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15th European Conference on Synthetic Aperture Radar, EUSAR 2024

作者： Wu, Yuwei Zhang, Zhe Song, Ruizhen Qiu, Xiaolan Yu, Weidong Department of Space Microwave Remote Sensing System Beijing100090 China Aerospace Information Research Institute Chinese Academy of Sciences Beijing100094 China Key Laboratory of Intelligent Aerospace Big Data Application Technology Suzhou215123 China Suzhou Aerospace Information Research Institute Suzhou215123 China School of Electronic Electrical and Communication Engineering University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9783800762873

Sparse synthetic aperture radar (SAR) imaging allows for a reduction in the azimuth sampling rate based on compressive sensing theory. However, it relies on the sparsity of scenes, which can lead to significant azimuth ambiguity. To address this issue, we introduce a novel network designed to suppress azimuth ambiguity for sparse SAR imaging. Our proposed deep unfolded network is based on the Iterative Thresholding Algorithm Learned (LISTA). We replace the observation matrix with Matched Filter (MF) operators to reduce computational complexity. Experiments with real SAR scene data demonstrate the effectiveness and superiority of our approach in suppressing azimuth ambiguity. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Matched filters

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Design of Planar Antenna and space Deployable Mast Based on a New 8r Origami Mechanism

SSRN

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SSRN 2024年

作者： Li, Ruixing Zhou, Guangwu Luo, Pei Zhao, Zhijun School of Aeronautics and Astronautics Sichuan University Chengdu610065 China Sichuan University Chengdu610065 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing100092 China

The modular origami mechanism has great application prospect. In this paper, origami based on 8R mechanism is designed, the mechanism can be array. The kinematics of the 8R origami mechanism is analyzed, and the model reconstruction and motion bifurcation of the mechanism are found. There are two kinds of 8R mechanism that can satisfy the array: MMMN mechanism and NNNM mechanism. The motion bifurcation and model reconstruction of the mechanism are avoided in the design of thickness-plate origami. Taking into account the bearing capacity of the mechanism, the 8R mechanism of heavy plate origami is designed. The motion bifurcation and model reconstruction of the mechanism are avoided in the design of thickness-plate origami. The twisting direction of MMMN mechanism and NNNM mechanism is opposite. The planar antenna is designed using multiple MMMN mechanisms. The spread area of the planar antenna reaches 1350〖cm〗^2. NNNM mechanism and MMMN mechanism are used to design space deployable mast. The performance of planar antenna and space deployable mast is tested. The space deployable mast has a self-locking function in the unfolded state. The space deployable mast has a load-carrying capacity of more than 41N and requires only 6N folding force. © 2024, The Authors. All rights reserved.

关键词： Bifurcation (mathematics)

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Combine Neural Radiance Fields in Different Reference Coordinates

Combine Neural Radiance Fields in Different Reference Coordi...

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Chinese Automation Congress (CAC)

作者： Weili Zhang Zhongheng Li Yu Guo Fei Wang Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

Neural Radiance Fields (NeRF) leverage deep learning networks to restore high-quality implicit representations of 3D scenes from 2D images, surpassing traditional texture mapping in rendering quality. Typically, reconstructed images by NeRF exist in a reference coordinate system, necessitating consideration of each surface's information in a single shot. Overlapping parts in adjacent images are addressed by obtaining the camera pose through sparse COLMAP reconstruction. However, occluded regions, caused by contact with support surfaces, pose challenges for complete reconstruction. To address this, we propose a scene fusion algorithm based on NeRF, facilitating the amalgamation of neural radiance fields under different reference coordinate systems. This reduces data requirements and shooting conditions, enhancing the implicit 3D reconstruction of real objects. By estimating the translation and rotation relationship between image capture angles and the NeRF model, we fuse neural radiance fields in distinct reference coordinate systems, completing object surface information. Evaluation is conducted on both NeRF synthetic dataset and real objects.

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Highly stable and wide-range flexible pressure sensors with a gradient modulus and selective foaming layer

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Chemical Engineering Journal 2025年 515卷

作者： Wang, Meng Li, Wendong Lv, Yadong Li, Guangxian Zhao, Zhijun Wang, Yaobing Zhou, Qinghua Pu, Wei Kong, Miqiu School of Aeronautics and Astronautics Key Laboratory of Advanced Spatial Mechanism and Intelligent Spacecraft Ministry of Education National Key Laboratory of Advanced Polymer Materials Sichuan University Chengdu610065 China College of Polymer Science and Engineering National Key Laboratory of Advanced Polymer Materials Sichuan University Chengdu610065 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing100094 China

