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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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Air Pollutants NO2 Concentration Prediction Based on LSTM Neural Network method

Air Pollutants NO2 Concentration Prediction Based on LSTM Ne...

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Chinese Intelligent systems Conference, CISC 2020

作者： Li, Jihan Li, Xiaoli Liu, Jian Wang, Kang Faculty of Information Technology Beijing University of Technology Beijing100124 China Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing Advanced Innovation Center for Future Internet Technology Engineering Research Center of Digital Community Ministry of Education Beijing100124 China

ISBN: (纸本)9789811584572

In recent years, the Chinas economy has developed rapidly. The peoples living standard has been improved. The number of cars has been increasing, and the pollutant NO has been produced continuously, which leads to the formation of NO2. These harmful particles have an impact on human health. Thus, the effective and accurate NO2 concentration prediction model plays an effective role in peoples health and prevention. For this problem, this paper presents a prediction model based on the long short-term memory (LSTM) method to predict NO2 concentration. Firstly, the PM10, SO2, NO2, CO, O3, temperature in a campus monitoring point in Beijing is collected as the research object in this paper. Then, the LSTM prediction model and BP (back propagation) neural network prediction model are established respectively. Finally, the accuracy of the two prediction models for the prediction of NO2 concentration is compared. The results show that the prediction model based on LSTM method is superior to BP neural network model, and the prediction accuracy is more accurate. © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Forecasting

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NeRF in Robotics: A Survey

arXiv

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arXiv 2024年

作者： Wang, Guangming Pan, Lei Peng, Songyou Liu, Shaohui Xu, Chenfeng Miao, Yanzi Zhan, Wei Tomizuka, Masayoshi Pollefeys, Marc Wang, Hesheng The University of Cambridge ETH Zurich Switzerland The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Key Laboratory of System Control and Information Processing Ministry of Education of China 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 ETH Zurich Zurich Switzerland Mechanical Systems Control Laboratory University of California Berkeley United States

Meticulous 3D environment representations have been a longstanding goal in computer vision and robotics fields. The recent emergence of neural implicit representations has introduced radical innovation to this field as implicit representations enable numerous capabilities. Among these, the Neural Radiance Field (NeRF) has sparked a trend because of the huge representational advantages, such as simplified mathematical models, compact environment storage, and continuous scene representations. Apart from computer vision, NeRF has also shown tremendous potential in the field of robotics. Thus, we create this survey to provide a comprehensive understanding of NeRF in the field of robotics. By exploring the advantages and limitations of NeRF, as well as its current applications and future potential, we hope to shed light on this promising area of research. Our survey is divided into two main sections: The Application of NeRF in Robotics and The Advance of NeRF in Robotics, from the perspective of how NeRF enters the field of robotics. In the first section, we introduce and analyze some works that have been or could be used in the field of robotics from the perception and interaction perspectives. In the second section, we show some works related to improving NeRF's own properties, which are essential for deploying NeRF in the field of robotics. In the discussion section of the review, we summarize the existing challenges and provide some valuable future research directions for reference. © 2024, CC BY-NC-ND.

关键词： Robotics

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Enhanced optical imaging and fluorescent labeling for visualizing drug molecules within living organisms

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Acta Pharmaceutica Sinica B 2024年第6期14卷 2428-2446页

作者： Ting Sun Huanxin Zhao Luyao Hu Xintian Shao Zhiyuan Lu Yuli Wang Peixue Ling Yubo Li Kewu Zeng Qixin Chen School of Pharmaceutical Sciences National Key Laboratory of Advanced Drug Delivery SystemMedical Science and Technology Innovation CenterShandong First Medical University&Shandong Academy of Medical SciencesJinan 250062China Departments of Diagnostic Radiology SurgeryChemical and Biomolecular Engineeringand Biomedical EngineeringYong Loo Lin School of Medicine and College of Design and EngineeringNational University of SingaporeSingapore 119074Singapore Institute of Biochemical and Biotechnological Drugs School of Pharmaceutical SciencesCheeloo College of MedicineShandong UniversityJinan 250012China Key Laboratory of Biopharmaceuticals Postdoctoral Scientific Research WorkstationShandong Academy of Pharmaceutical ScienceJinan 250098China State Key Laboratory of Natural and Biomimetic Drugs School of Pharmaceutical SciencesPeking UniversityBeijing 100191China School of Life Sciences Science and Technology Innovation CenterShandong First Medical University&Shandong Academy of Medical SciencesJinan 250062China School of Chinese Materia Medica Tianjin University of Traditional Chinese MedicineTianjin 301617China Tianjin Pharmaceutical DA REN TANG Group Corporation Limited Traditional Chinese Pharmacy Research Institute Tianjin 300457China Key Laboratory of Systems Bioengineering(Ministry of Education) School of Chemistry Engineering and TechnologyTianjin UniversityTianjin 300072China

The visualization of drugs in living systems has become key techniques in modern *** advancements in optical imaging technologies and molecular design strategies have revolutionized drug *** the subcellular level,super-resolution microscopy has allowed exploration of the molecular landscape within individual cells and the cellular response to *** beyond subcellular imaging,researchers have integrated multiple modes,like optical near-infrared II imaging,to study the complex spatiotemporal interactions between drugs and their *** combining these visualization approaches,researchers gain supplementary information on physiological parameters,metabolic activity,and tissue composition,leading to a comprehensive understanding of drug *** review focuses on cutting-edge technologies in drug visualization,particularly fluorescence imaging,and the main types of fluorescent molecules ***,we discuss current challenges and prospects in targeted drug research,emphasizing the importance of multidisciplinary cooperation in advancing drug *** the integration of advanced imaging technology and molecular design,drug visualization has the potential to redefine our understanding of pharmacology,enabling the analysis of drug micro-dynamics in subcellular environments from new perspectives and deepening pharmacological research to the levels of the cell and organelles.

