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4th Asia-Pacific Artificial Intelligence and Big Data Forum, AIBDF 2024

作者： Zhu, Jiale Zhang, Bo Zhong, Ying Feng, Dantong Hu, Hengdi Dan, Yuying Research Institute of Applied Technology for Specialized Robot Chengdu Technological University Sichuan Chengdu China Chengdu Technological University Sichuan Chengdu China Chongqing Jiaotong University Chongqing China

ISBN: (纸本)9798400710865

Paint quality is one of the important standards for measuring the overall quality of the product. Paint defects affect the appearance of the product, which will also expose the product to security risks, such as metal parts exposure corrosion, surface damage, and so on. Traditional paint detection methods mainly rely on manual visual inspection, which has low detection efficiency, low accuracy, and high influence by human factors. This project combines machine vision and deep learning technology and builds a paint defect data set covering eight classes of paint surface defects to train a paint surface deficiency detection model. By constructing the dataset with different backgrounds and optimizing the image processing algorithm before training, the model of multi-target and high-precision automatic identification and classification of paint defects in complex scenes was realized. On the test data set, eight classes of paint defects were detected with 93% accuracy. © 2024 Copyright held by the owner/author(s).

关键词： Deep learning

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Study on the energy storage mechanism of MnO2 pseudocapacitance-enhanced Zn-Co oxide anode

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Materials Research Bulletin 2025年 190卷

作者： Zheng, Guoxu Wu, Haibin Huang, Xinzhe Xu, Minqiang Mao, Liwei Zhang, Qian Yuan, Zhuo Liu, Zhiwei Wu, Hongwei He, Fujun Song, Mingxin Harbin University of Science and Technology Harbin150080 China Heilongjiang Discoverer Robot Co. LTD 63319 China College of Applied Science and Technology Hainan University Haikou570228 China

In this paper, flower-like ZnCo2O4/MnO2 heterojunctions were grown on NF using a simple secondary hydrothermal method. ZnCo2O4/MnO2/NF exhibited good performance when used as anode for LIBs, which had an initial discharge capacity of up to 1,586.9 mAh g-1, and even maintained a discharge capacity of 980 mAh g-1 after 200 charge/discharge cycles. The band gaps were determined using the GGA-PBE exchange associative functions within the density functional theory (DFT) framework, the calculated results show that the band gap of the ZnCo2O4/MnO2 composite is reduced to 0.607 eV. The preparation of ZnCo2O4/MnO2/NF helped to effectively overcome the drawbacks of Zn-Co oxide anode, and improved performance achieved by heterogeneous structure was quantified by DFT calculations. © 2025 Elsevier Ltd

关键词： Lithium-ion batteries

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Nanoplastics drive toxicity under co-exposure with perfluorooctanesulfonic acid in human intestinal cells

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Environmental Chemistry Letters 2025年 1-9页

作者： Alijagic, Andi Särndahl, Eva Kotlyar, Oleksandr Karlsson, Patrik Duberg, Daniel Scherbak, Nikolai Pinsino, Annalisa Engwall, Magnus Hyötyläinen, Tuulia Man-Technology-Environment Research Center Örebro University Örebro701 82 Sweden Inflammatory Response and Infection Susceptibility Centre Örebro University Örebro701 82 Sweden School of Medical Sciences Faculty of Medicine and Health Örebro University ÖrebroSE-701 82 Sweden Centre for Applied Autonomous Sensor Systems Robot Navigation & Perception Lab Örebro University Örebro701 82 Sweden Department of Mechanical Engineering Örebro University Örebro701 82 Sweden Institute of Translational Pharmacology National Research Council Via Ugo La Malfa 153 Palermo90146 Italy

