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Adaptive multiscale convolutional neural network model for chemical process fault diagnosis

Chinese Journal of Chemical Engineering 2022年第10期50卷 398-411页

作者： Ruoshi Qin Jinsong Zhao State Key Laboratory of Chemical Engineering Department of Chemical EngineeringTsinghua UniversityBeijing 100084China Beijing Key Laboratory of Industrial Big Data System and Application Tsinghua UniversityBeijing 100084China

Intelligent fault recognition techniques are essential to ensure the long-term reliability of *** to the variations in material,equipment and environment,the process variables monitored by sensors contain diverse data characteristics at different time scales or in multiple operating *** much progress in statistical learning and deep learning for fault recognition,most models are constrained by abundant diagnostic expertise,inefficient multiscale feature extraction and unruly multimode *** overcome the above issues,a novel fault diagnosis model called adaptive multiscale convolutional neural network(AMCNN)is developed in this paper.A new multiscale convolutional learning structure is designed to automatically mine multiple-scale features from time-series data,embedding the adaptive attention module to adjust the selection of relevant fault pattern *** triplet loss optimization is adopted to increase the discrimination capability of the model under the multimode *** benchmarks CSTR simulation and Tennessee Eastman process are utilized to verify and illustrate the feasibility and efficiency of the proposed *** with other common models,AMCNN shows its outstanding fault diagnosis performance and great generalization ability.

关键词： Neural networks Multiscale Adaptive attentionmodule Triplet lossoptimization Fault diagnosis Chemical processes

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A self-powered piezoelectret sensor based on foamed plastic garbage for monitoring human motions

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Nano Research 2023年第1期16卷 1269-1276页

作者： Yujun Shi Kaijun Zhang Sen Ding Zhaoyang Li Yuhao Huang Yucong Pi Dazhe Zhao Yaowen Zhang Renkun Wang Binpu Zhou Zhi-Xin Yang Junwen Zhong Department of Electromechanical Engineering and Centre for Artificial Intelligence and Robotics University of MacaoMacao 999078China Joint Key Laboratory of the Ministry of Education Institute of Applied Physics and Materials EngineeringUniversity of MacaoAvenida da UniversidadeMacao 999078China State Key Laboratory of Internet of Things for Smart City and Department of Electromechanical Engineering University of MacaoMacao 999078China

Constructing piezoelectret based on foamed plastic garbage is an advisable strategy for obtaining self-powered flexible electromechanical sensors with good ***,a self-powered piezoelectret sensor with basic material of low density polyethylene(LDPE)foamed plastic garbage is proposed,with characteristics of easy fabrication,excellent flexibility,and high equivalent piezoelectric coefficient d33 value up to~1,100 pC/*** output stability is verified by continuously stimulating a sensor for~180,000 cycles under low and high applied pressure,and the variations of peak outputs are less than 5.5%.Applications for measuring low-and high-pressure signals from human body are *** with a wristband,a sensor is demonstrated for detecting the human pulse ***,real time human sitting information is wirelessly monitored with a smart chair based on 4 pixels sensors array.

关键词： wearable electronics piezoelectret self-powered pressure sensor mobile health

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A Sample Repetitive Manipulation Mechanism (SRMM) for Lunar Regolith In-Situ Analysis: Design and Validation

A Sample Repetitive Manipulation Mechanism (SRMM) for Lunar ...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Liu, Yi Tang, Junyue Liu, Yafang Ma, Gongbo Sun, Feng Li, Ye Jiang, Shengyuan Shenyang University of Technology Shenyang China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Beijing Institute of Spacecraft System Engineering Beijing China Beijing China

