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arXiv 2024年

作者： Niu, Ruirui Li, Zhuoxian Han, Xiangyan Liu, Qianling Qu, Zhuangzhuang Wang, Zhiyu Han, Chunrui Watanabe, Kenji Taniguchi, Takashi Liu, Kaihui Mao, Jinhai Shi, Wu Peng, Bo Han, Zheng Vitto Gan, Zizhao Lu, Jianming State Key Laboratory for Mesoscopic Physics School of Physics Peking University Beijing100871 China Institute of Microelectronics Chinese Academy of Sciences Beijing100029 China University of Chinese Academy of Sciences Beijing100049 China National Institute for Materials Science 1-1 Namiki Tsukuba305-0044 Japan School of Physical Sciences CAS Center for Excellence in Topological Quantum Computation University of Chinese Academy of Sciences Beijing China State Key Laboratory of Surface Physics Institute for Nanoelectronic Devices and Quantum Computing Fudan University Shanghai200433 China Zhangjiang Fudan International Innovation Center Fudan University Shanghai201210 China National Engineering Research Center of Electromagnetic Radiation Control Materials School of Electronic Science and Engineering University of Electronic Science and Technology of China Chengdu China State Key Laboratory of Quantum Optics and Quantum Optics Devices Institute of Opto-Electronics Shanxi University Taiyuan030006 China Collaborative Innovation Center of Extreme Optics Shanxi University Taiyuan030006 China

Interfacial ferroelectricity emerges in heterostructures consisting of non-polar van der Waals (vdW) layers, greatly expanding the scope of two dimensional ferroelectrics. In particular, the unconventional moiré ferroelectricity observed in bilayer graphene/boron nitride (BN) heterostructures, exhibits promising functionalities with topological current, superconductivity and synaptic responses. However, the debate about its mechanism – correlation driven charge transfer between two graphene layers – limits device reproducibility and hence large-scale production. Here by designing a single-layer graphene encapsulated by lattice-mismatched WSe2, we identify the ferroelectricity as stemming from – instead of graphene moiré bands – the particular BN, where interfacial sliding ferroelectricity must play a role. With similar structures, multilayer twisted MoS2 is found to reproduce the ferroelectricity. The key is a conductive moiré ferroelectric, where the screened gate and the pinned domain wall together result in unchanged electronic states, i.e. anomalous screening. The intimate connection to interfacial sliding ferroelectricity thus provides advantages of diverse choices of constituent materials and robust polarization switching while preserving the unique anomalous screening, paving the way to reproducible and reliable memory-based devices in artificial intelligence. © 2024, CC BY.

关键词： Ferroelectricity

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DPNet: Dynamic Pooling Network for Tiny Object Detection

arXiv

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arXiv 2025年

作者： Gong, Luqi Chen, Haotian Chen, Yikun Yao, Tianliang Li, Chao Zhao, Shuai Han, Guangjie School of Computer Science Beijing University of Posts and Telecommunications Beijing China Research Center for Space Computing System Zhejiang Lab Hangzhou China SWJTU-LEEDS Joint School Southwest Jiaotong University Chengdu China Guangdong Zhiyun City construction Technology Co. LTD Zhuhai China Department of Control Science and Engineering College of Electronic and Information Engineering Tongji University Shanghai China Key Laboratory of Maritime Intelligent Network Information Technology Ministry of Education Hohai University China

In unmanned aerial systems, especially in complex environments, accurately detecting tiny objects is crucial. Resizing images is a common strategy to improve detection accuracy, particularly for small objects. However, simply enlarging images significantly increases computational costs and the number of negative samples, severely degrading detection performance and limiting its applicability. This paper proposes a Dynamic Pooling Network (DPNet) for tiny object detection to mitigate these issues. DPNet employs a flexible down-sampling strategy by introducing a factor (df) to relax the fixed downsampling process of the feature map to an adjustable one. Furthermore, we design a lightweight predictor to predict df for each input image, which will be used to decrease the resolution of feature map in backbone. Thus, we achieve input-aware downsampling. We design an Adaptive Normalization Module (ANM) to make a unified detector well compatible with different dfs. At the same time, we also design a guidance loss to supervise the predictor’s training. DPNet realizes the dynamic allocation of computing resources to trade off detection accuracy and efficiency through this. Experiments on the TinyCOCO and TinyPerson datasets show that our DPNet can save over 35% and 25% GFLOPs, respectively, while maintaining comparable detection *** code will be made publicly available. Copyright © 2025, The Authors. All rights reserved.