Per- and polyfluoroalkyl substances and nanoplastics frequently co-occur in environmental matrices, yet the effects of co-exposure on cellular responses upon ingestion are poorly understood. Here, we exposed human intestinal Caco-2 cells to perfluorooctanesulfonic acid, nanoplastics, and their combination. Cell painting-based phenomics was used to map phenotypic alterations across subcellular structures, and untargeted metabolomics using ultra-high-performance liquid chromatography coupled to quadrupole time-of-flight mass spectrometry was employed to assess metabolic changes. Results show that perfluorooctanesulfonic acid predominantly affected the actin cytoskeleton, Golgi apparatus, and plasma membrane, while nanoplastics primarily targeted mitochondria. Combined exposure disrupted the endoplasmic reticulum, RNA, and mitochondria. Perfluorooctanesulfonic acid reduced levels of carnitines, free fatty acids, nucleotides, and sugars, whereas nanoplastics inhibited ceramides, triglycerides, sphingomyelins, and additional free fatty acids. Combined exposure produced a metabolic profile resembling that of nanoplastics, with specific differences attributed to perfluorooctanesulfonic acid. Overall, nanoplastics appear as the main drivers of the co-exposure effects. © The Author(s) 2025.

关键词： Nucleotides

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A mechanical approach to realize reflexive omnidirectional bending motion for pneumatic continuum robots

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ROBOMECH Journal 2016年第1期3卷 1-13页

作者： Takane, Eri Tadakuma, Kenjiro Yamamoto, Tomonari Konyo, Masashi Tadokoro, Satoshi Graduate School of Information Sciences Applied Information Sciences Information and Applied Technology Human-Robot Informatics Tohoku University SendaiMiyagi Japan

A mechanism that allows a robotic arm to quickly grip various forms of objects at disaster sites will enhance the mobility of rescue robots by keeping their bodies stable and maintaining manipulability for target objects, such as debris. Such a mechanism requires the ability to quickly and omnidirectionally change arm postures toward the target and hold it in a stable manner. Continuum robots are expected to provide this functionality. Conventional continuum robots realize the function of changing arm postures and grasping objects by controlling pneumatic actuators with multiple air chambers arranged in parallel. However, conventional robots cannot be applied to potential disaster sites filled with flammable gases, gasoline, or high radiation levels because they require electronic components (e.g., solenoid valves, and sensors) to control air pressures. This study proposes a unique approach to realize reflexive omnidirectional bending motion using only mechanical components without any electrical devices. The proposed system realizes a reflexive motion to bend the arm in the target’s direction by detecting a contact location using a mechanical reactive system. The proposed simple mechanism has the advantages of high durability and easy implementation. This paper aims to confirm the proposed concept by prototyping a drive mechanism coupled with contact detection and bending motion using mechanical port valves. We report the design concept and development of this prototype. The fundamental characteristics and feasibility of the proposed mechanism are experimentally confirmed. First, a prototype is developed using a mathematical model. Its performance in the bending and omnidirectional motions is evaluated. The results show that the model has a margin of −4.9% error in the bending angle and −7.4% error in the central curvature compared with the experimental values. We also confirm that using a higher pressure could realize a smaller radius of curvature and reduce an un

关键词： Solenoid valves

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TransAnno-Net: A Deep Learning Framework for Accurate Cell Type Annotation of Mouse Lung Tissue Using Self-supervised Pretraining

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Computer Methods and Programs in Biomedicine 2025年 267卷 108809-108809页

作者： Zhang, Qing Wu, Xiaoxiao Li, Xiang Ma, Wei Wu, Tongquan Li, Liuyue Hu, Fan Xie, Yicheng Wu, Xinglong School of Computer Science and Engineering Hubei Key Laboratory of Intelligent Robot Wuhan Institute of Technology Hubei Wuhan430205 China School of Mechanical Engineering Hefei University of Technology Hefei China Faculty of Applied Science and Engineering University of Toronto Canada UNISKIN Research Institute on Skin Aging Inertia Shanghai Biotechnology Co. Ltd Shanghai China DermaHealth Shanghai Biotechnology Co. Ltd. Shanghai China Department of Dermatology Children's Hospital Zhejiang University School of Medicine National Clinical Research Center for Child Health Zhejiang Province Hangzhou310052 China

