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An Underwater Image Bubble Noise Removal Method Based on Optical Flow

Journal of harbin institute of technology(New Series) 2019年第1期26卷 11-16页

作者： Hao Li Jianguo Tao Yang Luo Liping Deng Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology

It is very important for underwater robots to accurately detect and locate target objects. However,under many circumstances,it is difficult to clearly observe the target object due to the existence of bubble noise. In this paper,we proposed a method to solve this problem. First,we used the LK optical flow algorithm to calculate the motion vector of the image background and compensate for the background ***,the optical flow field of the bubbles was calculated by the HS optical flow algorithm,and the area where the bubble existed was obtained by binarizing the image. Finally,we used the adjacent frame image to repair the bubble area. We carried out a bubble noise removal experiment. The results show that this method can effectively remove the bubble noise in the image.

关键词： bubble noise optical flow background motion image repair

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Practical fractional-order variable-gain super-twisting control with application to wafer stages of photolithography systems

arXiv

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arXiv 2021年

作者： Kuang, Zhian Sun, Liting Gao, Huijun Tomizuka, Masayoshi Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Mechanical Control System Lab Mechanical Engineering Department University of California BerkeleyCA94720 United States

In this paper, a practical fractional-order variable-gain super-twisting algorithm (PFVSTA) is proposed to improve the tracking performance of wafer stages for semiconductor manufacturing. Based on the sliding mode control (SMC), the proposed PFVSTA enhances the tracking performance from three aspects: 1) alleviating the chattering phenomenon via super-twisting algorithm and a novel fractional-order sliding surface (FSS) design, 2) improving the dynamics of states on the sliding surface with fast response and small overshoots via the designed novel FSS and 3) compensating for disturbances via variable-gain control law. Based on practical conditions, this paper analyzes the stability of the controller and illustrates the theoretical principle to compensate for the uncertainties caused by accelerations. Moreover, numerical simulations prove the effectiveness of the proposed sliding surface and control scheme, and they are in agreement with the theoretical analysis. Finally, practice-based comparative experiments are conducted. The results show that the proposed PFVSTA can achieve much better tracking performance than the conventional methods from various perspectives. Copyright © 2021, The Authors. All rights reserved.

关键词： Sliding mode control

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Generalized Multi-kernel Maximum Correntropy Kalman Filter for Disturbance Estimation

arXiv

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arXiv 2023年

作者： Li, Shilei Shi, Dawei Lou, Yunjiang Zou, Wulin Shi, Ling The Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong The School of Automation Beijing Institute of Technology China The State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China Xeno Dynamics Control Department Xeno Dynamics Co. Ltd Shenzhen518055 China

Disturbance observers have been attracting continuing research efforts and are widely used in many applications. Among them, the Kalman filter-based disturbance observer is an attractive one since it estimates both the state and the disturbance simultaneously, and is optimal for a linear system with Gaussian noises. Unfortunately, The noise in the disturbance channel typically exhibits a heavy-tailed distribution because the nominal disturbance dynamics usually do not align with the practical ones. To handle this issue, we propose a generalized multi-kernel maximum correntropy Kalman filter for disturbance estimation, which is less conservative by adopting different kernel bandwidths for different channels and exhibits excellent performance both with and without external disturbance. The convergence of the fixed point iteration and the complexity of the proposed algorithm are given. Simulations on a robotic manipulator reveal that the proposed algorithm is very efficient in disturbance estimation with moderate algorithm complexity. Copyright © 2023, The Authors. All rights reserved.

关键词： Kalman filters

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Enhanced Light-Harvesting Efficiency and Adaptation: A Review on Visible-Light-Driven Micro/Nanomotors

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研究（英文） 2020年第3期 116-140页

作者： Dekai Zhou Rencheng Zhuang Xiaocong Chang Longqiu Li Key Laboratory of Microsystems and Microstructures Manufacturing Harbin Institute of Technology Harbin Heilongjiang 150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

