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FlexMat 2024年

作者： Yehai Li Shifeng Guo Zhongqing Su Keqin Ding Xian Jun Loh Shenzhen Key Laboratory of Smart Sensing and Intelligent Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China University of Chinese Academy of Sciences Beijing China The Key Laboratory of Biomedical Imaging Science and System Chinese Academy of Sciences Shenzhen China Department of Mechanical Engineering The Hong Kong Polytechnic University Kowloon Hong Kong Technology Innovation Center of Structural Health Monitoring of State Market Regulation China Special Equipment Inspection & Research Institute Beijing China Institute of Materials Research and Engineering (IMRE) Agency for Science Technology and Research (A*STAR) Singapore Singapore

Structural health monitoring (SHM) has been increasingly investigated for decades. Different physical principles have been developed for damage identification, such as electronics, mechanics, magnetics, etc., with different coverage (i.e., global, large-area, and local monitoring) and sensitivity. Mechanical acousto-ultrasonic-based methods have formed a big family in SHM technologies. Multiple wave/resonance modes have been utilized for versatile SHM tasks. The permanently integrated sensing networks play a significant role in achieving a cost-effective and reliable SHM system, with major concerns including weight increase for large-scale deployment and conformity for complex geometry structures. In this review, typical acousto-ultrasonic sensors made of different material systems are discussed, along with advantages and limitations. Moreover, advanced network installation methods have been introduced, including surface-mounting with pre-integrated networks on substrates and in situ printing, and embedding with composite layup and metal additive manufacturing. Sensor versatility and usage in multi-scale SHM techniques are then highlighted. Different wave/resonance modes are transmitted and received with corresponding elements and network designs. In conclusion, this systematic review mainly covers a collection of acousto-ultrasonic sensors, two modalities of network installation, and their employment with various SHM methods, hopefully providing a useful guide to building lightweight and conformal networks with passive or active-passive sensors, and developing complete and reliable SHM strategies by integrating different damage identification methods on multiple scales.

关键词： acousto-ultrasonic conformal installation lightweight sensing networks structural health monitoring

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Depth map inpainting using a fully convolutional network

Depth map inpainting using a fully convolutional network

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Xiong, Rong Liu, Guodong Qu, Yangyang Ou, Yongsheng 1068 Xueyuan Blvd Shenzhen China Shenzhen College of Advanced Tech-nology University of Chinese Academy of Sciences 1068 Xueyuan Blvd Shenzhen China Guangdong Provin-cial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences 1068 Xueyuan Blvd Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology 1068 Xueyuan Blvd Shenzhen China

ISBN: (纸本)9781728163215

Emerging consumer depth cameras, such as Microsoft Kinect and ASUS Xtion Pro, are low-cost depth sensors which can capture the depth maps of the scene, and obtaining color images of the corresponding scenes at the same time. Depth information is very important for computer vision applications, and to acquire the accurate depth information is challengeable. However, due to the limitations of imaging principle, depth maps acquired by such devices are often noisy and will lose depth values for certain areas. In this paper, we present a novel method for depth inpainting problem using a Fully Convolutional Network (FCN). The network has two input branches. One branch is a color image that has been processed by a convoluted hidden layer, and the other one is the missing depth map. Besides, we add a shortcut in order to improve the feature extraction capability of the network. We have validated our method in the Middlebury Stereo Dataset and real-world scenes captured by Kinect 2.0. Experiments show that our method has better applicability and reliability than traditional methods in depth inpainting. © 2019 IEEE.

关键词： Convolution

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Corrigendum to “SIAT-WEXv2: A Wearable Exoskeleton for Reducing Lumbar Load during Lifting Tasks”

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Complexity 2021年第1期2021卷

作者： Xinyu Ji Dashuai Wang Pengfei Li Liangsheng Zheng Jianquan Sun Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen *** CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Shenzhen *** Wuhan University of Technology Wuhan *** Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China

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Road detection through CRF based LiDAR-camera fusion

Road detection through CRF based LiDAR-camera fusion

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2019 International Conference on robotics and Automation, ICRA 2019

作者： Gu, Shuo Zhang, Yigong Tang, Jinhui Yang, Jian Kong, Hui PCA Lab Key Lab of Intelligent Perception and Systems for High-Dimensional Information Ministry of Education Jiangsu Key Lab of Image and Video Understanding for Social Security School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing 210094 China School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing 210094 China Institute of Advanced Artifical Intelligence in Nanjing Horizon Robotics China

