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Science China(Physics,Mechanics & Astronomy) 2023年第10期66卷 131-137页

作者： Lanyi Xie Fuwei Yang Bai Song Department of Energy and Resources Engineering Peking UniversityBejing 100871China Center for Nano and Micro Mechanics Tsinghua UniversityBejing 100084China Department of Advanced Manufacturing and Robotics Peking UniversityBejing 100871China Beijing Innovation Center for Engineering Science and Advanced Technology Peking UniversityBeijing 100871China

Isotopic dependence of the Casimir force is key to probing new physics and pushing novel technologies at the micro and nanoscale, but is largely unexplored. In 2002, an isotope effect of 10^(-4) was estimated for metals—orders of magnitude beyond the experimental resolution. Here, by employing the Lifshitz theory, we reveal a significant isotope effect of over 10^(-1) for polar dielectrics. This effect arises from the isotope-mass-induced line shift of the zone-center optical phonons and is insensitive to the linewidth. We perform numerical analyses on both the imaginary and real-frequency axes, and derive analytical formulas for predicting the isotope effect. The three-orders-of-magnitude difference between polar dielectrics and metals arises from the distinct isotopic dependence of the phonon and plasma frequencies. Our work opens up a new avenue for engineering forces at small scales and may also facilitate the quest for the fifth force of nature.

关键词： isotope effect Casimir force polar dielectric phonon line shift plasma frequency

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A bearing fault diagnosis and monitoring software system based on lightweight neural networks to resist coloured noise

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International Journal of Industrial and Systems Engineering 2025年第3期49卷 380-403页

作者： Pan, Wujiu Sun, Yinghao Cao, Shuming Kong, Kuishan Wang, Junyi Nie, Peng School of Mechatronics Engineering Shenyang Aerospace University Shenyang110136 China Advanced Manufacturing Technology Research Center Shenyang Aerospace University Shenyang110136 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang100196 China

In actual industrial sites, the application of bearings is becoming increasingly widespread. In order to better monitor the faults of bearings, this article combines the concept of deep learning and designs a bearing fault diagnosis and monitoring software system based on lightweight neural networks to resist coloured noise. This system is developed based on MATLAB App Designer. When testing the system, five different bearing datasets, namely MFPT, Paderborn, IMS, Ottawa, and CWRU, are applied. Considering that the data in actual scenarios contains complex noise, coloured noise signals are added. Compared to traditional fault diagnosis software that requires pre writing data into the program, this software can perform real-time processing on any single column vibration data file. By using lightweight neural network methods to preprocess the data collected by sensors, the SqueezeNet network has a faster speed to extract significant features of vibration. This software system can achieve time-frequency domain image output of signals, with multiple noise reduction methods. It can also calculate the frequency of faults based on bearing model data. Through envelope spectrum images, the location of faults can be monitored and email reminders can be sent to engineers. Copyright © 2025 Inderscience Enterprises Ltd.

关键词： MATLAB

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PolyLU: A Simple and Robust Polynomial-Based Linear Unit Activation Function for Deep Learning

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IEEE Access 2023年 11卷 101347-101358页

作者： Feng, Han-Shen Yang, Cheng-Hsiung National Taiwan University of Science and Technology Graduate Institute of Automation and Control Taipei City10607 Taiwan National Taiwan University of Science and Technology Advanced Manufacturing Research Center Taipei City10607 Taiwan

The activation function has a critical influence on whether a convolutional neural network in deep learning can converge or not;a proper activation function not only makes the convolutional neural network converge faster but also can reduce the complexity of convolutional neural network architecture and gets the same or better performance. Many activation functions have been proposed;however, various activation functions have advantages, defects, and applicable network architectures. A new activation function called Polynomial Linear Unit (PolyLU) is proposed in this paper to improve some of the shortcomings of the existing activation functions. The PolyLU meets the following basic properties: continuously differentiable, approximate identity near the origin, unbounded for positive inputs, bounded for negative inputs, smooth, monotonic, and zero-centered. There is a polynomial term for the negative inputs and no exponential terms in the PolyLU that reduce the computational complexity of the network. Compared to those common activation functions like Sigmoid, Tanh, ReLU, LeakyReLU, ELU, Mish, and Swish, the experiments show that the PolyLU has improved some network complexity and has better accuracy over MNIST, Kaggle Cats and Dogs, CIFAR-10 and CIFAR-100 datasets. Test by the CIFAR-100 dataset with batch normalization, PolyLU improves by 0.62%, 2.82%, 2.44%, 1.33%, 2.08%, and 4.26% of accuracy than ELU, Swish, Mish, Leaky ReLU, ReLU, and Tanh respectively. Test by the CIFAR-100 dataset without batch normalization, PolyLU improves by 1.24%, 4.39%, 2.12%, 5.43%, 15.51%, and 8.10% of accuracy than ELU, Swish, Mish, Leaky ReLU, ReLU, and Tanh respectively. © 2013 IEEE.