As visible light accounts for a larger proportion of solar energy and is harmless to living organisms,it has the potential to be the energy source of micro/nanomotors,which transform visible-light energy into mechanical motion,for different applications,especially in environmental ***,how to precisely control the motion of visible-light-driven micro/nanomotors (VLD-MNMs) and efficiently utilize the weak visible-light photon energy to acquire rapid motion are significant *** review summarizes the most critical aspects,involving photoactive materials,propulsion mechanisms,control methods,and applications of VLD-MNMs,and discusses strategies to systematically enhance the energyharvesting efficiency and *** first,the photoactive materials have been divided into inorganic and organic photoactive materials and comprehensively ***,different propulsion mechanisms of the current VLD-MNMs are presented to explain the improvement in the actuation force,speed,and environmental *** addition,considering the characteristics of easy control of VLD-MNMs,we summarized the direction,speed,and cluster control methods of VLD-MNMs for different application ***,the potential applications of VLD-MNMs,e.g.,in environmental remediation,micropumps,cargo delivery,and sensing in microscale,are ***,discussions and suggestions for future directions to enhance the energy-harvesting efficiency and adaptation of VLD-MNMs are provided.

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Initial energy deposition and initiation mechanism of nanosecond laser damage caused by KDP surface micro-defects

arXiv

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arXiv 2021年

作者： Yang, Hao Chen, Mingjun Cheng, Jian Liu, Zhichao Zhao, Linjie Liu, Qi Tan, Chao Wang, Jian State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Research Center of Laser Fusion China Academy of Engineering Physics Mianyang621900 China

To enable an exploration of the initiation mechanism of nanosecond laser damage on a potassiumdihydrogen phosphate (KDP) surface, a defect-assisted energy deposition model is developed that involves light intensity enhancement and a sub-band gap energy level structure. The simulations provide an explanation on why the laser-induced damage threshold (LIDT) of the KDP crystal is two orders of magnitude lower than the theoretical value. The model is verified by use of the transient images that appear during the laser damage. In addition, the dimensions of the "dangerous" surface defects that are the most sensitive to the laser damage are proposed. This work enables clarification on the initial energy deposition (IED) and initiation mechanism of the nanosecond laser damage caused by the KDP surface defectson micro-nano scale. It is helpful in understanding the laser-matter interactions and to improve the processing technique for high quality optical components. Copyright © 2021, The Authors. All rights reserved.

关键词： Laser damage

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First Principles Calculations of Charge Shift Photocurrent in Vdws Slide Double Layered 2d H-Bn and Β-Ges Homostructures

SSRN

引用

SSRN 2022年

作者： Kaner, Ngeywo Tolbert Wei, Yadong Raza, Ali Yang, Jianqun Li, Xingji Li, Weiqi Jiang, YongYuan Wei Quan, Tian School of Physics Harbin Institute of Technology Harbin150001 China School of Materials Science and Engineering Harbin Institute of Technology Harbin150001 China Technology Innovation Center of Materials and Devices at Extreme Environment Harbin Institute of Technology Harbin150001 China 1-Km Main Daska Road Punjab Sialkot51040 Pakistan State Key Laboratory of Intense Pulsed Radiation Simulation and Effect Xi’an710024 China Key Lab of Micro-Optics and Photonic Technology of Heilongjiang Province Harbin150001 China Key Laboratory of Micro-Nano Optoelectronic Information System Ministry of Industry and Information Technology Harbin150001 China Collaborative Innovation Center of Extreme Optics Shanxi University Taiyuan030006 China Chongqing Key Laboratory of Theoretical and Computational Chemistry College of Chemistry and Chemical Engineering Chongqing University Chongqing401331 China

Shift photovoltaic current (SPC) in polar non-centrosymmetric materials has recently emerged as a promising candidate for the next generation photovoltaic devices in which Shockley-Queisser limits are fully overcome. Here, we apply first principles calculations to predict colossal SPC in the slide bilayers of 2D h -BN and β-GeS vdW homostructures. The large SPC in slide bilayers h -BN and β-GeS reaches 49.3 µAV-2 and 130µ µAV-2 , respectively, in the ultra-violet (UV) region. Increasing the number of layers is further implemented to tune the band structure of the two homostructures. Consequently, giant SPC peaks about 3 times larger than those of the 2-layers is predicted at photon energies 7.40 eV and 5.95 eV in the 5-layers of h -BN and β-GeS, respectively. The two homostructures may thus be promising building blocks for next-generation shift current devices. These findings also suggest layering as a possible convenient approach of enhancing and also tuning the SPC output in thin layered materials. © 2022, The Authors. All rights reserved.

