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29th IEEE International Conference on Parallel and Distributed Systems, ICPADS 2023

作者： Li, Yanbo Lin, Yanying Peng, Shijie Tang, Yingfei Xiang, Tian Song, Wei Ye, Kejiang Shenzhen Institute of Advanced Technology Chinese Academy of Sciences China Southern University of Science and Technology China University of Chinese Academy of Sciences China Intelligent Robot Research Center Zhejiang Laboratory China

ISBN: (纸本)9798350330717

Low response latency holds a pivotal role in the landscape of edge deep learning model inference, yet the constrained resources within edge computing environments often limit its full potential. Within the scope of this paper, we substantiate that even amid the resource limitations inherent to edge computing environments, it remains feasible to curtail model response latency by elevating multi-core parallel efficiency. Our research encompasses a comprehensive analysis of the parallel acceleration effects observed across models featuring diverse parameter magnitudes during the inference process. This analysis culminates in the development of FLASH, an online deep model inference system tailored for Serverless edge inference, strategically optimized through the utilization of multi-core parallelism. FLASH exhibits dynamic adaptability by modulating the number of CPU cores within computational instances in accordance with traffic request loads. It also employs a dynamic scaling mechanism to finely adjust model placement, ultimately facilitating inference acceleration and mitigating the concomitant cold start overhead. Empirical experimentation conducted across a spectrum of burst-level workloads serves to underscore FLASH's capacity, resulting in an average reduction in response latency by 33% and a maximum reduction of 75%, while concurrently realizing a throughput enhancement of 2.94x. © 2023 IEEE.

关键词： Edge-Cloud Collaborative Network-Efficiency Serverless Inference

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Multimodal Fusion Induced Attention Network for Industrial VOCs Detection

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第12期5卷 6385-6398页

作者： Kang, Yu Shi, Kehao Tan, Jifang Cao, Yang Zhao, Lijun Xu, Zhenyi Anhui University Anhui Provincial Key Laboratory of Multimodal Cognitive Computation Hefei230601 China Yangtze River Delta Hart Robot Industry Technology Research Institute Wuhu241000 China University of Science and Technology of China Anhui Province Key Laboratory of Intelligent Low-Carbon Information Technology and Equipment Hefei230088 China University of Science and Technology of China Department of Automation Hefei230026 China Anhui University AHU-IAI AI Joint Laboratory Hefei230601 China University of Science and Technology of China Institute of Advanced Technology Hefei230088 China

Industrial volatile organic compounds (VOCs) emissions and leakage have caused serious problems to the environment and public safety. Traditional VOCs monitoring systems require professionals to carry gas sensors into the emission area to collect VOCs, which might cause secondary hazards. VOCs infrared (IR) imaging visual inspection technology is a convenient and low-cost method. However, current visual detection methods with VOCs IR imaging are limited due to blurred imaging and indeterminate gas shapes. Moreover, major works pay attention to only IR modality for VOCs emissions detection, which would neglect semantic expressions of VOCs. To this end, we propose a dual-stream fusion detection framework to deal with visible and IR features of VOCs. Additionally, a multimodal fusion induced attention (MFIA) module is designed to realize feature fusion across modalities. Specifically, MFIA uses the spatial attention fusion module (SAFM) to mine association among modalities in terms of spatial location and generates fused features by spatial location weighting. Then, the modality adapter (MA) and induced attention module (IAM) are proposed to weight latent VOCs regions in IR features, which alleviates the problem of noise interference and degradation of VOCs characterization caused by fusion. Finally, comprehensive experiments are carried out on the challenging VOCs dataset, and the mAP@0.5 and F1-score of the proposed model are 0.527 and 0.601, which outperforms the state-of-the-art methods by 3.3% and 3.4%, respectively. © 2024 IEEE.

关键词： Volatile organic compounds

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A Self-Powered Tactile Sensing Interface For Human-Machine Interaction 22

A Self-Powered Tactile Sensing Interface For Human-Machine I...