关键词： Polynomials

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The Development Status, Challenges and Development Trends in Rehabilitation robotics: A Review 17

The Development Status, Challenges and Development Trends in...

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17th International Convention on Rehabilitation Engineering and Assistive technology, i-CREATe 2024

作者： Zhang, Liyuan Peng, Yige Qi, Xiaoxuan Bao, Sheng Yuan, Jianjun Shanghai Ic Technology & Industry Promotion Center Shanghai210203 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai200444 China

ISBN: (纸本)9798350355154

This paper presents the research status of rehabilitation robot in detail. In order to understand the current situation of rehabilitation robots, they are divided into four categories, such as upper limb rehabilitation robots, lower limb rehabilitation robots, massage assistance robots and other rehabilitation robots. The research status and existing problems of rehabilitation robots at home and abroad in recent years are introduced in detail, and the functions of rehabilitation robots are demonstrated. Trained upper limb rehabilitation robots and lower limb rehabilitation robots have been introduced, which help patients undergo rehabilitation training and demonstrate strong recovery functions. Massage auxiliary robots provide continuous and stable massage therapy to the patient's specific muscle tissue, relieving the patient's pain. Thermal moxibustion robots and acupuncture robots provide rehabilitation treatment for patients in the way of traditional Chinese medicine. Finally, the common challenges in the research field of rehabilitation robots are discussed, and the future development trends of various rehabilitation robots are proposed. © 2024 IEEE.

关键词： Acupuncture

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Design and implementation of intelligent LiDAR SLAM for autonomous mobile robots using evolutionary normal distributions transform

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Soft Computing 2024年第6期28卷 5321-5337页

作者： Huang, Hsu-Chih Xu, Sendren Sheng-Dong Lin, Hsien-Chan Xiao, Yuan-Sheng Chen, Yu-Xiang Department of Electrical Engineering National Ilan University Yilan260007 Taiwan Graduate Institute of Automation and Control National Taiwan University of Science and Technology Taipei106335 Taiwan Advanced Manufacturing Research Center National Taiwan University of Science and Technology Taipei106335 Taiwan

This paper presents a method that employs an evolutionary normal distributions transform (NDT) for simultaneous localization and mapping (SLAM) using light detection and ranging (LiDAR) for autonomous mobile robots. An adaptive inertia weight and two genetic operators were employed in the Taguchi-based whale optimization algorithm (WOA) to improve the search diversity and avoid local optima. NDT was used to model the environment of differential-drive mobile robots and WOA was applied to optimize the scan matching for the robotic SLAM problem. The NDT-WOA determines the SLAM pose estimation using sensed data from the physical world. A nonholonomic mobile robot was steered to achieve the NDT-WOA SLAM task with the derived robot kinematics and actuator dynamics. The proposed method was implemented in a TurtleBot3 Burger robotic development kit, which includes a single-board computer and an OpenCR control board. The Robot Operating System (ROS) was utilized to implement the evolutionary NDT-WOA SLAM system due to its flexibility, open source, and client library. Simulation and comparisons were conducted to illustrate the efficiency of the proposed NDT-WOA SLAM method compared to other SLAM paradigms. The experimental results show the effectiveness of the proposed evolutionary NDT-WOA SLAM for autonomous mobile robots. The results could have theoretical and practical significance for robotics research. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2023.