ISBN: (纸本)9781538681763

In this paper, we propose a road detection method with LiDAR-camera fusion in a novel conditional random field (CRF) framework to exploit both range and color information. In the LiDAR based part, a fast height-difference based scanning strategy is applied in the 2D LiDAR range-image domain and a dense road detection result in camera image domain can be obtained through geometric upsampling given the LiDAR-camera calibration parameters. In the camera based part, a fully convolutional network is applied in the camera image domain. Finally, we fuse the dense and binary road detection results from both LiDAR and camera in a single CRF framework. Experiments show that using a single thread of CPU, the proposed LiDAR based part can operate at a frequency of over 250Hz with sparse output in range image and 40Hz with dense result in camera image for the 64-beam Velodyne scanner. Our CRF fusion method achieves very promising road detection performance on the KITTI-Road dataset. © 2019 IEEE.

关键词： Laser radar Roads Cameras Three-dimensional displays Two dimensional displays Image segmentation Transforms

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Parameter Tuning of PID Controller of Servo System Based on Particle Swarm Optimization Algorithm

Parameter Tuning of PID Controller of Servo System Based on ...

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作者： Chen Lianbo Xiong Xinhong Zheng Yousheng Zhang Yanhui Zhang Guoqing Wu Xinyu Feng Wei Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology School of Logistics Engineering Wuhan University of Technology

In order to improve the control precision of permanent magnet synchronous motor servo drive, a Proportional-Integral-Differential(PID) control method based on particle swarm optimization(PSO) algorithm is proposed. Firstly, the mathematical model of the permanent magnet synchronous motor was established. Then the PSO algorithm was used to adjust the parameters of the PID controller. Finally, the simulation experiment was carried out under the MATlab/Simulink environment to test its performance. Compared with the traditional manual parameters tuning, the PID controller based on PSO algorithm had better performance and better stability.

关键词： swarm Parameter Tuning of PID Controller of Servo System Based on Particle Swarm Optimization Algorithm Swarm

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Research on Position Sensorless Control of PMSM Based on Improved SMO

Research on Position Sensorless Control of PMSM Based on Imp...

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作者： Zhang Guoqing Xiong Xinhong Zheng Yousheng Zhang Yanhui Chen Lianbo Wu Xinyu Feng Wei Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology School of Logistics Engineering Wuhan University of Technology

The sliding mode observer（SMO） can effectively achieve the permanent magnet synchronous motor（PMSM） to perform position sensorless control, but there are still drawbacks of system chattering and high complexity. In this paper, an improved SMO is established based on hyperbolic tangent function and Kalman filter. The system chattering is effectively suppressed, and the accuracy of position and speed observation error is significantly improved without phase compensation. It is found that the convergence rate of the hyperbolic tangent function has a strong correlation with the system chattering degree and the speed observation error. When a is between 3 and 4, the speed error accuracy of the improved SMO is the optimum situation.

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An insulation diagnosis method for battery pack based on battery model

An insulation diagnosis method for battery pack based on bat...

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2019能源动力与机械工程研讨会

作者： Yanhui Zhang Qingpeng Chen Xiao Liu Zhile Yang Shifeng Guo Wei Feng Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences

The collision and components aging of electric vehicles may lead to dramatic decrease of insulation performance in the complex application environment,which will reduce the insulation between battery pack and chassis,and will affect the performance of on-board equipment and electronic control unit,resulting in heat accumulation effect of leakage circuit and even vehicle ***,it is critical to develop a real-time,accurate and reliable detection device to monitor the insulation resistance of the high-voltage system of electric vehicles,which is beneficial to the normal operation of electrical equipment,the safe operation of vehicles and the personal safety of *** this work,an online estimation method of insulation resistance based on battery model is proposed.

