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FWAF-VID: A Flapping-Wing Aggressive Flight Benchmark Dataset for Visual-Inertial Localization

IEEE Robotics and Automation Letters 2025年第6期10卷 6328-6335页

作者： Jiang, Jizhou Pan, Erzhen Xu, Wenfu Sun, Wei Ye, Jingyang Harbin Institute of Technology School of Robotics and Advanced Manufacture Shenzhen518055 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China Guangdong Biomimetic Intelligent Unmanned System Engineering Technology Research Center Shenzhen518052 China

Accurate state estimation of micro aerial vehicles (MAVs) in high-speed and dynamic environments poses a significant challenge for visual-inertial odometry (VIO) algorithms. Flapping-wing aerial vehicles (FWAVs), as an emerging flight platform, have attracted significant attention for stealth capabilities and efficient flight characteristics. Despite the availability of numerous MAV visual-inertial datasets for six-degree-of-freedom (6-DoF) state estimation, these datasets are not applicable for FWAVs with pronounced vibrations and agile maneuverability. To address this gap, we propose a large-scale flapping-wing aggressive flight visual-inertial dataset FWAF-VID. It contains diverse integrations of synchronized onboard cameras and IMU sensors. A total of 28 sequences include static flapping, calibration, and real-world flights collected in outdoor and indoor environments. The 17 flight sequences feature variations in illuminations, speeds, trajectories, camera perspectives, and flight modalities. We provide precisely aligned ground truth RTK and UWB measurements for algorithm evaluation. Furthermore, a comprehensive benchmark comparison is conducted, qualitatively and quantitatively evaluating the positioning accuracy of state-of-the-art VIO algorithms. The experimental results indicate that despite the degradation in localization accuracy in high-dynamic environments, FWAF-VID can effectively support the further development of VIO algorithms for FWAVs. To the best of our knowledge, this is the first onboard benchmark dataset tailored for aggressive flight in flapping-wing airborne platforms. © 2025 IEEE.

关键词： Micro air vehicle (MAV)

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HVAC energy consumption prediction based on RJITL deep neural network model

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Journal of Intelligent and Fuzzy systems 2024年第4期46卷 9029-9042页

作者： Li, Xiaoli Du, Linhui Yu, Xiaowei Wang, Kang Hu, Yongkang Faculty of Information Technology Beijing University of Technology Beijing China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing Advanced Innovation Center for Future Internet Technology Beijing University of Technology Beijing China Engineering Research Center of Digital Community Ministry of Education Beijing University of Technology Beijing China Instrumentation Technology Economy Institute Beijing China

During the operation of HVAC (Heating, Ventilation, and Air-Conditioning) systems, precise energy consumption prediction plays an important role in achieving energy savings and optimizing system performance. However, the HVAC system is a complex and dynamic system characterized by a large number of variables that exhibit significant changes over time. Therefore, it is inadequate to rely on a fixed offline model to adapt to the dynamic changes in the system that consume tremendous computation time. To solve this problem, a deep neural network (DNN) model based on Just-in-Time learning with hyperparameter R (RJITL) is proposed in this paper to predict HVAC energy consumption. Firstly, relevant samples are selected using Euclidean distance weighted by Spearman coefficients. Subsequently, local models are constructed using deep neural networks supplemented with optimization techniques to enable real-Time rolling energy consumption prediction. Then, the ensemble JITL model mitigates the influence of local features, and improves prediction accuracy. Finally, the local models can be adaptively updated to reduce the training time of the overall model by defining the update rule (hyperparameter R) for the JITL model. Experimental results on energy consumption prediction for the HVAC system show that the proposed DNN-RJITL method achieves an average improvement of 5.17% in accuracy and 41.72% in speed compared to traditional methods. © 2024-IOS Press. All rights reserved.