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22nd International Conference on Solid-State Sensors, Actuators and Microsystems, Transducers 2023

作者： Sun, Yuyang Li, Hanyang Wang, Kaiyao Feng, Xiaowei Hou, Cheng Chen, Tao Liu, Huicong Soochow University School Of Mechanical And Electrical Engineering Jiangsu Provincial Key Laboratory Of Advanced Robot Suzhou215123 China Soochow University School Of Computer Science And Technology Suzhou215123 China

ISBN: (纸本)9784886864352

Human-machine interfaces (HMIs) are the critical platforms for achieving effective and intuitive operations and control tasks between the user and machine. In this work, we propose a self-powered tactile sensing interface (STI) based on an array of bilayer single-electrode triboelectric nanogenerator (TENG) units. For each TENG unit, a pair of innovative, flexible materials, i.e., PET-PDMS and PTFE-PDMS, are arranged in a mosaic pattern, which can serialize the signal peaks and valleys, thus realizing the encoding of tactile sensing information and optimization of the wiring layout. This self-powered, signal-serialized and neatly wired STI can demonstrate the control of intelligent vehicles by detecting touch events. © 2023 IEEJ.

关键词： Human-machine interface self-powered signal-serializing triboelectric nanogenerator

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Digital Twin based Test- and Verify Framework of Human-robot Collaboration Solutions

Digital Twin based Test- and Verify Framework of Human-Robot...

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IEEE Workshop on advanced robotics and its Social Impacts, ARSO

作者： Chengxiao He Liuqun Fan Yang Xiao Ziqi Han Zicheng Luo Chang Ge Lv Muyang School of Mechanical Engineering at Tongji University No. 1239 Siping Road Shanghai China School of Mechanical Engineering at Tongji University Tongji University Robot Test Engineer at Shanghai Robot Industrial Technology Research Institute School of Mechanical Engineering at Tongji University and at Global Advanced Manufacturing Institute

ISBN: (数字)9798350344639

ISBN: (纸本)9798350344646

While human-robot collaboration is emerging as a new paradigm for solving problems in the industrial domain, the lack of suitable testing methods has led to insufficient design feedback and unconvincing safety certifications during deployment, which impede its long-term development. These include insufficient design feedback and unconvincing safety certifications during deployment. Adhering to a human-centric principle, this work analyzes deficiencies in existing standards and testing methodologies for human-robot collaboration testing. By integrating digital twin and AI technologies, a simulation-based testing framework is proposed for human-robot collaboration. AI-generated human factors are introduced in the simulation environment to emulate capabilities of the human-robot collaboration solutions under evaluation across diverse scenarios. This explores corner cases while mitigating equipment and personnel risks inherent in physical testing workflows. Through the exploration of corner cases, this research has discovered that developing human-robot collaboration solutions requires greater attention to human factors, rather than primarily considering electromechanical devices, to ensure operator safety during real-world deployment of human-robot collaboration schemes.

关键词： Collaboration Human factors Generators Safety Digital twins Artificial intelligence Certification

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Learning Rapid Turning, Aerial Reorientation, and Balancing using Manipulator as a Tail

arXiv

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arXiv 2024年

作者： Yang, Insung Hwangbo, Jemin Robot and Artificial Intelligence Lab The Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Daejeon Korea Republic of

In this research, we investigated the innovative use of a manipulator as a tail in quadruped robots to augment their physical capabilities. Previous studies have primarily focused on enhancing various abilities by attaching robotic tails that function solely as tails on quadruped robots. While these tails improve the performance of the robots, they come with several disadvantages, such as increased overall weight and higher costs. To mitigate these limitations, we propose the use of a 6-DoF manipulator as a tail, allowing it to serve both as a tail and as a manipulator. To control this highly complex robot, we developed a controller based on reinforcement learning for the robot equipped with the manipulator. Our experimental results demonstrate that robots equipped with a manipulator outperform those without a manipulator in tasks such as rapid turning, aerial reorientation, and balancing. These results indicate that the manipulator can improve the agility and stability of quadruped robots, similar to a tail, in addition to its manipulation capabilities. Copyright © 2024, The Authors. All rights reserved.