ISBN: (纸本)9798350325706

To exactly detect the water ice of the South Pole of the moon, a lunar regolith in-situ analysis payload deploying a mass spectrometer is proposed for China future lunar exploration missions. In order to receive the lunar regolith sample from a robotic arm with a soil sampler and transfer it into a furnace for further analysis, a sample manipulation mechanism is required during the above work flow. To solve the problems of adapting the sampler's docking accuracy, receiving and transferring two different types of lunar soil sample under times of in-situ analysis, etc., a sample repetitive manipulation mechanism (SRMM) is proposed in this paper. By using a floating adjustable docking components and a flexible hopper, two types of encapsulated regolith sample and bulk material sample can be received with minimal sample loss, respectively. In order to receive and transfer two types of samples multiple times, two sample receiving methods have been designed that can be repeatedly transferred. A worm and worm wheel combined with a ball screw is designed in SRMM. To verify the above mechanism design, validation experiments were conducted. It indicates that this novel SRMM can be deployed in the future mission after further environmental tests. © 2023 IEEE.

关键词： Lunar exploration Repeated transfer Sample type sampler's docking sealing force

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Guest editorial:Special Issue on Artificial Intelligence and Emerging Computational Approaches for Tribology

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Friction 2024年第6期12卷 1057-1059页

作者： Zhinan ZHANG Shuaihang PAN Bart RAEYMAEKERS State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Department of Mechanical Engineering University of UtahSalt Lake CityUT 84112USA Department of Mechanical Engineering Virginia TechBlacksburgVA 24061USA

Tribo-behavior is a complex system-based time-dependent process,and it is difficult to accurately model a tribo-system and predict its ***,tribology research,in most cases,has relied on extensive *** by the artificial intelligence(AI)-for-science revolution,AI and other emerging computational approaches provide opportunities to explore the complex processes in tribo-systems and the physical mechanisms of tribo-behavior in an efficient way,significantly pushing the boundaries of tribology research.

关键词： behavior editorial artificial

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Revisiting the mechanisms of mid-Tertiary uplift of the NE Tibetan Plateau

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National Science Review 2023年第4期10卷 169-190页

作者： Hong-Hong Wei Guo-Li Wu Lin Ding Long-Gang Fan Lin Li Qing-Ren Meng State Key Laboratory of Tibetan Plateau Earth System Environment and Resources (TPESER) Institute of Tibetan Plateau Research Chinese Academy of Sciences Institute of Geomechanics Chinese Academy of Geological Sciences State Key Laboratory of Lithospheric Evolution Institute of Geology and Geophysics Chinese Academy of Sciences Department of Geosciences University of Arizona University of Chinese Academy of Sciences

Contrasting views exist on timing and mechanisms of Tertiary crustal uplift in the NE Tibetan Plateau based on different approaches, with many models atributing surface uplift to crustal shortening. We carry out a comprehensive investigation of mid-Tertiary stratigraphy, sedimentology, and volcanism in the West Qinling, Hoh Xil and Qaidam basin, and the results challenge previous views. It was held that the discordance between Oligocene and Miocene strata is an angular unconformity in the West Qinling, but our field observations show that it is actually a disconformity, indicative of vertical crustal uplifting rather than crustal shortening at the Oligocene to Miocene transition. Widespread occurrence of synsedimentary normal faults in mid-Tertiary successions implicates supracrustal stretching. Miocene potassic–ultrapassic and mafic–ultramafic volcanics in the Hoh Xil and West Qinling suggest a crucial role of deep thermomechanical processes in generating crust-and mantle-sourced magmatism. Also noticeable are the continuity of mid-Tertiary successions and absence of volcanics in the Qaidam basin. Based on a holistic assessment of stratigraphic–sedimentary processes, volcanic petrogenesis, and spatial variations of lithospheric thicknesses, we speculate that small-sale mantle convection might have been operating beneath northeast Tibet in the mid-Tertiary. It is assumed that northward asthenospheric flow was impeded by thicker cratonic lithosphere of the Qaidam and Alxa blocks, thereby leading to edge convection. The edge-driven convection could bring about surface uplift, induce supracrustal stretching, and trigger vigorous volcanism in the Hoh Xil and West Qinling in the mid-Tertiary period. This mechanism satisfactorily explains many key geologic phenomena that are hardly reconciled by previous models.