The service life and stability of flexible pressure sensors vary with the interfacial toughness of these multilayered structures, which are principally fabricated by adhesive bonding, hot melting, and interconnection. However, balancing the trade-off between interface toughness and sensing performance under complex stresses remains challenging. To address this issue, a foam sandwich structure with gradient modulus is constructed by integrating a thermoplastic polyurethane (TPU)/carbon nanotube electrode with a selectively foamed TPU/ionic liquid dielectric. The synthesis is fundamentally inspired by the molecular chain entanglements and hydrogen bonds formed at the electrode/dielectric interface owing to solvent diffusion due to secondary solubilization and differential foaming temperatures. The synthesized sensing structure exhibits ultra-high toughness (3000 J/m2) and dynamic impact resistance (1 J);meanwhile, the sensor shows an ultra-wide sensing range (0.02–2000 kPa), high sensitivity (1.7 nF/kPa), and excellent service stability up to 50,000 cycles under compressive stress (100 kPa), shear stress (30 kPa), bending stress (bending radius of 1.6 mm), and complex stress of 120 kPa (compression stress of 116 kPa and shear stress of 31 kPa). Additionally, on integration into robot grippers, the sensor provides accurate feedback on multi-stage object gripping and can resist shear stress while gripping high-weight objects. This study provides a new strategy for fabricating flexible pressure sensors that can be effectively used under complex stresses. © 2025 Elsevier B.V.

关键词： Shear bands

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AN EFFICIENT AZIMUTH SAMPLING DESIGN NETWORK FOR SPARSE SAR IMAGING

AN EFFICIENT AZIMUTH SAMPLING DESIGN NETWORK FOR SPARSE SAR ...

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IET International Radar Conference 2023, IRC 2023

作者： Wu, Yuwei Zhang, Zhe Qiu, Xiaolan Zhao, Yao Yu, Weidong Song, Ruizhen Department of Space Microwave Remote Sensing System Beijing100090 China Aerospace Information Research Institute Chinese Academy of Sciences Beijing100094 China Key Laboratory of Intelligent Aerospace Big Data Application Technology Suzhou215123 China Suzhou Aerospace Information Research Institute Suzhou215123 China School of Electronic Electrical and Communication Engineering University of Chinese Academy of Sciences Beijing100049 China Guangdong University of Technology Guangdong Guangzhou China

ISBN: (纸本)9781839539954

Conventional synthetic aperture radar (SAR) imaging methods based on the Nyquist sampling theorem encounters the dilemma of balancing imaging quality and resource consumption. In order to solve the problem, we propose a novel network to optimize the azimuth sampling pattern for sparse SAR imaging. We harness the impressive information extraction capabilities inherent in deep neural networks to efficiently segregate valuable information from clutter. This empowers us to extract more pertinent data while minimizing pulse utilization. Additionally, we have integrated the nonuniform fast Fourier transform (NUFFT) MF operator into the network-based SAR imaging framework, ensuring both efficiency and viability of the proposed approach. Experiments on real SAR scene data have been conducted, and both visual comparisons and numerical analysis demonstrate the efficiency and superiority of our method in the field of sparse SAR imaging. © The Institution of Engineering & technology 2023.

关键词： Fast Fourier transforms

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Dynamic Fluorescent Imaging for robotic Patch Clamp in vivo: Modeling and Control

Dynamic Fluorescent Imaging for Robotic Patch Clamp in vivo:...

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第42届中国控制会议

作者： Ruimin Li Jinyu Qiu Minghui Li Mingzhu Sun Xin Zhao Qili Zhao Institute of Robotics and Automatic Information System (IRAIS) Nankai University Tianjin Key Laboratory of Intelligent Robotic (tjKLIR) Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology

Fluorescent imaging through fluorescent dye injection is the key technique for lighting the in vivo environment and localizing the target cell in it for patch clamp operation in vivo. At present, manual fluorescent imaging is usually a labor-intensive high-skill requisite work, significantly limiting the application of patch clamp operation in vivo. In this paper, a computational modeling of the diffusion process of the injected fluorescent dye is established using the commercial ANSYS Fluent software. Based on this model, the distribution of the mass fraction, proven to be linearly related to fluorescence intensity,was calculated to simulate the fluorescent field formed by fluorescent dye injection. Further, an ADRC controller was developed to generate feedback-controlled fluorescent fields. With the above model and controller, a mobile fluorescent field, and varying fluorescent field with constant mass fraction at the target position are generated to fulfill the requirement of in vivo environment observation, search and localization of the target cell in patch clamp operation, respectively. The above results prove the feasibility of ADRC-controlled dynamic fluorescent imaging in the patch clamp operation in vivo.