关键词： Manipulators

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Enhanced hydrogen storage properties of NaBH4–Mg（BH4）2 composites by NdF3 addition

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Progress in Natural Science:Materials International 2021年第4期31卷 521-526页

作者： Jianguang Yuan Jinting Chen Haixiang Huang Yujie Lv Bogu Liu Zhongyu Li Bao Zhang Wei Lv Ying Wu Central Iron & Steel Research Institute Advanced Technology & Materials Co. Ltd Jiangsu JITRI Advanced Energy & Materials Research Institute Co. Ltd Advanced Materials Research Institute North China Electric Power University Jiangsu Provincial Key Laboratory of Special Robot Technology Hohai University

As two important members of complex hydrides,Mg（BH4）2and Na BH4have a high gravimetric capacity （14.9 and10.8 wt%,respectively）.In this study,the Mg（BH4）2was synthesized by the ion exchange ***,the Mg（BH4）2and Na BH4composites with different amounts （30,40 and 50 wt%） of NdF3were prepared by mechanical *** of the Nd F3on the microstructural evolution and hydrogen storage properties were *** results show that Nd F3catalyst can significantly improve the dehydrogenation kinetics of the eutectic composites of Na BH4–Mg（BH4）*** onset hydrogen desorption temperature of the composites is about88.6C,which is about 110C lower than that of Mg（BH4）2and Na ***（BH4）2–Na BH4-0.5NdF3composites can released 5.2 wt%H2at 250C within 30 min,and the dehydrogenation capacity is significantly higher than that of Mg（BH4）2–Na *** analysis of the dehydrogenation mechanism reveals that NdF3takes participate in the reaction to generate Na MgF3to promote the dehydrogenation reaction process of the composites.

关键词： Hydrogen storage materials Mg(BH4)2 NaBH4 NdF3 Ball-milling Hydrogen desorption performance

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Elastic Collision Based-Interactive Path Planning System for Vascular Intervention robots

Elastic Collision Based-Interactive Path Planning System for...

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International Conference on Biomimetic Intelligence and robotics & Medical robotics Forum, ICBIR+MRF 2024

作者： Cao, Sheng Guo, Shuxiang Guo, Jian Wang, Jian Wang, Bin Ding, Mingchao Aerospace Center Hospital The Key Laboratory of Convergence Medical Engineering System and Healthcare Technology School of Life Science Ministry of Industry and Information Technology Beijing Institute of Technology Beijing100081 China Shenzhen Institute of Advanced Biomedical Robot Company Limited Guangdong Province Shenzhen518000 China Department of Electronic and Electrical Engineering Southern University of Science and Technology Guangdong Shenzhen518055 China

As population aging intensifies, the incidence of cardiovascular and cerebrovascular diseases has continued to rise. Vascular interventional surgery, known for its minimal trauma, rapid recovery, and clear effectiveness, requires doctors to perform procedures in radiation environments while wearing lead aprons. The advent of vascular intervention robots has provided a system-level solution to protect doctors from radiation and enhance outcomes. Currently, preoperative path planning for these robots predominantly relies on automatically generated paths, calculated by setting constraints and minimizing costs. However, this method lacks incorporation of physicians' expertise and consideration of elastic collision. Therefore, this study has designed an interactive path planning system for vascular intervention robot based on elastic collision. By establishing a simulation environment, doctors can use a manipulator to control virtual catheters and guidewires. While considering deformations, they maneuver the guidewire to the target position and record the current motion trajectory to guide the procedure in actual surgeries. Experimental tests have been conducted, confirming the system's effectiveness and feasibility. © 2024 The Authors.

关键词： robot programming

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Kinematics Analysis of a New Parallel Mechanism with Complete Separation of Constraints and Drives 16th

Kinematics Analysis of a New Parallel Mechanism with Complet...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Qiu, Can Wang, Yu Wu, Jiabin He, Xiaoyu Ma, Xuejian Xu, Yundou Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China