Background: Single-cell RNA sequencing (scRNA-seq) has become a significant tool for addressing complex issuess in the field of biology. In the context of scRNA-seq analysis, it is imperative to accurately determine the type of each cell. However, conventional supervised or semi-supervised methodologies are contingent on expert labels and incur substantial labeling costs, In contrast self-supervised pre-training strategies leverage unlabeled data during the pre-training phase and utilise a limited amount of labeled data in the fine-tuning phase, thereby greatly reducing labor costs. Furthermore, the fine-tuning does not need to learn the feature representations from scratch, enhancing the efficiency and transferability of the model. Methods: The proposed methodology is outlined below. The deep learning framework, TransAnno-Net, is based on transfer learning and a Transformer architecture. It has been designed for efficient and accurate cell type annotations in large-scale scRNA-seq datasets of mouse lung organs. Specifically, TransAnno-Net is pre-trained on the scRNA-seq lung data of approximately 100,000 cells to acquire gene-gene similarities via self-supervised learning. It is then migrated to a relatively small number of datasets to fine-tune specific cell type annotation tasks. To address the issue of imbalance in cell types commonly observed in scRNA-seq data, we applied a random oversampling technique is applied to the fine-tuned dataset. This is done to mitigate the impact of distributional imbalance on the annotation outcomes. Results: The experimental findings demonstrate that TransAnno-Net exhibits superior performance with an AUC of 0.979, 0.901, and 0.982, respectively, on three mouse lung datasets, outperforming eight state-of-the-art (SOTA) methods. In addition, TransAnno-Net demonstrates robust performance on cross-organ, cross-platform datasets, and is competitive with the fully supervised learning-based method. Conclusion: The TransAnno-Net method

关键词： Self-supervised learning

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A vision system for UAV position control

A vision system for UAV position control

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IEEE Conference on Aerospace

作者： Baik, Kyeonghoon Shin, Jinok Ji, Sanki Shon, Woonghee Park, Sangdeok Division for Applied Robot Technology Korea Institute of Industrial Technology Korea Republic of

ISBN: (纸本)9781424473502

In this paper, we propose a vision-based control system for the localization of an unmanned aerial vehicle (UAV) which equips on-board cameras. The proposed approach is combined a visual odometer with inertial measurement from IMU and pressure signal which compensate attitude and altitude, respectively. For the autonomous control of a UAV, we consider only natural landmarks provided by a feature tracking algorithm without the help of visual beacons or landmarks at known positions. The displacement of the UAV is estimated by the homography, the relationship between a pair of points. The experimental results show that it is possible to extract useful position information from the proposed vision system even when the UAV flies high, and the information can be used temporary position control of UAVs during GPS failure. © 2011 IEEE.

关键词： Position control

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Geographical group-based fastSLAM algorithm for maintenance of the diversity of particles

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Journal of Institute of Control, robotics and Systems 2013年第10期19卷 907-914页

作者： Jang, June-Young Ji, Sang-Hoon Park, Hong Seong Department of Electronic and Communication Engr Kangwon National University Korea Republic of Department of Applied Robot Technology Korea Institute of Industrial Technology Korea Republic of

A FastSLAM is an algorithm for SLAM (Simultaneous Localization and Mapping) using a Rao-Blackwellized particle filter and its performance is known to degenerate over time due to the loss of particle diversity, mainly caused by the particle depletion problem in the resampling phase. In this paper, the GeSPIR (Geographically Stratified Particle Information-based Resampling) technique is proposed to solve the particle depletion problem. The proposed algorithm consists of the following four steps: the first step involves the grouping of particles divided into K regions, the second obtaining the normal weight of each region, the third specifying the protected areas, and the fourth resampling using regional equalization weight. Simulations show that the proposed algorithm obtains lower RMS errors in both robot and feature positions than the conventional FastSLAM algorithm. © ICROS 2013.