关键词： Energy utilization

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Quantum private comparison of arbitrary single qubit states based on swap test

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Chinese Physics B 2022年第4期31卷 123-132页

作者： Xi Huang Yan Chang Wen Cheng Min Hou Shi-Bin Zhang School of Cybersecurity Chengdu University of Information TechnologyChengdu 610225China Sichuan Key Laboratory of Advanced Cryptography and System Security Chengdu 610225China

By using swap test,a quantum private comparison(QPC) protocol of arbitrary single qubit states with a semi-honest third party is *** semi-honest third party(TP) is required to help two participants perform the *** can record intermediate results and do some calculations in the whole process of the protocol execution,but she cannot conspire with any of *** the process of comparison,the TP cannot get two participants’ private information except the comparison *** to the security analysis,the proposed protocol can resist both outsider attacks and participants’ *** with the existing QPC protocols,the proposed one does not require any entanglement swapping technology,but it can compare two participants’ qubits by performing swap test,which is easier to implement with current ***,the proposed protocol can compare secret *** encodes secret integers into the amplitude of quantum state rather than transfer them as binary representations,and the encoded quantum state is compared by performing the swap ***,the proposed QPC protocol is extended to the QPC of arbitrary single qubit states by using multi-qubit swap test.

关键词： quantum private comparison arbitrary single qubit states swap test quantum cryptography

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Ag@polydopamine-functionalized borate ester-linked chitosan hydrogel integrates monitoring with wound healing for epidermal sensor

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npj Flexible Electronics 2024年第1期8卷 43-54页

作者： Wei Shi Hui Li Chengsheng Xu Gaoyi Wu Jing Chen Jinyong Zhang Lixin Liang Qingyang Wu Yongsheng Liang Guanglin Li Wei Tang Key Laboratory of Human-Machine-Intelligence Synergic System Research Center for Neural EngineeringShenzhen Institutes of Advanced TechnologyChinese Academy of SciencesShenzhenGuangdongChina College of Big Data and Internet Shenzhen Technology UniversityShenzhenGuangdongChina

Flexible sensors are promising candidates in personalized healthcare,while desired sensors that allow implantation for biomedical applications with optimal sensing and favorable biological properties remain ***,a multifunctional hydrogel sensor was developed with gallic acid-modified chitosan(CSGA)and 3-carboxyphenylboronic acid-modified chitosan(CSPBA)by encapsulating Agdecorated polydopamine(Ag@PDA)nanoparticles,namely Ag@PDA-(CSPBA/CSGA).The optimized hydrogel sensor showed desired sensitivity(gauge factor=2.49),a rapid response/recovery time of 263 ms and good *** to the presence of abundant reactive groups within Ag@PDA-(CSPBA/CSGA),the hydrogel sensor exhibited a comprehensive performance of self-healing,tissue adhesiveness,antioxidative activity,and antibacterial effects against Escherichia coli(92.76%)and Staphylococcus aureus(98.08%).Moreover,the hydrogel sensor could be utilized as a wound dressing,facilitating accelerated wound closure and tissue *** subtle activities and large-scale movements could be monitored and distinguished by the hydrogel *** study provides a promising epidermal sensor that offers multifunctionality for health monitoring and wound management.

关键词： wound desired durability

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Mapping the Behavioral Signatures of Shank3b Mice in Both Sexes

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Neuroscience Bulletin 2024年第9期40卷 1299-1314页

作者： Jingjing Liu Jialin Ye Chunyuan Ji Wenting Ren Youwei He Fuqiang Xu Feng Wang NMPA Key Laboratory for Research and Evaluation of Viral Vector Technology in Cell and Gene Therapy Medicinal Products Shenzhen-Hong Kong Institute of Brain ScienceShenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen518055China Shenzhen Key Laboratory of Viral Vectors for Biomedicine Translational Research Center for the Nervous SystemShenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen518055China Key Laboratory of Quality Control Technology for Virus-Based Therapeutics Guangdong Provincial Medical Products AdministrationShenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen518055China Shenzhen Key Lab of Translational Research for Brain Diseases Translational Research Center for the Nervous SystemShenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen518055China Guangdong Provincial Key Laboratory of Brain Connectome and Behavior the Brain Cognition and Brain Disease InstituteShenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen518055China CAS Key Laboratory of Brain Connectome and Manipulation the Brain Cognition and Brain Disease InstituteShenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen518055China University of Chinese Academy of Sciences Beijing100049China