关键词： Optical imaging Drug visualization Fluorophore labeling Therapeutics

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A Remotely Driven Finger Rehabilitation Robot for Passive and Active Rehabilitation 12

A Remotely Driven Finger Rehabilitation Robot for Passive an...

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Wang, Hongbo Du, Jiazheng Zhang, Yongshun Tian, Yu Zhang, Dagan Ning, Yuansheng Niu, Jianye Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao066004 China Academy for Engineering and Technolgy Fudan University Shanghai200433 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China Yanshan University Key Laboratory of Advanced Forging and Stamping Technology Science of Ministry of Education Qinhuangdao066004 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In this paper, a finger rehabilitation robot with flexion/extension function is developed. This device consists of a four-finger mechanism and a thumb mechanism. The four-finger mechanism is modular designed, and consists of the metacarpophalangeal joint mechanism and the proximal interphalangeal joint mechanism. The thumb mechanism has an active degree of freedom (DoF). The hardware system and software system of the finger rehabilitation robot were built, and preliminary experiments were carried out, including the passive and active movement of the single joint and the multi-finger movement. The results show the range of motion of this robot can meet the requirements of the rehabilitation, and it is able to carry out active rehabilitation training by means of the human-machine contact force, and it has the ability to realize occupational therapy training for grasping objects in different shapes. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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Uncertainty Budget in the Ldv-Based Radius Measurement

SSRN

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SSRN 2024年

作者： Shi, Shengyu Wu, Yongwei Li, Xiang Yin, Xiaochun Kuschmierz, Robert Czarske, Jürgen National Engineering Research Center of Novel Equipment for Polymer Processing Key Laboratory of Polymer Processing Engineering Ministry of Education Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing School of Mechanical and Automobile Engineering South China University of Technology Guangzhou510640 China Laboratory for Measurement and Sensor System Techniques Technische Universität Dresden Dresden01069 Germany

Laser Doppler velocimeter (LDV) allows for the measurement of the lateral velocity of a rotating cylindrical workpiece, thus, enabling the absolute radius measurement, showing great application prospect. However, several adverse factors exist that decrease the measurement accuracy, for example, the variation of the fringe spacing, the variation of the rotating frequency, the spindle error motions, and the Doppler frequency estimation, which, unfortunately, have been seldom studied. In this context, this paper comprehensively analyzes the uncertainty in the LDV-based radius measurement. First, we construct an LDV sensor and calibrate its fringe spacing. Then, the LDV-based radius measurement is modeled as an algebraic equation, suggesting that the radius is indirectly measured from several input quantities, including the Doppler frequency, the fringe spacing, and the rotation frequency, each of which owns an input uncertainty, propagating into the measurement result. Ultimately, a detailed budget for the measurement uncertainty is provided. © 2024, The Authors. All rights reserved.

关键词： Laser Doppler velocimeters

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Numerical Investigation into the Transient Behavior of the Spike-Type Rotating Stall for a Transonic Compressor Rotor

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Fluid Dynamics & Materials Processing 2022年第3期18卷 761-773页

作者： Pengfei Ju Fangfei Ning Zhiting Tong Jingying Wang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education(Tianjin University of Technology) Tianjin300384China Research Institute of Aero-Engine Beihang UniversityBeijing100191China National Key Laboratory of Science and Technology on Aero-Engine Aero-Thermodynamics School of Energy and Power EngineeringBeihang UniversityBeijing100191China School of Energy and Power Engineering Shandong UniversityJinan250061China Shandong Engineering Laboratory for High-Efficiency Energy Conservation and Energy Storage Technology&Equipment Shandong UniversityJinan250061China

In this paper,a numerical investigation into a spike-type rotating stall process is carried out considering a transonic compressor rotor(the NASA Rotor 37).Through solution of the Unsteady Reynolds-Averaged Navier-Stokes(URANS)equations,the evolution process from an initially circumferentially-symmetric near-stall flow field to a stable stall condition is simulated without adding any artificial *** the near-stall operating point,periodic fluctuations are present in the overall flow of the ***,the blockage region in the channel periodically shifts from middle span to the *** fluctuating condition does not directly lead to stall,while the full-annulus calculation eventually evolves to ***,a kind of“early disturbance”feature appears in the dynamic signals,which propagates forward ahead of the rotor.