关键词： Bandpass filters

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Applicability and Generality of the Modified Grübler-Kutzbach Criterion

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Chinese Journal of Mechanical Engineering 2013年第2期26卷 257-263页

作者： LI Yanwen WANG Lumin LIU Jingfang HUANG Zhen Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University College of Environment and Chemical Engineering Yanshan University College of Mechanical Engineering and Applied Electronics Technology Beijing University of Technology

A generally applicable criterion for all mechanism mobility has been an active domain in mechanism theory lasting more than 150 years. It is stated that the Modified Grübler-Kutzbach criterion for mobility has been successfully used to solve the mobility of many more kinds of mechanisms, but never before has anyone proven the applicability and generality of the Modified Grübler-Kutzbach criterion in theory. In order to fill the gap, the applicability and generality of the Modified Grübler-Kutzbach Criterion of mechanism mobility is systematically demonstrated. Firstly, the mobility research background and the Modified Grübler-Kutzbach criterion are introduced. Secondly, some new definitions, such as half local freedom, non-common constraint space of a mechanism and common motion space of a mechanism, etc, are given to demonstrate the correctness and broad applicability of the Modified Grübler-Kutzbach criterion. Thirdly, the general applicability of the Modified Grübler-Kutzbach criterion is demonstrated based on screw theory. The mobilities of the classical DELASSUS mechanisms and a modern planar parallel mechanism, are determined through the Modified Grübler-Kutzbach criterion, which are as examples to show the practical application of the Modified Grübler-Kutzbach criterion.

关键词： mobility screw theory classical mechanism parallel mechanism

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Dependable grasping strategy for service robots using fine approaching positions and adaptive hands

Dependable grasping strategy for service robots using fine a...

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Choi, Moosung Hwang, Byunghun Shin, Eun-Cheol Yang, Kwang-Woong Kim, Hong-Seok Department for Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Republic of

ISBN: (纸本)9784907764296

Grasping strategies to grasp various shapes and postures of objects for service robots are presented in this paper. Because the performance of algorithms for the grasp problem is closely connected with the structure and functions of hands, both of these should be considered simultaneously. It is our procedure that searching the optimal approaching position using objects and shapes database in the first place, and then grasping the real objects using adaptive hands. The optimal FAPs (Fine Approaching Positions) generated by solving the problems of collision and variety of postures are verified by simulation. © 2009 SICE.

关键词： Mobile robots

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Extracting extrinsic parameters of a laser scanner and a camera using EM

Extracting extrinsic parameters of a laser scanner and a cam...

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ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009

作者： Park, Jae-Han Shin, Yong-Deuk Park, Kyung-Wook Baeg, Seung-Ho Baeg, Moon-Hong Division of Applied Robot Technology Korea Institute of Industrial Technology Seoul Korea Republic of

ISBN: (纸本)9784907764296

The robot's ability of perceiving their environments is primary functionality for a number of applications such as the rescue, navigation and manipulation. In these applications, the 3D colored map image is very useful information because it provides not only scene data but spatial data. For acquiring reliable 3D colored maps from the camera and the 3D laser scan system, one of the fundamental issues is the extrinsic calibration that calculates the rigid transformation (i.e., rotation and translation) between camera and laser coordinate system. In this paper we propose a novel method of getting extrinsic parameters which is insensitive to the noise of laser scanner measurements. Our approach introduces Expectation-Maximization(EM) algorithm to robust estimation of the relations between the camera and the laser scanner coordinate system in noisy environments. Simulations at various conditions with adding the laser measurement noise are performed to verify the effectiveness of our approach, and they show improved performances in estimating the extrinsic calibration parameters. © 2009 SICE.

关键词： Cameras

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