关键词： An insulation diagnosis method for battery pack based on battery model

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Two PID-Based Controllers for a tethered Segway on Dome Shaped Structures

Two PID-Based Controllers for a tethered Segway on Dome Shap...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad H. Salehpour Hamid D. Taghirad Hadi Moradi Advanced Robotics and Automated Systems K.N. Toosi University of Technology Advance Robotics and Intelligent Systems Lab University of Tehran Tehran Iran

ISBN: (纸本)9781728101286;9781728101279

The UTDTR Robot is a human inspired robotic platform based on a two-wheeled mobile robot. This robot is designed for the purpose of dome shaped structures inspection and maintenance, and it is a tethered robot to stably climb steep surfaces on the top of dome structures. In this paper analysis and controller design of this robot modelled as a MIMO system is represented in order to provide the desired performance on the operating surface with minimum control effort and complexity. Two PID-based controllers are designed such that the stability and desired performance conditions are obtained. In the first design a fuzzy PID controller with self-tuning scale factors is designed to tune the controller gains is forwarded, while in the second approach a multi model gain scheduling controller based on conventional PID controller is considered. Finally, the effectiveness and simplicity of the proposed controller is verified through simulation, comparing the resulting closed loop transient and steady-state response to that of the previously proposed controllers.

关键词： Mobile robots Mathematical model Transfer functions Control systems Inspection MIMO communication

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Mercapto-functionalized scaffold improves perovskite buried interfaces for tandem photovoltaics

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Nature communications 2025年第1期16卷 4917页

作者： Jianan Wang Shuaifeng Hu He Zhu Sanwan Liu Zhongyong Zhang Rui Chen Junke Wang Chenyang Shi Jiaqi Zhang Wentao Liu Xia Lei Bin Liu Yongyan Pan Fumeng Ren Hasan Raza Qisen Zhou Sibo Li Longbin Qiu Guanhaojie Zheng Xiaojun Qin Zhiguo Zhao Shuang Yang Neng Li Jingbai Li Atsushi Wakamiya Zonghao Liu Henry J Snaith Wei Chen Wuhan National Laboratory for Optoelectronics Huazhong University of Science and Technology Wuhan China. Optics Valley Laboratory Hubei China. Clarendon Laboratory Department of Physics University of Oxford Oxford UK. Institute for Chemical Research Kyoto University Kyoto Japan. State Key Laboratory of Silicate Materials for Architectures Wuhan University of Technology Wuhan China. Department of Materials Science and Engineering Southern University of Science and Technology Shenzhen China. Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Department of Mechanical and Energy Engineering SUSTech Energy Institute for Carbon Neutrality Southern University of Science and Technology Shenzhen China. Shanghai Synchrotron Radiation Facility (SSRF) Zhangjiang Lab Shanghai Advanced Research Institute Chinese Academy of Sciences Shanghai China. Huaneng Clean Energy Research Institute Beijing China. School of Materials Science and Engineering East China University of Science and Technology Shanghai China. Hoffmann Institute of Advanced Materials Shenzhen Polytechnic University Shenzhen China. Wuhan National Laboratory for Optoelectronics Huazhong University of Science and Technology Wuhan China. liuzonghao@***. Optics Valley Laboratory Hubei China. liuzonghao@***. Clarendon Laboratory Department of Physics University of Oxford Oxford UK. henry.snaith@physics.ox.ac.uk. Wuhan National Laboratory for Optoelectronics Huazhong University of Science and Technology Wuhan China. wnlochenwei@***. Optics Valley Laboratory Hubei China. wnlochenwei@***.

Tandem photovoltaics hold great potential to surpass the efficiency limit of single-junction solar cells. Detrimental structural defects and chemical reactions at buried interfaces of subcells considerably impede the performance of integrated tandems. Here, we devise a mercapto-functionalized mesoporous silica layer as a superstructure at the buried interface to modulate the crystallisation, eliminate nanovoids, passivate defects, and suppress the oxidation of Sn(II) in the tin-lead perovskite films, contributing substantially to reduce charge carrier losses and improve stability in positive-intrinsic-negative structured devices. Consequently, the tin-lead perovskite single-junction cells show efficiency values of up to 23.7% with the best open-circuit voltage of 0.89 V. With the enhanced subcells, our double-junction tandems show efficiency values of 29.6% (certified 29.5% and steady-state 28.7%) and 24.7% on solar cells and 11.3 cm mini-modules, respectively. Encapsulated tandems maintain 90% of initial efficiency after 445 h of maximum power point tracking under simulated 1-sun illumination.