关键词： Van der Waals forces

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Cover Image, Volume 41, Number 1, January 2024

引用

Journal of Field robotics 2023年第1期41卷

作者： Lefan Guo Gangfeng Liu Yongsheng Luo Peng Jiang Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China MNR Key Laboratory for Polar Science Polar Research Institute of China Shanghai China

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Mechanics of Soft-Body Rolling Motion without External Torque

引用

Physical Review Letters 2025年第19期134卷 198401-198401页

作者： Xudong Liang Yimiao Ding Zihao Yuan Yuxuan Han Yutang Zhou Junqi Jiang Zongling Xie Peng Fei Yixuan Sun Pan Jia Guoying Gu Zheng Zhong Feifei Chen Guangwei Si Zhefeng Gong School of Science Harbin Institute of Technology Shenzhen 518055 China Department of Neurology of the Fourth Hospital and School of Brain Science and Brain Medicine Zhejiang University School of Medicine Hangzhou 310058 China Robotics Institute and State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China State Key Laboratory of Cognitive Science and Mental Health Institute of Biophysics Chinese Academy of Sciences 15 Datun Road Beijing 100101 China University of Chinese Academy of Sciences 19A Yuquan Road Beijing 100049 China Huazhong University of Science and Technology Optical and Electronic Information Wuhan 430074 China Zhejiang Lab Hangzhou 311121 China Shanghai Key Laboratory of Intelligent Robotics Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 China Liangzhu Laboratory MOE Frontier Science Center for Brain Science and Brain-machine Integration State Key Laboratory of Brain-machine Intelligence Zhejiang University 1369 West Wenyi Road Hangzhou 311121 China NHC and CAMS Key Laboratory of Medical Neurobiology Zhejiang University Hangzhou 310058 China

The Drosophila larva, a soft-body animal, can bend its body and roll efficiently to escape danger. However, contrary to common belief, this rolling motion is not driven by the imbalance of gravity and ground reaction forces. Through functional imaging and ablation experiments, we demonstrate that the sequential actuation of axial muscles within an appropriate range of angles is critical for generating rolling. We model the interplay between muscle contraction, hydrostatic skeleton deformation, and body-environment interactions, and systematically explain how sequential muscle actuation generates the rolling motion. Additionally, we construct a pneumatic soft robot to mimic the larval rolling strategy, successfully validating our model. This mechanics model of soft-body rolling motion not only advances the study of related neural circuits, but also holds potential for applications in soft robotics.

关键词： Creatinine

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Corrigendum to “Drill-soil penetration model and its application to lunar exploration” [Adv. Space Res. 70(11) (2022) 3436–3449]

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Advances in Space Research 2023年第8期71卷 3532-3532页

作者： Ye Tian Jiahang Zhang Weiwei Zhang Boyi Xu Zhangqing Duan School of Light Industry Harbin University of Commerce Harbin 150028 PR China The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 PR China

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A Kind of Kinematics Modeling of 2 DOFs Notched Continuum Manipulator

A Kind of Kinematics Modeling of 2 DOFs Notched Continuum Ma...

引用

International Conference on Information Science and Control Engineering (ICISCE)

作者： Xiaolong Wang Zhiyuan Yan Haodong Wang Yongzhuo Gao Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

It’s difficult for traditional rigid manipulators to complete relevant operations in the single port laparoscopic. The notched continuum manipulator owns the features of flexibility and biocompatibility which can make it possible applied in the single port laparoscopic. A kinematics modeling similar to the constant-curvature approximations is proposed in this paper. It can be utilized to describe the mapping relationship between the length change value of two driven wires and the end position. This method simplifies the complexity of kinematic modeling. And it makes the control method of the continuum manipulator easier to achieve as well. The accuracy of the model has been verified by the prototype.

关键词： Laparoscopes Information science Control engineering Shape Wires Force feedback Prototypes

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