ISBN: (纸本)9789819964888

At present, there is a growing demand for parallel mechanisms with fewer inputs and more outputs. These mechanisms are highly sought after in industries such as aerospace, antenna, and entertainment facilities, among others. Therefore, this paper proposes a new parallel mechanism (PM) that utilizes separation of constraints and drives, resulting in centralized drive management. Thereby achieving a small amount of driving to drive multiple parallel moving platforms. For example, 3nRRS/PPPS parallel mechanism. In this study, we utilize the closed-loop vector method to obtain the inverse solution for the 3RRS/PPPS parallel mechanism. To perform a static analysis, we construct a complete Jacobian matrix for the mechanism. Under the premise of satisfying the workspace, the key dimensional parameters of the mechanism were optimized with the objective of improving the load-carrying capacity of the mechanism and minimizing the driving force. The method of complete separation of constraints and drives is easier to centrally manage drives, greatly improving energy utilization and work efficiency, and having a wide range of application scenarios in antenna, entertainment facilities, and other situations. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Inverse problems

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Comparative Studies on Wet Attaching Abilities of Different Salamander Species

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Journal of Bionic Engineering 2022年第1期19卷 92-102页

作者： Meng Li Qing Jiao Liping Shi Xiaolei Wang Key Laboratory of Green Fabrication and Surface Technology of Advanced Metal Materials Ministry of EducationAnhui University of TechnologyMa’anshan243002China Anhui Province Key Laboratory of Special and Heavy Load Robot Anhui University of TechnologyMa’anshan243032China School of Mechanical Engineering Anhui University of TechnologyMa’anshan243032China College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjing210016China

Salamanders have evolved functions of attaching to a variety of surfaces under wet conditions,but racial diversity may cause a difference in attachment behaviors and epidermal *** sticking and climbing abilities of the Chinese Fire Belly Newt(CFBN),Chinese Warts Triton(CWT),Spotless Stout Newt(SSN),and Chinese Giant Salamander(CGS)on various surfaces were investigated and compared in terms of epidermal morphology,body size,and *** results indicate that the spotless stout newt has an excellent ability for wet attachment,compared to other salamanders under a certain contact case,resulting from its lower mass/body surface area and more visible epidermal *** with moderate water is beneficial for salamander attachment,and the surface roughness in the flood case also promotes the wet *** CFBN has the most hydrophilic epidermis among the samples,where the water droplet quickly spreads over,presenting a completely wetting *** study offers a comprehensive understanding of the wet attachments and the epidermal characteristics of salamanders,which is meaningful for the application of bioinspired adhesives.

关键词： Wet attachment Salamander Epidermal structure Wettability

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Parameter-Sharing-Based Average-Consensus Time Synchronization in IoT Networks

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IEEE Internet of Things Journal 2023年第9期10卷 8215-8227页

作者： Shi, Fanrong Yang, Simon X. Mukherjee, Mithun Jiang, Hong Da Costa, Daniel Benevides Wong, Wing-Kwong Southwest University of Science and Technology Robot Technology Used for Special Environment Key Laboratory of Sichuan Province School of Information Engineering Mianyang621010 China School of Engineering University of Guelph Advanced Robotics and Intelligent Systems Laboratory GuelphONN1G 2W1 Canada Nanjing University of Information Science and Technology School of Artificial Intelligence School of Future Technology Nanjing210044 China Technology Innovation Institute Abu Dhabi United Arab Emirates National Yunlin University of Science and Technology Future Technology Research Center Douliu64002 Taiwan

Average-consensus protocol is one of the ways to develop distributed time-synchronization algorithms in Internet of Things (IoT) networks. However, the large number of iteration leads to a common time notion issue in nodes. This poses a critical challenge in the convergence of the time-synchronization algorithm and resulting asymptotic convergence in the average consensus protocol. In this article, a parameter-sharing-based average-consensus time-synchronization (PACTS) algorithm is proposed. For fast convergence, the proposed PACTS quickly forwards the time information to multihop nodes and employs multihop average-consensus instead of single-hop average consensus. Specifically, a node asynchronously and periodically broadcasts the relative clock offset estimation of neighbors with its local time information. Meanwhile, the relative clock offset estimation of the multihop node is calculated and used to estimate the average value. Consequently, an average consensus among local multihop nodes is obtained. As a result, the iteration number and convergence time are significantly reduced over the network. Finally, the experimental results indicate that the proposed PACTS algorithm has low complexity, high accuracy, and quick convergence. © 2023 IEEE.

关键词： Topology

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