关键词： Image coding

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Compliant net for AUV retrieval using a UAV

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IFAC-PapersOnLine 2018年第29期51卷 431-437页

作者： Ivanovic, Antun Polic, Marsela Salah, Omar Orsag, Matko Bogdan, Stjepan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 Zagreb10 000 Croatia Mechanical Engineering Department Faculty of Engineering Assiut University Assiut Egypt

This paper addresses the problem of retrieving an autonomous underwater vehicle (AUV) with an unmanned aerial vehicle (UAV). The design of the compliant net that naturally adapts to the payload morphology is proposed as a retrieval tool. We constructed the proposed compliant net and conducted experiments with an underwater vehicle model as payload. Furthermore, mathematical model of a system comprised of the UAV and the payload is presented and a mid-ranging controller is utilized for such a system. We also present simulation results and analyze the stability of the UAV with the cable attached payload. © 2018

关键词： Autonomous underwater vehicles Antennas Unmanned aerial vehicles (UAV) Autonomous underwater vehicles (AUV) Marine systems Mechanical design Retrieval tool Soft robotics Underwater vehicles

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Urban Trip Generation Forecasting Based on Gradient Boosting Algorithm

Urban Trip Generation Forecasting Based on Gradient Boosting...

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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Zhishuai Li Gang Xiong Yu Zhang Meng Zheng Xisong Dong Yisheng Lv State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan China Beijing Municipal Institute of City Planning and Design Beijing China

The four-step transportation model plays an important role in urban planning. The quality of the first phase, i.e. trip generation, determines the performance of the global course. The majority of trip generation forecasting models highly rely on mathematical derivation and have many predictor variables during the prediction, which leads to low accuracy of results and requires laboriously hand-crafted design of input vectors. This paper is the first to introduce the gradient boosting decision tree (GBDT) algorithm for trip generation prediction, and harmonizes such a powerful machine learning method with traditional urban planning requirements to achieve better prediction performance. Unlike the commonly used linear regression method, GBDT can automatically perform feature selection and model the non-linear relationships between input and output variables. Experimental results on real-world residential travel census in Beijing prove that the GBDT model significantly outperforms the baseline and can forecast the trip generation more accurately.

关键词： Machine learning algorithms Urban planning Transportation Predictive models Prediction algorithms Feature extraction Boosting

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Autonomous Water Surface Vehicle Metaheuristic Mission Planning using Self-generated Goals and Environmental Forecasts

Autonomous Water Surface Vehicle Metaheuristic Mission Plann...

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American control Conference

作者： Evan Krell Scott A. King Luis Rodolfo Garcia Carrillo Control of Robots and Autonomous Agents Laboratory (CORAL) Department of Computing Sciences Texas A&M University Corpus Christi CORAL and the Unmanned Systems Laboratory (TAMUCC-USL) Department of Electrical Engineering Texas A&M University Corpus Christi

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

An unmanned surface vehicle takes on the role of an autonomous science agent, generating missions based on data. The vehicle explores over long durations and large regions, continually selecting and visiting target survey locations. Select system components are implemented and evaluated for automatic target generation, onboard mapping and path planning that optimizes energy use and data collection reward.

关键词： Planning History Cameras Satellites Path planning Collision avoidance Prototypes

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Software for Small-scale Robotics: A Review

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International Journal of Automation and computing 2018年第5期15卷 515-524页

作者： Tobias Tiemerding Sergej Fatikow Department of Computing Science Division Microrobotics and Control Engineering (AMiR) University of Oldenburg OFFIS–Institute for Information Technology R&D Division Automation and Integration Technology (AIT)

In recent years, a large number of relatively advanced and often ready-to-use robotic hardware components and systems have been developed for small-scale use. As these tools are mature, there is now a shift towards advanced applications. These often require automation and demand reliability, efficiency and decisional autonomy. New software tools and algorithms for artificial intelligence（AI） and machine learning（ML） can help here. However, since there are many software-based control approaches for small-scale robotics, it is rather unclear how these can be integrated and which approach may be used as a starting point. Therefore, this paper attempts to shed light on existing approaches with their advantages and disadvantages compared to established requirements. For this purpose, a survey was conducted in the target group. The software categories presented include vendor-provided software, robotic software frameworks（RSF）, scientific software and in-house developed software（IHDS）. Typical representatives for each category are described in detail, including Smar Act precision tool commander, Math Works Matlab and national instruments Lab VIEW, as well as the robot operating system（ROS）. The identified software categories and their representatives are rated for end user satisfaction based on functional and non-functional requirements, recommendations and learning curves. The paper concludes with a recommendation of ROS as a basis for future work.

关键词： Robotic control software engineering micro/nano robotics artificial intelligence （AI） machine learning （ML） open

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Research on Trajectory Planning and Motion control of 7-DoF Sawyer Manipulator

Research on Trajectory Planning and Motion Control of 7-DoF ...

