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arXiv 2023年

作者： Su, Haifan Yang, Ziwen Zhu, Shanying Chen, Cailian Yu, Wenbin Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the leaders move with the predesigned trajectories, and the followers are steered by an estimation-based control method, integrating a distance estimator using bearing measurements and a stress matrix-based formation controller. The signum functions are used to compensate for the uncertainties so that the agents’ accelerations can be piecewise continuous and bounded to track the desired dynamics. With proper design of the leaders’ trajectories and a geometric configuration, an affine matrix is determined so that the persistently exciting conditions of the inter-agent relative bearings can be satisfied since the bearing rates are related to different weighted combinations of the affine matrix vectors. The asymptotic convergence of the estimation error and control error is proved using Filipov properties and cascaded system theories. A sufficient condition for inter-agent collision avoidance is also proposed. Finally, simulation results are given to validate the effectiveness of the method in both 2D and 3D cases. Copyright © 2023, The Authors. All rights reserved.

关键词： Acceleration

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The Influence of Hydrogen on the Recrystallization Texture of a Face centered Cubic Metal

SSRN

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SSRN 2024年

作者： Ren, He Shen, Junjie Guo, Xiangru Shao, Yuqing Zhao, Liwei Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

The evolution of an alloy’s microstructure in a hydrogen atmosphere at high temperatures is one of the important factors contributing to the degradation in the alloy’s strength. The present study aimed to clarify the influence of hydrogen on the recrystallization texture of a face centered cubic (FCC) metal. As a model of FCC metal, commercially pure nickel (Ni) was cold-rolled and then annealed separately in vacuum and hydrogen atmospheres. Subsequently, the recrystallization textures were analyzed using EBSD and XRD. Hydrogen promoted the recrystallization of -oriented deformed grains while hindering the recrystallization of -oriented deformed grains. It increased the content of {011} texture, promoted the decrease of R-Cube texture content, hindered the increase of Cube texture content， and hindered the reduction in contents of Brass, Copper, Goss, and S textures. In addition, it had an insignificant effect on {011} texture contents. Hydrogen demonstrated an anisotropic effect on the dislocation movement and density of grains with different orientations. Specifically, it impeded the dislocation movement within -oriented deformed grains while facilitating the dislocation movement within -oriented deformed grains. As a result, hydrogen induced an increase in dislocation density in -oriented grains and a decrease in dislocation density in -oriented grains. © 2024, The Authors. All rights reserved.

关键词： Hydrogen

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An Integrated Neural Unmanned system for Multi-Domain Perception and Decision-Making

An Integrated Neural Unmanned System for Multi-Domain Percep...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Liu, Qiming Xu, Neng Zhang, Jinpeng Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China Shanghai Jiao Tong University SJTU Paris Elite Institute of Technology Shanghai200240 China Second Academy of China Aerospace Beijing100854 China Key Laboratory of Marine Intelligent Equipment and System Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China

ISBN: (纸本)9781665481090

Most recent intelligent systems study the perception or policy modules independently but ignore the inter-connection between them, which results in low information efficiency and high network redundancy, in the end, leads to the incomplete utilization of network potential and poor system-level end-to-end intelligence. This paper proposes an integrated end-to-end network that adapts to multi-domain inputs and multi-function outputs. 'Integration' is defined in this paper in mainly three aspects: network structure level, optimization level, and functional level. The integrated network architecture is capable of fusing multiple raw sensory inputs and outputting multiple perceptions and decisions simultaneously. We first implement the integrated system in a virtual simulation environ-ment and investigate the domain transformation methods to real world. Comprehensive experiment results in both virtual and real environments show that our proposed system can behave normally under exploration, target-driven navigation and target shooting tasks. © 2022 IEEE.

关键词： intelligent systems

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An IMU Error Correction Method Based on Multithreshold ZV Detection and SRCKF

An IMU Error Correction Method Based on Multithreshold ZV De...

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2023 International Conference on Cyber-Physical Social Intelligence, ICCSI 2023

作者： Luo, Jialiang Chen, Shichao Lv, Yisheng Sun, Wenqiao Yang, Fan Xu, Ruijie Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems China Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited The State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences The State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Transportation and Economics Research Institute Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Rail Transit Shan Dong JiaoTong University The State Key Laboratory for Management and Control of Complex System Jinan China The Hong Kong Polytechnic University Department of Aeronautical and Aviation Engineering Hong Kong Hong Kong

ISBN: (纸本)9798350312492

With the rapid development and widespread application of Inertial Measurement Units (IMUs), IMU-based human localization has become critically important in environments lacking Global Navigation Satellite systems (GNSS) signals. Methods such as UWB/WIFI and other anchor-based localization have been employed to enhance the positioning accuracy. However, these methods are susceptible to the environmental interference and increased costs. In contrast, SINS-based localization methods eliminate reliance on the external data. However, this method can suffer from drift errors due to cumulative integration errors. Inertial navigation error correction techniques like Zero Detection Update Technology (ZUPT) provide potential solutions to address drift errors. This paper proposes an error correction method based on the multithreshold zero-velocity detection and Square Root Cubature Kalman Filter (SRCKF) updates. Compared to the single fixed threshold detection, the multi-threshold zero-velocity detection reduces the likelihood of missed zero velocity detection and false alarms, providing accurate time intervals for error correction. Experimental results demonstrate that the SRCKF-based algorithm reduces position deviation to approximately 0.3146 meters, corresponding to an error ratio of1.14%. The proposed method enables cost-effective and accurate pedestrian localization, driving advancements in the field. © 2023 IEEE.