Autism spectrum disorders(ASD)are characterized by social and repetitive *** the ASD mouse model with Shank3b mutations is widely used in ASD research,the behavioral phenotype of this model has not been fully ***,a 3D-motion capture system and linear discriminant analysis were used to comprehensively record and analyze the behavioral patterns of male and female Shank3b mutant *** was found that both sexes replicated the core and accompanied symptoms of ASD,with significant sex ***,Shank3b heterozygous knockout mice exhibited distinct autistic behaviors,that were significantly different from those those observed in the wild type and homozygous knockout *** findings provide evidence for the inclusion of both sexes and experimental approaches to efficiently characterize heterozygous transgenic models,which are more clinically relevant in autistic studies.

关键词： Autism Shank3b Spontaneous behavior 3D animal motion-capture system Computational ethology Sex differences

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Point cloud classification method based on local dynamic edge graph convolution and global information fusion 4

Point cloud classification method based on local dynamic edg...

引用

4th International Conference on Computer Vision, Application, and Algorithm, CVAA 2024

作者： Du, Jie Sheng, Zhiwei Jin, Xingyu Huang, Yuanyuan Tian, Junbiao Chengdu University of Information Technology Chengdu610225 China Advanced Cryptography and System Security Key Laboratory of Sichuan Province Chengdu610225 China

ISBN: (数字)9781510687622

ISBN: (纸本)9781510687615

The development of automatic driving, unmanned aerial vehicle detection and virtual reality cannot be separated from the research of 3D point cloud. Existing studies either lack of local shape capture and local spatial feature description of point cloud, resulting in poor accuracy of point cloud classification network, or pursue fine and complex local feature extractors, sacrificing extraction time and memory overhead to extract classification progress, but the results show that the effect is not significantly improved. Therefore, this paper proposes a Point cloud classification method based on Local Point Dynamic Edge Graph Convolution and Global Information Fusion. Among them, the local point dynamic edge graph convolution module improves the edge graph convolution, which can improve the local extraction feature effect without deepening the local feature extractor, and reduce the time and memory overhead. The global information fusion block concatenates multi-layer local features to extract and fuse feature information to improve the classification accuracy of the network. Our network is tested on the public datasets ModelNet40 dataset and ScanObjectNN dataset. The results show that compared with the current mainstream point cloud classification algorithms, the point cloud classification accuracy of the proposed classification method is improved, and it has good robustness. © 2025 SPIE.

关键词： Point clouds Feature extraction Convolution Data modeling Information fusion Data conversion Education and training Transformers Deep learning Statistical modeling

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Broadband Chaos Generation and Synchronization Induced by Integrated Tri-section Laser

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IEEE Access 2024年 13卷 1-1页

作者： Guo, Yuanyuan Wei, Wuyin Gao, Hua Zhang, Yuanye Zhao, Tong Jia, Zhiwei Chang, Pengfa Wang, Longsheng Wang, Anbang Wang, Yuncai Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi Province Taiyuan China College of Information Engineering Shanxi Vocational University of Engineering Science and Technology Taiyuan China School of Information Engineering Guangdong University of Technology Guangzhou China

Broadband chaos generation is numerically demonstrated using an integrated tri-section laser which is composed of mutually coupled distributed feedback (DFB) lasers with a phase section, and the broadband chaos synchronization of two DFB lasers is achieved using the integrated laser as a driver. The simulation results indicate that the integrated tri-section laser with optical feedback can generate broadband chaos with a bandwidth up to 34 GHz, based on dual-mode beating effect. The influence of feedback strength and frequency interval on the chaos bandwidth are studied in detail. As a common driving signal, the broadband chaos signal can induce the response DFB lasers to generate chaos signals with a bandwidth of no less than 25 GHz and meanwhile achieve chaos synchronization with a correlation coefficient beyond 0.98. The low correlation coefficient between the drive signal and the response signal ensures the security of the chaos carrier from the public channel. Moreover, the dynamic properties of the integrated laser and the influence of the external parameters on chaotic synchronization are also investigated. Authors

关键词： Distributed feedback lasers

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A Bio-inspired Mutual-hook Strategy for the Soft Finger to Improve Load-bearing Capacity and Grasping Stability