关键词： Mobile robots

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Simulation of magnetization process and Faraday effect of magnetic bilayer films

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Chinese Physics B 2024年第9期33卷 590-597页

作者： Sheng Gao An Du Lei Zhang Tian-Guang Li Da-Cheng Ma Department of Basic and General Studies Shenyang Institute of Science and TechnologyShenyang 110167China College of Science Northeastern UniversityShenyang 110819China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern UniversityShenyang 110819China Office of Academic Research Shenyang Institute of Science and TechnologyShenyang 110167China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy ofSciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110016China

We described ferromagnetic film and bilayer films composed of two ferromagnetic layers coupled through antiferromagnetic interfacial interaction by classical Heisenberg model and simulated their magnetization state,magnetic permeability,and Faraday effect at zero and finite temperature by using the Landau–Lifshitz–Gilbert(LLG)*** results indicate that in a microwave field with positive circular polarization,the ferromagnetic film has one resonance peak while the bilayer film has two resonance ***,the resonance peak disappears in ferromagnetic film,and only one resonance peak emerges in bilayer film in the negative circularly polarized microwave *** the microwave field’s frequency exceeds the film’s resonance frequency,the Faraday rotation angle of the ferromagnetic film is the greatest,and it decreases when the thickness of the two halves of the bilayer is *** the microwave field’s frequency remains constant,the Faraday rotation angle fluctuates with temperature in the same manner as spontaneous magnetization *** a DC magnetic field is applied in the direction of the anisotropic axis of the film,the Faraday rotation angle varies with the DC magnetic field and shows a similar shape of the hysteresis loop.

关键词： magnetic bilayer films magnetic permeability hysteresis loop Faraday effect Landau-Lifshitz-Gilbert(LLG)equation

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Robust Practical Stabilization for Complex Dynamical Networks With DoS Attacks and Actuator Saturation

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3108-3118页

作者： Shi, Xueya Peng, Zhinan Yu, Junzhi Li, Hongfei Southwest University College of Electronic and Information Engineering Chongqing400715 China Sichuan Artificial Intelligence Research Institute Yibin644000 China University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China

This article addresses the problem of designing an attack-resilient adaptive event-triggered (AET) controller for complex dynamical networks (CDNs) under DoS attacks and actuator saturation, with a focus on robust practical stability (RPS). First, considering the impact of DoS attacks on closed-loop systems, an AET controller against DoS attacks is designed. Unlike other event-triggered controllers, the complete timeline is divided, and the AET controller is built with two switching modes based on the intervals of dormant and active periods of DoS attacks in which the system is located. Second, to reconcile AET controller with actuator saturation, a switched system modeling approach is established that explicitly incorporates saturation constraints into the coupled network dynamics. Third, a switched Lyapunov-Krasovskii functional (LKF) is proposed, with which sufficient conditions are provided to ensured the RPS, and a joint design strategy is developed for the desired triggered matrix and feedback gain using linear matrix inequalities (LMIs). Moreover, the results are generalized to the case of actuator faults, indicating that the system is able to achieve RPS with actuator faults. Finally, the proposed method is verified through an example. © 2013 IEEE.

关键词： Lyapunov functions

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Multi-Task Learning-Enabled Automatic Vessel Draft Reading for Intelligent Maritime Surveillance

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IEEE Transactions on Intelligent Transportation Systems 2024年第5期25卷 4552-4564页

作者： Qu, Jingxiang Liu, Ryan Wen Zhao, Chenjie Guo, Yu Xu, Sendren Sheng-Dong Zhu, Fenghua Lv, Yisheng Wuhan University of Technology Hubei Key Laboratory of Inland Shipping Technology School of Navigation Wuhan430063 China State Key Laboratory of Maritime Technology and Safety Wuhan430063 China National Taiwan University of Science and Technology Graduate Institute of Automation and Control and the Advanced Manufacturing Research Center Taipei10617 Taiwan Institute of Automation State Key Laboratory of Multimodal Artificial Intelligence Systems Chinese Academy of Sciences Beijing100190 China