关键词： Transonic compressor spike stall numerical simulation early disturbance dynamic signal

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High Color Gamut Top-Emitting Organic Light-Emitting Diode Based on Metal/Transparent Conductive Oxide Composite Electrode

SSRN

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SSRN 2025年

作者： Lin, Yang Zhu, Yangyang Zhao, Ben Gu, Jialu Xu, Yachen Lan, Weixia Chen, Guo Shi, Wei Kido, Junji Wei, Bin Shanxi Datong University China School of Mechatronic Engineering and Automation Shanghai University Shanghai200072 China Shanghai Engineering Research Center for Integrated Circuits and Advanced Display Materials Shanghai University Shanghai200072 China Key Laboratory of Advanced Display and System Applications Ministry of Education Shanghai University Shanghai200072 China Nanan Institute Shanghai University Nan'an Fujian Quanzhou362300 China Frontier Center for Organic Materials Yamagata University 4-3-16 Jonan Yonezawa992-8510 Japan

Top-emitting organic light-emitting diodes (TEOLEDs) based on metal/transparent conductive oxide composite anodes, which were Al/ITO and Ag/ITO, were studied. The microcavity effect was optimized by adjusting the microcavity thickness and microcavity order to achieve high color gamut RGB monochromatic light display. Through mathematical modeling and spectral simulation, TEOLEDs with different microcavity structures were designed. The results showed that the full width at half maximum and the color purity of the light of the TEOLED based on the second-order microcavity were significantly optimized compared to those of the TEOLED based on the first-order microcavity. Meanwhile, the TEOLEDs based on the Ag/ITO composite electrode exhibited better optoelectronic performance, with the significantly enhanced external quantum efficiency of up to 19.40%, narrower full width at half maximum of down to 20 nm, and improved color purity. The corresponding red, green, and blue TEOLEDs had achieved excellent color coordinates of (0.697, 0.301), (0.154, 0.769), and (0.139, 0.050), and the color gamut area of the device had reached 172.4% of the color gamut area of the bottom-emitting OLED, 125.6% of the National Television system Committee standard color gamut, and 93.8% of the ITU-R Recommendation BT.2020 standard color gamut. © 2025, The Authors. All rights reserved.

关键词： Organic light emitting diodes (OLED)

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Electrochemical Study of Cu2+ Sensor Based on Zif-67/Mwcnts/Nafion

SSRN

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SSRN 2023年

作者： Ding, Lifeng Song, Yuru Li, Qiang Guo, Jinqing Zhang, Jie Wang, Qi Dong, Hongmei Song, Yongbo Song, Zhengwei Zhao, Xiaohong Niu, Yulan Department of Chemistry and Chemical Engineering Taiyuan Institute of Technology Taiyuan030008 China School of Chemical Engineering and Technology North University of China Taiyuan030051 China MicroNano System Research Center College of Information and Computer Key Laboratory of Advanced Tran sducers and Intelligent Control System Ministry of Education and Shanxi Province Taiyuan University of Technology Taiyuan030024 China

In this work, a ZIF-67/MWCNT/Nafion sensor platform was constructed based on the good adsorption capacity of ZIF-67, the electrical conductivity of multiwalled carbon nanotubes (MWCNTs) and the excellent chemical stability of Nafion for the detection of Cu2+ in water. Meanwhile, the modified materials were characterized by scanning electron microscopy (SEM), X-ray photoelectron spectroscopy (XPS), X-ray diffraction (XRD) and Fourier transform infrared spectrometry (FT-IR). Cyclic voltammetry (CV), electrochemical impedance spectroscopy (EIS) and square wave stripping voltammetry (SWSV) were used to characterize and test ZIF-67/MWCNT/Nafion/GCE. The results show that ZIF-67/MWCNT/Nafion/GCE has high sensitivity (57.5 μA/μM) and a low limit of detection (4.3 nM) for the electrochemical detection of Cu2+ ions in an electrochemical sensing system. Finally, the modified electrode has good repeatability, reproductivity, anti-interference and stability and can be applied to test domestic water. © 2023, The Authors. All rights reserved.

关键词： Electrochemical sensors

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Tracking Performance of Networked systems with Limited Bandwidth and Colored Noise

Tracking Performance of Networked Systems with Limited Bandw...

引用

2022 Chinese Automation Congress, CAC 2022

作者： Zhang, Bin Jiang, Xiaowei Sun, Li Zhang, Xianhe School of Automation China University of Geosciences Wuhan430074 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China School of Statistics and Mathematics Zhongnan University of Economics and Law Wuhan430074 China School of Electrical Engineering and Automation Hubei Normal University Huangshi435002 China

ISBN: (纸本)9781665465335

This study investigated the optimal tracking performance (OTP) of multi-input multi-output (MIMO), discrete- time networked control systems (NCSs). The limits of tracking performance (TP) under the influences of bandwidth, encoding- decoding, and additive coloured Gaussian noise (ACGN) are derived using the techniques of coprime decomposition and all-pass decomposition. The results reveal the negative impact of non-minimum phase (NMP) zeros and unstable poles of the plant as well as network communication constraints on the TP of NCSs. Finally, a numerical simulation is discussed and verifies our conclusions. © 2022 IEEE.

关键词： Networked control systems

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