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Digital Twins and Parallel Intelligence (DTPI), IEEE International Conference on

作者： Kun Luo Gang Xiong Yuxiao Wang Bin Hu Sheng Liu Shichao Chen The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijng China School of Artificial Intelligence University of Chinese Academy of Sciences Beijng China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Beijng China Qingdao Academy of Intelligent Industries Chinese Academy of Sciences Beijng China

Regarding human-machine collaborative task, generated trajectories of a robot manipulator should be able to avoid joint limits and singularities, but the 6 Degrees of Freedom(DoF) or lower DoF manipulators encounter difficulties in many schemes. In this paper, research is implemented on the methods of trajectory planning and motion control on the newly human-machine collaborative 7-DoF Sawyer manipulator. We try to pay more attention to these approaches and find a better combination between trajectory planners and motion controllers for Sawyer manipulator. First of all, comparison is proposed between the methods about trajectory planning in task space and joint space, drawing a conclusion that the latter has the advantage of quickness and smoothness on trajectories in real time. Next, we choose to plan trajectory in the joint space by interpolating positions and orientations. Three approaches, i.e., trapezoidal velocity trajectory, cubic polynomial trajectory and basic spline trajectory, are applied to interpolate positions. Experimental results show that it results in the smoothest trajectory using basic spline trajectory planning. We also compare linear and nonlinear orientation interpolations to address the angle wrapping issue, which leads to difficulties in smooth orientation interpolation between several waypoints. Combining polynomial trajectory planning methods with the proportional-derivative (PD) motion controller and the computed-torque motion controller, we focus on the performance of the two different combinations. It is found that trajectories with computed-torque controller have shorter path with a congruous convergence on joint position, and more accurate trajectories with less overshoots in position than others.

关键词： Interpolation Trajectory planning Collaboration Aerospace electronics Manipulators Trajectory Task analysis

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A security scheme for intelligent substation communications considering real-time performance

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Journal of Modern Power Systems and Clean Energy 2019年第4期7卷 948-961页

作者： Jie ZHANG Jun’e LI Xiong CHEN Ming NI Ting WANG Jianbo LUO Key Laboratory of Aerospace Information Security and Trusted Computing Ministry of EducationSchool of Cyber Science and EngineeringWuhan UniversityWuhan 430072China NARI Group Corporation(State Grid Electric Power Research Institute) Nanjing 211106China NARI Technology Co.Ltd. Nanjing 211106China State Key Laboratory of Smart Grid Protection and Control Nanjing 211106China

Tampering,forgery and theft of the measurement and control messages in a smart grid could cause one breakdown in the power ***,no security measures are employed for communications in intelligent *** services in an intelligent substation have high demands for real-time performance,which must be considered when deploying security *** paper studies the security requirements of communication services in intelligent substations,analyzes the security capabilities and shortages of IEC 62351,and proposes a novel security scheme for intelligent substation *** security scheme covers internal and telecontrol communications,in which the real-time performance of each security measure is *** this scheme,certificateless public key cryptography(CLPKC)is used to avoid the latency of certificate exchange in certificate-based cryptosystem and the problem of key escrow in identity-based cryptosystem;the security measures of generic object-oriented substation event,sampled measure value and manufacturing message specification in IEC 62351 are improved to meet the real-time requirements of the messages as well as to provide new security features to resist repudiation and replay attacks;and the security at transport layer is modified to fit CLPKC,which implements mutual authentication by exchanging ***,a deployment of CLPKC in an intelligent substation is *** also evaluate the security properties of the scheme and analyze the end-to-end delays of secured services by combining theoretical calculation and simulation in this *** results indicate that the proposed scheme meets the requirements of security and real-time performance of communications in intelligent substations.

关键词： Intelligent substation Security measures Certificateless public key cryptography(CLPKC) Real-time communication IEC 62351

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Inside Back Cover: Photocatalytic Nitrogen Reduction for Ammonia Synthesis Accelerated by Overcoming Photo-Dember Effect (Angew. Chem. 26/2025)

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Angewandte Chemie 2025年第26期137卷

作者： Peishen Li Yixuan Gao Alistair G. L. Borthwick Panpan Li Huixuan Zhang Fangyuan Chen Long Chen Fan Li Wen Liu College of Environmental Sciences and Engineering The Key Laboratory of Water and Sediment Sciences (Ministry of Education) Peking University Beijing 100871 PR China Beijing National Laboratory for Molecular Sciences Peking University Beijing 100871 PR China Institute of Infrastructure and Environment School of Engineering The University of Edinburgh King's Buildings Edinburgh EH9 3JL UK School of Engineering Computing and Mathematics University of Plymouth Drake Circus Plymouth PL4 8AA UK College of Materials Science and Engineering Sichuan University Chengdu 610065 PR China Beijing Key Lab for Source Control Technology of Water Pollution College of Environmental Science and Engineering Beijing Forestry University Beijing 100083 PR China

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Inside Back Cover: Photocatalytic Nitrogen Reduction for Ammonia Synthesis Accelerated by Overcoming Photo-Dember Effect (Angew. Chem. Int. Ed. 26/2025)

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Angewandte Chemie International Edition 2025年第26期64卷

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