The accurate and efficient vessel draft reading (VDR) is an important component of intelligent maritime surveillance, which could be exploited to assist in judging whether the vessel is normally loaded or overloaded. The computer vision technique with an excellent price-to-performance ratio has become a popular medium to estimate vessel draft depth. However, the traditional estimation methods easily suffer from several limitations, such as sensitivity to low-quality images, high computational cost, etc. In this work, we propose a multi-task learning-enabled computational method (termed MTL-VDR) for generating highly reliable VDR. In particular, our MTL-VDR mainly consists of four components, i.e., draft mark detection, draft scale recognition, vessel/water segmentation, and final draft depth estimation. We first construct a benchmark dataset related to draft mark detection and employ a powerful and efficient convolutional neural network to accurately perform the detection task. The multi-task learning method is then proposed for simultaneous draft scale recognition and vessel/water segmentation. To obtain more robust VDR under complex conditions (e.g., damaged and stained scales, etc.), the accurate draft scales are generated by an automatic correction method, which is presented based on the spatial distribution rules of draft scales. Finally, an adaptive computational method is exploited to yield an accurate and robust draft depth. Extensive experiments have been implemented on the realistic dataset to compare our MTL-VDR with state-of-the-art methods. The results have demonstrated its superior performance in terms of accuracy, robustness, and efficiency. The computational speed exceeds 40 FPS, which satisfies the requirements of real-time maritime surveillance to guarantee vessel traffic safety. © 2000-2011 IEEE.

关键词： Real time systems

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A Survey of Underwater Multi-Robot Systems

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 1-18页

作者： Ziye Zhou Jincun Liu Junzhi Yu State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and RoboticsBeijing Innovation Center for Engineering Science and Advanced TechnologyCollege of EngineeringPeking UniversityBeijing 100871China College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China

As a cross-cutting field between ocean development and multi-robot system(MRS),the underwater multi-robot system(UMRS)has gained increasing attention from researchers and engineers in recent *** this paper,we present a comprehensive survey of cooperation issues,one of the key components of UMRS,from the perspective of the emergence of new *** specifically,we categorize the cooperation in terms of task-space,motion-space,measurement-space,as well as their ***,we analyze the architecture of UMRS from three aspects,i.e.,the performance of the individual underwater robot,the new functions of underwater robots,and the technical approaches of *** conclude,we have discussed related promising directions for future *** survey provides valuable insight into the reasonable utilization of UMRS to attain diverse underwater tasks in complex ocean application scenarios.

关键词： Cooperation formation control multi-robot systems(MRS) taxonomy underwater robots underwater tasks

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Advancement in Smart Cane technology: Enhancing Mobility for the Visually Impaired Using ROS and LiDAR 6

Advancement in Smart Cane Technology: Enhancing Mobility for...

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6th International Conference on robotics and automation in Industry, ICRAI 2024

作者： Zafar, Saqib Maqbool, Hafiz Farhan Ahmad, Naveed Ali, Arham Moeizz, Abdul Ali, Faizan Taborri, Juri Rossi, Stefano University of Tuscia Department of Economics Engineering Society and Business Organization VT Viterbo01100 Italy University of Engineering and Technology Lahore Department of Mechanical Mechatronics and Manufacturing Engineering Faisalabad Campus Lahore38000 Pakistan National Center of Robotics and Automation Human-Centred Robotics Lab Pakistan

ISBN: (纸本)9798350355703

Visual impairment affects the ability to navigate independently in an unknown environment due to reliance on human/dog assistance, potential miscommunication, and discomfort during mobility. To make the visually impaired (VI) individuals self-reliant and confident in their mobility the proposed system has been developed that contains a light detection and ranging (LiDAR) sensor for obstacle detection and two omni-wheels coupled with the DC gear encoder motors for precise movement in any direction without lifting the cane. Hector Simultaneous Localization and Mapping (SLAM), A, and steering wheel algorithms have been implemented in the robot operating system (ROS) for real-time environment mapping, efficient path planning, and navigating in an unknown indoor static environment, respectively. The Raspberry Pi 3B+ and Arduino Mega 2560 are used in the master-slave configuration for decision-making on path planning and controlling the maneuverability of the system in real-time. The proposed system in the paper is successfully tested on one subject in two indoor environments. The results demonstrate that the system serves as an assistive mobile robot, helping the VI individual to navigate confidently in an unknown environment and reach the destination without assistance. © 2024 IEEE.

关键词： Motion planning

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