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Journal of Bionic Engineering 2024年第3期21卷 1290-1304页

作者： Jie Huang Lingjie Gai Xiaofeng Zong Yunquan Li School of Automation China University of GeosciencesWuhan430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan430074China The Shien-Ming Wu School of Intelligent Engineering South China University of TechnologyGuangzhou510641China

Soft grippers have great potential applications in daily life,since they can compliantly grasp soft and delicate ***,the highly elastic fingers of most soft grippers are prone to separate from each other while grasping objects due to their low stiffness,thus reducing the grasping stability and load-bearing *** tackle this problem,inspired from the venus flytrap plant,this work proposes a mutual-hook mechanism to restrain the separation and improve the grasping performance of soft *** novel soft gripper design consists of three modules,a soft finger-cot,two Soft Hook Actuators(SHAs)and two sliding ***,the soft finger-cot covers on the soft finger,increasing the contact area with the target object,two SHAs are fixed to the left and right sides of the finger-cot,and the sliding mechanisms are designed to make SHAs stretch *** demonstrate that the proposed design can restrain the separation of soft fingers substantially,and the soft fingers with the finger-cots can grasp objects three times heavier than the soft fingers without the proposed *** proposed design can provide invaluable insights for soft fingers to restrain the separation while grasping,thus improving the grasping stability and the load-bearing capacity.

关键词： Soft robotics Soft bionic finger-cot Soft hook actuator Grasping stability Load-bearing capacity

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Research on Characteristics of Three-Chamber Hydraulic Cylinder Driving Loader Boom 8th

Research on Characteristics of Three-Chamber Hydraulic Cylin...

引用

8th International Conference on Advances in Construction Machinery and Vehicle Engineering, ICACMVE 2023

作者： Zhu, Huidian Feng, Jiangjiang Yang, Jing Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education and Shanxi Province Taiyuan University of Technology Taiyuan030024 China

ISBN: (纸本)9789819718757

When the loader boom is lifted and lowered, the hydraulic pump operates at high peak power levels. In this process, the hydraulic valve port dissipates the gravitational potential energy of the boom. Consequently, the dissipated energy is converted into thermal energy, resulting in elevated hydraulic oil temperature and reduced energy efficiency. This paper proposes a gravitational potential energy recovery system based on three-chamber cylinder and a hydraulic accumulator. The system utilizes the hydraulic accumulator to balance the weight of the loading boom and achieve energy recovery for the boom. The co-simulation model of wheel loader based on the three-chamber cylinder was built in SimulationX, then the energy consumption was analyzed under two kinds of typical operating modes. The simulation results illustrate that when the initial pressures of accumulators are 6 and 8 MPa with heavy-load and without load, the system has the highest energy utilization rate. By establishing a loader prototype and investigating the operating characteristics and energy efficiency of the boom driven by a two-chamber cylinder and a three-chamber cylinder, the experimental results illustrate that the new system operates smoothly, reducing energy consumption by 39.24% and peak power by 27.41%. © The Author(s) 2024.

关键词： Potential energy

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Standardizations of Ergonomics for Head Mounted Displays (HMDs)

Standardizations of Ergonomics for Head Mounted Displays (HM...

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International Symposium, Seminar, and Exhibition, Display Week 2024

作者： Ujike, Hiroyasu Hyodo, Kei Tada, Mitsunori Watanabe, Hiroshi Tokyo Japan National Institute of Advanced Industrial Science and Technology Tsukuba Japan Yuasa System Co. Ltd Okayama Japan

The recent main topics in ISO/TC 159/SC 4/WG 2 and /WG 12, which are in charge of display ergonomics in the International Organization for Standardization (ISO), is ergonomics of headmounted displays (HMDs) realizing XR or Cross-Reality, which has attracted attention in recent years. The paper overviews the major issues related to visual comfortability and Image Safety using HMDs, and reports on the key points for standardization to reduce VR sickness and to maintain comfortable viewing of 3D images. © 2024, John Wiley and Sons Inc. All rights reserved.

关键词： Helmet mounted displays

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