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Vacuum wetting of Ag/TA2 to develop a novel micron porous Ti with significant biocompatibility and antibacterial activity

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Journal of Materials Science & technology 2022年第21期116卷 180-191页

作者： Guanpeng Liu Yulong Li Ming Yan Jicai Feng Jian Cao Min Lei Quanwen Liu Xiaowu Hu Wenqin Wang Xuewen Li Key Lab for Robot and Welding Automation of Jiangxi Province Mechanical and Electrical Engineering SchoolNanchang UniversityNanchang 330031China Jiangxi Provincial Key Laboratory of Interdisciplinary Science Nanchang UniversityNanchang 330031China Department of Materials Science and Engineering and Shenzhen Key Laboratory for Additive Manufacturing of High-Performance Materials Southern University of Science and TechnologyShenzhen 518055China State Key Lab of Advanced Welding and Joining Harbin Institute of TechnologyHarbin 150001China The National Engineering Research Center for Bioengineering Drugs and the Technologies Institute of Translational MedicineNanchang UniversityNanchang 330031China The Engineering Training Center of Nanchang University Mechanical and Electrical Engineering SchoolNanchang UniversityNanchang 330031China

Porous Ti with low modulus,excellent bio-corrosion resistance,biocompatibility,and antibacterial activity is highly pursued as advanced implant *** this work,a new approach to prepare micron porous structures on the surface layer of a grade 2 commercially-pure Ti(TA2)was proposed,which utilized a simple vacuum wetting process of pure Ag on the surface of *** microstructure,corrosion resistance,biocompatibility,mechanical properties,antibacterial ability,and formation mechanism of the asfabricated porous Ti were *** results show that the pores(with average pore sizes of 0.5-5μm)are distributed on the surface layer of the TA2 with a depth of~10μ*** particular,a large number of silver nanoparticles(Ag NPs)form which are dispersed on the porous *** formation mechanisms of the porous structures and Ag NPs were elucidated,suggesting that the volatilization/sublimation of Ag in TA2 is *** porous Ti possesses excellent bio-corrosion resistance,surface wettability,biocompatibility,antibacterial activity,and a relatively low elastic modulus of 40-55 GPa,which may have a promising future in the field of orthopedic *** work also provides a novel idea for the development of advanced porous Ti materials for orthopedic-related basic research and biomedical applications.

关键词： Porous titanium Biomaterials Vacuum wetting Porous surface Antibacterial activity

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Partially Occluded Face Expression Recognition with CBAM-Based Residual Network for Teaching Scene

Partially Occluded Face Expression Recognition with CBAM-Bas...

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2023 China automation Congress, CAC 2023

作者： Bai, Yanxing Chen, Luefeng Li, Min Wu, Min Pedrycz, Witold Hirota, Kaoru School of Automation China University of Geosciences Wuhan430074 China School of Automation Ministry of Education China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland Istinye University Department of Computer Engineering Sariyer Istanbul34396 Turkey Tokyo Institute of Technology Yokohama226-8502 Japan

ISBN: (纸本)9798350303759

In this paper, a deep residual network based on convolutional block attention module (CBAM) is proposed, which is utilized for feature extraction of partially occluded face expression data. The proposed method overcomes the problem of localized occlusion face feature extraction by focusing on the regions and channels containing important information in the occluded face data through CBAM. Multi-task cascaded convolutional networks (MTCNN) are firstly utilized to localize the key regions of face emotion, and then deep emotion features are extracted by CBAM-ResNet network. The final emotion labels are generated. The effectiveness of this paper's method is verified on the RAF-DB dataset and the occluded CK+ dataset. The experimental accuracy in the RAF-DB dataset is 76.3%, which is 3.74% and 1.64% higher than the accuracy produced by the method of RGBT, and the WLS-RF, respectively. Application experiments are carried out in the real teaching scenario, which verifies the applicability of the algorithm in the real teaching scene. © 2023 IEEE.

关键词： Emotion Recognition

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Design and Control of an Omnidirectional Aerial Robot with a Miniaturized Haptic Joystick for Physical Interaction

arXiv

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arXiv 2024年

作者： Mellet, Julien Berra, Andrea Marcellini, Salvatore Soto, Miguel Ángel Trujillo Heredia, Guillermo Ruggiero, Fabio Lippiello, Vincenzo PRISMA Lab Department of Electrical Engineering and Information Technology University of Naples Federico II Naples Italy CATEC Advanced Center for Aerospace Technologies Seville Spain GRVC Robotics Vision and Control Group School of Engineering University of Seville Seville Spain

Fully actuated aerial robot proved their superiority for Aerial Physical Interaction (APhI) over the past years. This work proposes a minimal setup for aerial telemanipulation, enhancing accessibility of these technologies. The design and the control of a 6-Degrees of Freedom (DoF) joystick with 4-DoF haptic feedback is detailed. It is the first haptic device with standard Remote Controller (RC) form factor for APhI. By miniaturizing haptic device, it enhances RC with the sense of touch, increasing physical awareness. The goal is to give operators an extra sense, other than vision and sound, to help to perform safe APhI. To the best of the authors knowledge, this is the first teleoperation system able to decouple each single axis input command. On the omnidirectional quadrotor, by reducing the number of components with a new design, we aim a simplified maintenance, and improved force and thrust to weight ratio. Open-sourced physic based simulation and successful preliminary flight tests highlighted the tool as promising for future APhI applications. © 2024, CC BY-NC-ND.