关键词： NE Tibetan Plateau mid-Tertiary unconformity volcanism edge convection

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A Novel FBG Shape Sensor Based on Mechanical Model for Continuum Manipulator

A Novel FBG Shape Sensor Based on Mechanical Model for Conti...

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International Conference on Autonomous Robots and Agents, ICARA

作者： Yuxin Zhang Wei Dong Zhiyuan Yan Yongzhuo Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350394245

ISBN: (纸本)9798350394252

Fiber Bragg Gratings (FBG) are used widely for that it is small and sensitive. It is suitable to insert a sensor based on FBGs to some narrow cavities. At the same time, a slender continuum structure requires tiny sensors inside it. A multi-node differential curvature measurement sensor of FBG fiber is designed in this paper to realize temperature compensation. Considering the friction among FBG, driving wires, and niti tube and external forces applied on the end, a mechanical model about the FBG sensor and the continuum manipulator is proposed. At last, a linear interpolation method is used in the curvature estimation. Under the condition that there is no end resistance and only the bending moment and friction along the outer surface of the continuum generated by the steel wire driven by the motor the absolute measurement error of the position of the end of the continuum is 1.9mm.

关键词： Temperature measurement Temperature sensors Optical fiber sensors Shape Shape measurement Wires Robot sensing systems

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RAM-NAS: Resource-aware Multiobjective Neural Architecture Search Method for Robot Vision Tasks

RAM-NAS: Resource-aware Multiobjective Neural Architecture S...

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

作者： Shouren Mao Minghao Qin Wei Dong Huajian Liu Yongzhuo Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Neural architecture search (NAS) has shown great promise in automatically designing lightweight models. However, conventional approaches are insufficient in training the supernet and pay little attention to actual robot hardware resources. To meet such challenges, we propose RAM-NAS, a resource-aware multi-objective NAS method that focuses on improving the supernet pretrain and resource-awareness on robot hardware devices. We introduce the concept of subnets mutual distillation, which refers to mutually distilling all subnets sampled by the sandwich rule. Additionally, we utilize the Decoupled Knowledge Distillation (DKD) loss to enhance logits distillation performance. To expedite the search process with consideration for hardware resources, we used data from three types of robotic edge hardware to train Latency Surrogate predictors. These predictors facilitated the estimation of hardware inference latency during the search phase, enabling a unified multi-objective evolutionary search to balance model accuracy and latency trade-offs. Our discovered model family, RAM-NAS models, can achieve top-1 accuracy ranging from 76.7% to 81.4% on ImageNet. In addition, the resource-aware multi-objective NAS we employ significantly reduces the model’s inference latency on edge hardware for robots. We conducted experiments on downstream tasks to verify the scalability of our methods. The inference time for detection and segmentation is reduced on all three hardware types compared to MobileNetv3-based methods. Our work fills the gap in NAS for robot hardware resource-aware.

关键词： Training Accuracy Image edge detection Scalability Robot vision systems Predictive models Hardware Neural architecture search Robots Testing

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PMM-Net: Single-stage Multi-agent Trajectory Prediction with Patching-based Embedding and Explicit Modal Modulation

arXiv

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arXiv 2024年

作者： Liu, Huajian Dong, Wei Fan, Kunpeng Wang, Chao Gao, Yongzhuo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Analyzing and forecasting trajectories of agents like pedestrians plays a pivotal role for embodied intelligent applications. The inherent indeterminacy of human behavior and complex social interaction among a rich variety of agents make this task more challenging than common time-series forecasting. In this letter, we aim to explore a distinct formulation for multi-agent trajectory prediction framework. Specifically, we proposed a patching-based temporal feature extraction module and a graph-based social feature extraction module, enabling effective feature extraction and cross-scenario generalization. Moreover, we reassess the role of social interaction and present a novel method based on explicit modality modulation to integrate temporal and social features, thereby constructing an efficient single-stage inference pipeline. Results on public benchmark datasets demonstrate the superior performance of our model compared with the state-of-the-art methods. The code is available at: ***/TIB-K330/pmm-net. Copyright © 2024, The Authors. All rights reserved.

