was conducted using the FlowVision software for stationary flow and for the flow with superimposed pressure pulsations. Velocity and pressure fields were obtained as a result of calculations. It was found that superimposed oscillations lead to additional directed flow occurrence with average characteristics depending on parameters of superimposed unsteadiness.

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Non-contact transportation and rotation of micro objects by vibrating glass needle circularly under water

Non-contact transportation and rotation of micro objects by ...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Liu, Xiaoming Kojima, Masaru Shi, Qing Wang, Huaping Sun, Tao Mae, Yasushi Huang, Qiang Arai, Tatsuo Fukuda, Toshio Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China Department of Systems Innovation Osaka University 1-3 Machikaneyama Toyonaka Osaka560-8531 Japan Faculty of Science and Engineering Meijo University 1-501 Shiogamaguchi Tenpaku-ku Nagoya468-8502 Japan

ISBN: (纸本)9781509046331

In micromanipulation, lots of methods have been developed to manipulate objects in microscale. However, few of them can be applied in both the transportation and the rotation of the micro objects. In this paper, we present a novel method to realize the non-contact transportation and rotation of the micro objects based on the vibration-induced swirl flow. A piezo actuator is set between the glass needle and a metal rod. The sine wave with controlled frequency and amplitude is input into the piezo actuator to drive the glass needle to move circularly, which is caused by resonance of the actuator and the metal rod. We place the glass needle under water and keep a limited distance to the bottom. The circular vibration of the glass needle can generate a swirl flow and low pressure around it. The low pressure can trap and transport the micro objects vertically to the glass needle, and the swirl flow can rotate the objects continuously. Finally, we realize the trap and rotation of micro object with only one piezo actuator. Experiments of transportation and rotation of microbeads are carried out, and the results demonstrate it is a simple, low-cost, effective micromanipulation method. © 2017 IEEE.

关键词： Needles

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Interval type-2 fuzzy system in personalized driving cycle forecasting

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AIP Conference Proceedings 2018年第1期1982卷

作者： Adrienn Dineva Balázs Tusor István Vajda 1Institute of Automation Kálmán Kandó Faculty of Electrical Engineering Óbuda University Budapest Hungary 2Intelligent Robotics Center J. Selye University Komárno Slovakia

For intelligent driver assistance systems the prediction of the future driving cycle is fundamental. Recent recommendations for driving cycle standards does not provide precise information on the expected intermittent operations of the vehicle and can not be applied directly in an intelligent energy management and driving assistance system. Latest driver assistance systems require more sophisticated solutions which are able to incorporate the personal driving style. The Interval-type 2 Fuzzy system is proved to be a higly efficient tool for modeling uncertainties. In contrast to conventional Type-1 fuzzy modeling an IT2 Fuzzy system has the ability to deal with flexible with the various types of uncertainties and modeling errors simultaneously and approximates better real-life systems. This paper presents an IT2 Fuzzy system for personalized driving cycle forecasting from the measured velocity and acceleration data. The proposed method applies a Mamdani type IT2 fuzzy inference technique. The fuzzy sets and rules are built up by extracting knowledge from real driving dataset. Simulation results have shown that the presented technique is efficient and ensures satisfactory performance.

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