关键词： Omnidirectional antennas

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Single Frame Lidar-Camera Calibration Using Registration of 3D Planes

Single Frame Lidar-Camera Calibration Using Registration of ...

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IEEE International Conference on Robotic Computing (IRC)

作者： Ashutosh Singandhupe Hung Manh La Quang Phuc Ha Department of Computer Science and Engineering Advanced Robotics and Automation (ARA) Lab University of Nevada Reno NV USA School of Electrical and Data Engineering University of Technology Sydney Australia

ISBN: (纸本)9781665472616

This work focuses on finding the extrinsic parameters (rotation and translation) between Lidar and an RGB camera sensor. We use a planar checkerboard and place it inside the Field-of-View (FOV) of both sensors, where we extract the 3D plane information of the checkerboard acquired from the sensor’s data. The plane coefficients extracted from the sensor’s data are used to construct a well-structured set of 3D points. These 3D points are then ’aligned,’ which gives the relative transformation between the two sensors. We use our proposed Correntropy Similarity Matrix Iterative Closest Point (CoSMICP) Algorithm to estimate the relative transformation. This work uses a single frame of the point cloud data acquired from the Lidar sensor and a single frame from the calibrated camera data to perform this operation. From the camera image, we use the projection of the calibration target’s corner points to compute the 3D points, and along the process, we calculate the 3D plane equation using the corner points. We evaluate our approach on a simulated dataset with complex environment settings, making use of the freedom to assess under multiple configurations. Through the obtained results, we verify our method under various configurations.

关键词： Point cloud compression Three-dimensional displays Laser radar Transmission line matrix methods Robot vision systems Cameras Real-time systems

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Virtually coupled train set control subject to space-time separation:A distributed economic MPC approach with emergency braking configuration

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High-Speed Railway 2024年第3期2卷 143-152页

作者： Xiaolin Luo Tao Tang Le Wang Hongjie Liu State Key Laboratory of Advanced Rail Autonomous Operation Beijing Jiaotong UniversityBeijing 100044China Department of Electrical and Computer Engineering University of CaliforniaRiversideCA 92521USA Beijing Zongheng Electro-Mechanical Technology Development Co. Ltd.Beijing 100081China School of Automation and Intelligence Beijing Jiaotong UniversityBeijing 100044China National Engineering Research Center of Rail Transportation Operation and Control System Beijing Jiaotong UniversityBeijing 100044China

The emerging virtual coupling technology aims to operate multiple train units in a Virtually Coupled Train Set(VCTS)at a minimal but safe *** guarantee collision avoidance,the safety distance should be calculated using the state-of-the-art space-time separation principle that separates the Emergency Braking(EB)trajectories of two successive units during the whole EB *** this case,the minimal safety distance is usually numerically calculated without an analytic ***,the constrained VCTS control problem is hard to address with space-time separation,which is still a gap in the existing *** solve this problem,we propose a Distributed Economic Model Predictive Control(DEMPC)approach with computation efficiency and theoretical ***,to alleviate the computation burden,we transform implicit safety constraints into explicitly linear ones,such that the optimal control problem in DEMPC is a quadratic programming problem that can be solved *** theoretical analysis,sufficient conditions are derived to guarantee the recursive feasibility and stability of DEMPC,employing compatibility constraints,tube techniques and terminal ingredient ***,we extend our approach with globally optimal and distributed online EB configuration methods to shorten the minimal distance among ***,experimental results demonstrate the performance and advantages of the proposed approaches.

关键词： Virtually coupled train set Space-time separation Economic model predictive control Distributed model predictive control Emergency braking configuration

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Skeleton-Based Multi-Stream Adaptive Graph Convolutional Network for Indoor Scene Action Recognition

Skeleton-Based Multi-Stream Adaptive Graph Convolutional Net...

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2023 China automation Congress, CAC 2023

作者： Li, Jiazhuo Chen, Luefeng Li, Min Wu, Min Pedrycz, Witold Hirota, Kaoru The School of Automation The Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems The Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Wuhan430074 China The Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 2R3 Canada The Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland The Department of Computer Engineering Istinye University Sariyer Istanbul34396 Turkey The Tokyo Institute of Technology Tokyo226-8502 Japan

ISBN: (纸本)9798350303759

With the rapid advances in computer vision, human action recognition has gradually received attention, but the current methods still exhibit some problems in indoor environments. The human skeleton, as the framework of human motion, contains high-quality actional feature information, and the skeleton-based action recognition method effectively avoid the interference of interior background noise and has advantages in indoor action recognition. The outstanding effect of graph convolutional networks on graph structure data processing has led to its rapid development and wide application in skeleton-based action recognition. Second-order skeletal information also contains a large number of actional features but is not effectively utilized. The artificial predefined topology of the human skeleton map has limitations, and cannot reflect the interaction between limbs. To solve the above problems, this article designs an adaptive weighted multi-stream graph convolutional network (AM-GCN) based on skeletal information, using an attention mechanism to enhance the network's ability to extract actional features, and an adaptive layer to make the construction graph more flexible, incorporating second-order skeletal features through a dual-stream architecture. In this article, the NTU-RGB+D dataset has been used for the experiments, the results show that the method in this article has good results. © 2023 IEEE.