关键词： Economic and social effects

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Emerging biotechnologies for screening electromechanical signals of cardiomyocytes

Aggregate

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Aggregate 2024年第6期5卷 6-22页

作者： Si Tang Lingyu Sun Huiyao Shi Kaixuan Wang Jialin Shi Chanmin Su Yuanjin Zhao Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyangChina Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyangChina University of Chinese Academy of Sciences BeijingChina Department of Cardio-Thoracic Surgery Institute of Translational MedicineNanjing Drum Tower HospitalThe Affiliated Hospital of Nanjing University Medical SchoolNanjingChina State Key Laboratory of Bioelectronics School of Biological Science and Medical EngineeringSoutheast UniversityNanjingChina

Cardiac diseases threaten human health and burden the global healthcare ***(CMs)are considered the ideal model for studying the signal transduction and regulation of cardiac *** on the principle of the rhythmical beating process(excitation‒contraction coupling mechanism of CMs),investigating the mechanical and electrophysiological signals offered new hope for cardiac disease detection,prevention,and *** technological success has been achieved in electromechanical signal ***,most drug assessment platforms attach importance to high-throughput and dynamic monitoring of mechanical or electrical signals while overlooking the measuring principles and physiological significance of the *** this review,the development of biosensing platforms for CMs,sensing principles,key measured parameters,measurement accuracy,and limitations are ***,various approaches for the stimulation and measurement of CMs in vitro are discussed to further elucidate the response of these cells to external ***,disease modeling and drug screening are used as examples to intuitively demonstrate the contribution of in vitro CM measurement platforms to the biomedical field,thereby further illustrating the challenges and prospects of these sensing platforms.

关键词： biosensing platform cardiomyocyte electrical signal mechanical signal

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JHT-EXO: A Soft Ankle Exosuit for Assisting Walking in Patients with Post-Stroke Foot Inversion

JHT-EXO: A Soft Ankle Exosuit for Assisting Walking in Patie...

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IEEE International Conference on robotics and Biomimetics

作者： Haotian Ju Zihang Guan Songhao Guo Zedong Liu Qinghua Zhang Tianjiao Zheng Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Stroke often leads to foot inversion, seriously affecting the patients' walking ability. In this paper, a lightweight, soft exosuit, JHT-EXO, is proposed for correcting foot inversion to help patients' gait rehabilitation. JHT-EXO mainly consists of two cable driving modules, two foot feedback modules, and a control module, with a total weight of no more than 2.5 kg. The cable driving module can pre-tighten the cable with a designed constant torque spring to prevent the cable from falling off. When the motor is not energized, it can still assist the person in stabilizing the walking gait and reducing power consumption. Customized foot pressure sensors recognize human gait, and IMUs on the feet measure the ankle angle used by the controller to change the output force of the exosuit. The constant torque spring was calibrated and tested, and the experimental results showed that the average output force of the constant torque spring was 20.0 N, with a maximum error of 5.6% compared to the theoretically calculated results. The ground walking test of the exosuit was performed by three subjects in three conditions: wearing the exosuit powered up, wearing the exosuit unpowered, and not wearing the exosuit. The test results showed that JHT-EXO could effectively reduce the ankle inversion angle by $22.11^\circ$ compared to not wearing the exosuit. JHT-EXO is feasible in preventing foot drop and stabilizing flip, and its high mobility and portability show potential for gait rehabilitation of foot inversion patients.

关键词： Legged locomotion Ankle Pressure sensors Torque Force Stroke (medical condition) Pressure measurement Springs Robots Foot

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