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An Early Stage Researcher's Primer on systems Medicine Terminology

Network and Systems Medicine

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Network and systems Medicine 2021年第1期4卷 2-50页

作者： Zanin, Massimiliano Aitya, Nadim A.A. Basilio, José Baumbach, Jan Benis, Arriel Behera, Chandan K. Bucholc, Magda Castiglione, Filippo Chouvarda, Ioanna Comte, Blandine Dao, Tien-Tuan Ding, Xuemei Pujos-Guillot, Estelle Filipovic, Nenad Finn, David P. Glass, David H. Harel, Nissim Iesmantas, Tomas Ivanoska, Ilinka Joshi, Alok Boudjeltia, Karim Zouaoui Kaoui, Badr Kaur, Daman Maguire, Liam P. McClean, Paula L. McCombe, Niamh De Miranda, João Luís Moisescu, Mihnea Alexandru Pappalardo, Francesco Polster, Annikka Prasad, Girijesh Rozman, Damjana Sacala, Ioan Sanchez-Bornot, Jose M. Schmid, Johannes A. Sharp, Trevor Solé-Casals, Jordi Spiwok, Vojtěch Spyrou, George M. Stalidzans, Egils Stres, Blaa Sustersic, Tijana Symeonidis, Ioannis Tieri, Paolo Todd, Stephen Van Steen, Kristel Veneva, Milena Wang, Da-Hui Wang, Haiying Wang, Hui Watterson, Steven Wong-Lin, Kongfatt Yang, Su Zou, Xin Schmidt, Harald H.H.W. Centro de Tecnología Biomédica Universidad Politécnica de Madrid Madrid Spain Intelligent Systems Research Centre School of Computing Engineering and Intelligent Systems Ulster University Ulster United Kingdom Center for Physiology and Pharmacology Institute of Vascular Biology and Thrombosis Research Medical University of Vienna Vienna Austria TUM School of Life Sciences Weihenstephan Technical University of Munich Freising Germany Holon Israel CNR National Research Council IAC Institute for Applied Computing Rome Italy Lab of Computing Medical Informatics and Biomedical Imaging Technologies School of Medicine Aristotle University of Thessaloniki Thessaloniki Greece Université Clermont Auvergne INRAE UNH Plateforme d'Exploration du Métabolisme MetaboHUB Clermont Clermont-Ferrand France Université de Technologie de Compiègne Compiègne France Labex MS2T Control of Technological Systems-of-Systems CNRS and Université de Technologie de Compiègne Compiègne France Faculty of Engineering University of Kragujevac Kragujevac Serbia Kragujevac Serbia Steinbeis Advanced Risk Technologies Institute Doo Kragujevac Kragujevac Serbia Pharmacology and Therapeutics School of Medicine Galway Neuroscience Centre National University of Ireland Galway Ireland School of Computing Ulster University Ulster United Kingdom Holon Israel Department of Mathematics and Natural Sciences Kaunas University of Technology Kaunas Lithuania Faculty of Computer Science and Engineering Ss. Cyril and Methodius University Skopje Macedonia Medicine Faculty Université Libre de Bruxelles CHU de Charleroi Charleroi Belgium Northern Ireland Centre for Stratified Medicine Biomedical Sciences Research Institute Ulster University Ulster United Kingdom Escola Superior de Tecnologia e Gestão Instituto Politécnico de Portalegre Portalegre Portugal Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal Faculty of Automatic Control and Computers University Politehnica of B

Background: systems Medicine is a novel approach to medicine, that is, an interdisciplinary field that considers the human body as a system, composed of multiple parts and of complex relationships at multiple levels, and further integrated into an environment. Exploring systems Medicine implies understanding and combining concepts coming from diametral different fields, including medicine, biology, statistics, modeling and simulation, and data science. Such heterogeneity leads to semantic issues, which may slow down implementation and fruitful interaction between these highly diverse fields. Methods: In this review, we collect and explain more than100 terms related to systems Medicine. These include both modeling and data science terms and basic systems medicine terms, along with some synthetic definitions, examples of applications, and lists of relevant references. Results: This glossary aims at being a first aid kit for the systems Medicine researcher facing an unfamiliar term, where he/she can get a first understanding of them, and, more importantly, examples and references for digging into the topic. © Massimiliano Zanin et al., 2021;Published by Mary Ann Liebert, Inc. 2021.

关键词： Semantics

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