关键词： Convolution

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Plate Shape Prediction Based on Data-Driven in Roll Quenching Process

Plate Shape Prediction Based on Data-Driven in Roll Quenchin...

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2023 China automation Congress, CAC 2023

作者： Hu, Liu Chen, Luefeng Hu, Jie Wu, Min Pedrycz, Witold Hirota, Kaoru School of Automation Ministry of Education China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems The Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6R 2G7 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland Istinye University The Department of Computer Engineering Istanbul Sariyer34396 Turkey Tokyo Institute of Technology Tokyo Yokohama226-8502 Japan

ISBN: (纸本)9798350303759

In the process of steel plate production, predicting the plate shape is of great significance for producing high-quality and consistently stable plate shapes. This paper presents a model that predicts both the defect types and flatness of the plate, providing theoretical support for setting process parameters in roller quenching production. First, the parameters of the quenching process are analyzed to identify their characteristics. Then, the K-Means clustering algorithm and correlation analysis are employed to process the quenching process parameters. A gradient boosting decision tree (GBDT) model is used to predict the defect types and flatness of the steel plates. Finally, industrial production data is utilized for experimental validation. The obtained experimental results verify the reliability of the proposed method. © 2023 IEEE.

关键词： Decision trees

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Backstepping-Based Adaptive Cooperative Control For Multiple Euler-Lagrange Systems Under Unknown Harmonic Disturbances

Backstepping-Based Adaptive Cooperative Control For Multiple...

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Chinese automation Congress (CAC)

作者： Ying Chen Zi-Yi Zhao Peng Sun Xiang-Gui Guo Jian-Liang Wang Daniel Coutinho Beijing Engineering Research Center of Industrial Spectrum Imaging School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China Collaborative Flying Robotics Hangzhou Innovation Institute of Beihang University HangZhou China Department of Automation and Systems Universidade Federal de Santa Catarina Florianópolis Brazil

This paper studies cooperative control problem for multiple Euler-Lagrange systems with unknown harmonic disturbances, where the disturbances are the superposition of sinusoidal components with unknown amplitude, phase, and frequency. A novel adaptive disturbance observer without requiring the disturbance frequency information is designed to estimate the disturbances. Over the directed network topology, a cooperative control scheme is proposed based on backstepping techniques, so that the tracking error is ultimately uniformly bounded. The scheme developed can be used to reject the harmonic disturbances in a uniform way, which means the characteristics of the disturbances can be described as a fixed parameter vector. Finally, an application is presented to demonstrate the effectiveness of the proposed control strategy in the context of a two-link manipulator system.

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CAIS: Culvert Autonomous Inspection Robotic System

CAIS: Culvert Autonomous Inspection Robotic System

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Chuong Phuoc Le Pratik Walunj An Duy Nguyen Yongyi Zhou Binh Nguyen Thang Nguyen Anton Netchaev Hung Manh La Department of Computer Science and Engineering Advanced Robotics and Automation (ARA) Lab University of Nevada Reno NV USA Department of Engineering Texas A&M University–Corpus Christi Corpus Christi TX USA USACE Engineer Research and Development Center (ERDC) Information Technology Lab Vicksburg MS USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Culverts, essential components of drainage systems, require regular inspection to ensure optimal functionality. However, culvert inspections pose numerous challenges, including accessibility, manpower, defect localization, and reliance on superficial assessments. To address these challenges, we propose a novel Culvert Autonomous Inspection Robotic System (CAIS) equipped with advanced sensing and evaluation capabilities. Our solution integrates an RGBD camera, deep learning, lighting systems, and non-destructive evaluation (NDE) techniques to enable accurate and comprehensive condition assessments. We present a pioneering Partially Observable Markov Decision Process (POMDP) framework to resolve uncertainty in autonomous inspections, especially in confined and unstructured environments like culverts or tunnels. The framework outputs detailed 3D maps highlighting visual defects and NDE condition assessments, demonstrating consistent and reliable performance in both indoor and outdoor scenarios. Additionally, we provide an open-source implementation of our framework on GitHub, contributing to the advancement of autonomous inspection technology and fostering collaboration within the research community. Source codes are available * .

关键词： Visualization Uncertainty Three-dimensional displays Source coding Markov decision processes Robot vision systems Inspection Sensors Reliability Software development management

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Synthesis of Decoherence-Free Modes in Linear Quantum Passive Systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Zibo Miao Yu Pan Qing Gao Guangdong Key Laboratory of Intelligent Morphing Mechanisms School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Shenzhen China State Key Laboratory of Industrial Control Technology The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing China

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique.

关键词： Perturbation methods Design methodology Quantum optics Robustness Feedback control Closed loop systems Tuning Cybernetics

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