关键词： Cost effectiveness

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3D Scene Flow Estimation on Pseudo-LiDAR: Bridging the Gap on Estimating Point Motion

arXiv

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arXiv 2022年

作者： Jiang, Chaokang Wang, Guangming Miao, Yanzi Wang, Hesheng Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for estimating scene flow from images have limitations, which split the holistic nature of 3D scene flow by estimating optical flow and disparity separately. Learning 3D scene flow from point clouds also faces the difficulties of the gap between synthesized and real data and the sparsity of LiDAR point clouds. In this paper, the generated dense depth map is utilized to obtain explicit 3D coordinates, which achieves direct learning of 3D scene flow from 2D images. The stability of the predicted scene flow is improved by introducing the dense nature of 2D pixels into the 3D space. Outliers in the generated 3D point cloud are removed by statistical methods to weaken the impact of noisy points on the 3D scene flow estimation task. Disparity consistency loss is proposed to achieve more effective unsupervised learning of 3D scene flow. The proposed method of self-supervised learning of 3D scene flow on real-world images is compared with a variety of methods for learning on the synthesized dataset and learning on LiDAR point clouds. The comparisons of multiple scene flow metrics are shown to demonstrate the effectiveness and superiority of introducing pseudo-LiDAR point cloud to scene flow estimation. © 2022, CC BY.

关键词： Three dimensional computer graphics

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Chlorine-Substituent Regulation in Dopant-Free Small-Molecule Hole-Transport Materials Improves the Effi ciency and Stability of Inverted Perovskite Solar Cells

引用

Transactions of Tianjin University 2024年第4期30卷 314-323页

作者： Xinyi Liu Xiaoye Zhang Zhanfeng Li Jinbo Chen Yanting Tian Baoyou Liu Changfeng Si Gang Yue Hua Dong Zhaoxin Wu Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi ProvinceTaiyuan University of TechnologyTaiyuan 030024China School of Electrical Engineering University of South ChinaHengyang 421001China College of Physics and Optoelectronics Taiyuan University of TechnologyTaiyuan 030024China Ningxia Hui Autonomous Region Screen Display Organic Materials Engineering Technology Research Center Ningxia Sinostar Display Material Co.Ltd.Yinchuan 750003China Organic Semiconductor Centre EaStCHEM School of ChemistryUniversity of St AndrewsFife KY169STUK Key Laboratory of Photonics Technology for Information School of Electronic and Information Engineering Xi’an Jiaotong UniversityXi’an 710049China

Although doped hole-transport materials(HTMs)off er an effi ciency benefi t for perovskite solar cells(PSCs),they inevi-tably diminish the ***,we describe the use of various chlorinated small molecules,specifi cally fl uorenone-triphenylamine(FO-TPA)-x-Cl[x=para,meta,and ortho(p,m,and o)],with diff erent chlorine-substituent positions,as dopant-free HTMs for *** chlorinated molecules feature a symmetrical donor-acceptor-donor structure and ideal intramolecular charge transfer properties,allowing for self-doping and the establishment of built-in potentials for improving charge *** effi cient hole-transfer interfaces are constructed between perovskites and these HTMs by strategi-cally modifying the chlorine ***,the chlorinated HTM-derived inverted PSCs exhibited superior effi ciencies and air ***,the dopant-free HTM FO-TPA-o-Cl not only attains a power conversion effi ciency of 20.82% but also demonstrates exceptional stability,retaining 93.8%of its initial effi ciency even after a 30-day aging test conducted under ambient air conditions in PSCs without *** fi ndings underscore the critical role of chlorine-substituent regulation in HTMs in ensuring the formation and maintenance of effi cient and stable PSCs.