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Design and Analysis of Terminal Guidance Law for Kinetic Interceptors based on Pulse Engine

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Journal of Electronic Research and application 2024年第5期8卷 95-108页

作者： Shixin Li Jia Ma Shuai Yue School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210094China Aerospace System Engineering Shanghai Shanghai 201100China Shanghai Key Laboratory of Spacecraft Mechanism Shanghai 201108China National Key Laboratory of Space Intelligent Control Beijing 100048China

A new terminal guidance law is proposed based on a solid propellant pulse engine and an improved proportional navigation method to address the terminal guidance issue for kinetic *** this basis,the start-stop curve of the pulse motor during the terminal guidance process is designed,along with its start-up *** effectiveness of the proposed guidance strategy is verified through simulation.

关键词： Pulse engine Terminal guidance law Kinetic interceptor Proportional navigation method

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Discrete Element Simulation of Durability for Bionic Wheels of Mars Rover 2

Discrete Element Simulation of Durability for Bionic Wheels ...

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2nd Spring International Conference on Defence technology, ICDT 2020

作者： Lin, Y.C. Yan, Y.P. Yuan, B.F. Liu, Y.F. Zou, M. Beijing Key Laboratory of Intelligent Space Robotic System Technology and Application Institute of Spacecraft System Engineering CAST Beijing100094 China Key Laboratory for Bionics Engineering of Education Ministry Jilin University Changchun130022 China

Four kinds of bionic surfaces (convex, scale-like, ribbed and concave shape) for Mars rover wheels were designed to improve wheel durability. A discrete element wheel-soil simulation system was developed, and three-dimensional discrete element analysis and soil bin tests were conducted. The results show that the masses of the convex and scale-like forms increased by 5.4% and 17%, respectively, and that the tangential cumulative forces decreased by about 40% and 70%, respectively. The wear mass decreased by 53% and 47%, respectively, compared with a prototypical wheel. The simulation shows that the durability increased significantly. The average tangential cumulative forces of the concave and ribbed shapes increased by more than 50%, and the wear mass decreased by 35% and 32%, respectively, compared with a prototypical wheel. The simulation shows that the results were not definitive. The analysis shows that the durability of the wheels can be improved via bionic optimization method. These results therefore provide a basis and reference for the design and optimization of the Mars rover's wheel surface. © Published under licence by IOP Publishing Ltd.

关键词： Wheels

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Development of a Landing Leg with Active Buffering and Anchoring Functions Applied to the Small Body Landing Mechanism 17

Development of a Landing Leg with Active Buffering and Ancho...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Zhao, Zhijun Xiao, Tao Tang, Zixin Gao, Xiangyu Liu, Xin Zhang, Wenming Liu, Bin Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing100092 China

ISBN: (纸本)9781728164151

It is microgravity on the small body, and its medium is unknown and diverse. The lander is easy to rebound or tip over when landing and easy to drift away after landing. Thus, the lander should have the functions such as cushioning, terrain adapting and anchoring. At present, the moon and Mars landers mostly use honeycomb aluminum to achieve passive buffering. Honeycomb aluminum has good buffering effect under heavy load. This paper proposes an electromagnetic damping and anchoring leg for the small body lander. The leg integrates the folding mechanism and the buffering mechanism as a part and can sense the landing force. This force signal is used to realize the buffering function of the landing leg. An ultrasonic drill is attached at the end of the landing leg to realize anchoring after landing. Landing and anchoring performances of the landing leg are tested. © 2020 IEEE.

关键词： Landing

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Dynamic Fluorescent Imaging for robotic Patch Clamp in vivo: Modeling and Control

Dynamic Fluorescent Imaging for Robotic Patch Clamp in vivo:...

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Chinese Control Conference (CCC)

作者： Ruimin Li Jinyu Qiu Minghui Li Mingzhu Sun Xin Zhao Qili Zhao Institute of Robotics and Automatic Information System (IRAIS) Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotic (tjKLIR) Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

Fluorescent imaging through fluorescent dye injection is the key technique for lighting the in vivo environment and localizing the target cell in it for patch clamp operation in vivo. At present, manual fluorescent imaging is usually a labor-intensive high-skill requisite work, significantly limiting the application of patch clamp operation in vivo. In this paper, a computational modeling of the diffusion process of the injected fluorescent dye is established using the commercial ANSYS Fluent software. Based on this model, the distribution of the mass fraction, proven to be linearly related to fluorescence intensity, was calculated to simulate the fluorescent field formed by fluorescent dye injection. Further, an ADRC controller was developed to generate feedback-controlled fluorescent fields. With the above model and controller, a mobile fluorescent field, and varying fluorescent field with constant mass fraction at the target position are generated to fulfill the requirement of in vivo environment observation, search and localization of the target cell in patch clamp operation, respectively. The above results prove the feasibility of ADRC-controlled dynamic fluorescent imaging in the patch clamp operation in vivo.

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