关键词： Hole-transport materials Inverted perovskite solar cells Chlorinated small molecules Donor–acceptor–donor structure

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Unsupervised Learning of 3D Scene Flow with 3D Odometry Assistance

arXiv

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arXiv 2022年

作者： Wang, Guangming Feng, Zhiheng Jiang, Chaokang Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China

Scene flow represents the 3D motion of each point in the scene, which explicitly describes the distance and the direction of each point’s movement. Scene flow estimation is used in various applications such as autonomous driving fields, activity recognition, and virtual reality fields. As it is challenging to annotate scene flow with ground truth for real-world data, this leaves no real-world dataset available to provide a large amount of data with ground truth for scene flow estimation. Therefore, many works use synthesized data to pre-train their network and real-world LiDAR data to finetune. Unlike the previous unsupervised learning of scene flow in point clouds, we propose to use odometry information to assist the unsupervised learning of scene flow and use real-world LiDAR data to train our network. Supervised odometry provides more accurate shared cost volume for scene flow. In addition, the proposed network has mask-weighted warp layers to get a more accurate predicted point cloud. The warp operation means applying an estimated pose transformation or scene flow to a source point cloud to obtain a predicted point cloud and is the key to refining scene flow from coarse to fine. When performing warp operations, the points in different states use different weights for the pose transformation and scene flow transformation. We classify the states of points as static, dynamic, and occluded, where the static masks are used to divide static and dynamic points, and the occlusion masks are used to divide occluded points. The mask-weighted warp layer indicates that static masks and occlusion masks are used as weights when performing warp operations. Our designs are proved to be effective in ablation experiments. The experiment results show the promising prospect of an odometry-assisted unsupervised learning method for 3D scene flow in real-world data. Copyright © 2022, The Authors. All rights reserved.

关键词： Deep learning

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Simulation Study on the Influence of Drilling Parameters on the Temperature of Skull Drilling

Simulation Study on the Influence of Drilling Parameters on ...

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2021 IEEE International Conference on Electrical engineering and Mechatronics Technology, ICEEMT 2021

作者： Jiang, Wenyu Liu, Zhenzhong Tianjin University of Technology National Demonstration Center For Experimental Mechanical and Electrical Engineering Education School of Mechanical Engineering Tianjin Key Laboratory For Advanced Mechatronic System Design and Intelligent Control Tianjin China

ISBN: (纸本)9781665441285

Skull drilling is an important and difficult process in neurosurgical craniotomy, which will inevitably produce a lot of heat. Correct understanding of the heat production law of skull drilling has important guiding significance for craniotomy robot. In this study, cortical bone and cancellous bone were layered to establish models according to the 3D reconstruction data of skull. The finite element method based on ABAQUS is used to establish the skull drilling model and realize the simulation of bone tissue surgical instrument interaction state for surgical robot. The results show that when the drill rotation speed and feed speed increase, the drilling temperature will also increase, but the drill rotation speed will have a more significant effect on bone drilling temperature, and when the drill rotation speed is low (300r/min, 600r/min), the drill bit diameter has little effect on the drilling temperature, but when the drill rotation speed is higher (900r/min, 1200r/min), the larger diameter drill bit(11mm) will produce more drilling heat. © 2021 IEEE.

关键词： Finite element method

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Mechanism Design and Motion Simulation of Mobile Robot with Compound Motion Mode

Mechanism Design and Motion Simulation of Mobile Robot with ...

引用

2021 IEEE International Conference on Electrical engineering and Mechatronics Technology, ICEEMT 2021

作者： Shi, Yanan Yang, Yuwei Liu, Zhenzhong Zhang, Haiming Tianjin University of Technology National Demonstration Center For Experimental Mechanical and Electrical Engineering Education Tianjin Key Laboratory For Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin China

ISBN: (纸本)9781665441285

Aiming at the problem of poor trafficability and difficulty in dealing with complex environment of traditional mobile robot, we proposed a climbing and hopping hybrid mobile robot. In this paper, we took the spring four-bar linkage mechanism as the hopping mechanism and the C-shaped wheel foot mechanism as the walking mechanism. Completed the structure design of the robot. Realized the assembly and disassembly of the virtual prototype, and completed the motion simulation and analysis. The results show that the robot is stable in the aspects of structure design and its jumping height can reach 988mm, and has a great potential in reconnaissance, monitoring, survey etc. © 2021 IEEE.

关键词： Mobile robots

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Optimization of Robot Hopping Mechanism Based on Parametric Model Method

Optimization of Robot Hopping Mechanism Based on Parametric ...

引用

2021 IEEE International Conference on Electrical engineering and Mechatronics Technology, ICEEMT 2021

作者： Shi, Yanan Yang, Yuwei Liu, Zhenzhong Zhang, Haiming Tianjin University of Technology National Demonstration Center For Experimental Mechanical and Electrical Engineering Education School of Mechanical Engineering Tianjin Key Laboratory For Advanced Mechatronic System Design and Intelligent Control Tianjin China

ISBN: (纸本)9781665441285

In order to solve the problem of hopping mechanism design of robot, we proposed a method of optimization of transmission mechanism based on parametric model. In this paper, the optimization of energy transfer efficiency of robot jump mechanism is completed by parametric model method through the mechanism simplification, parametric modeling and parameter optimization. The results show that the method can greatly optimize the energy transfer efficiency and reduce the driving torque required by 74.6%. It provides a feasible optimization method for the design of the robot hopping structure. © 2021 IEEE.

关键词： Energy transfer

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