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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Zhongli Wang Xian Wu Baigen Cai Chuanqi Tao Zhiyi Zhang Yinling Wang State Key Laboratory of Robotics and System Harbin Institute of Technology China Beijing Engineering Research Center of EMC and GNSS Technology for Rail Transportation Beijing China School of Electronic Information and Engineering Beijing Jiao Tong University China CSR Qindao Sifang Co. Ltd. Qindao China

ISBN: (纸本)9781467389600

GPS/ODO fusion-based localization is always used for mobile robot in outdoor environment. This approach takes advantage of short-term accuracy of odometry measurement and the long-term correction by the GPS unit. Generally, to improve the localization accuracy, precise system model and sensor noise model are probed. In this paper, by taking the linear and nonlinear equality state constraints into the EKF-based fusion framework with the method of perfect measurement and estimate projection, the performance of fusion results can be greatly improved. The modeling process is introduced and two simulation cases have been conducted, which show the positioning accuracy of the mobile robot can be significantly improved after the introduction of the equivalent constraint. Theoretically, this implementation allows us to define additional adjustments to improve the overall behavior of the filter.

关键词： Robot sensing systems Mobile robots Mathematical model Global Positioning system Jacobian matrices Kalman filters

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Design and fabrication of structural color by local surface plasmonic meta-molecules

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Chinese Physics B 2015年第8期24卷 243-247页

作者：马亚琪邵金海张亚峰陆冰睿张思超孙艳屈新萍陈宜方 State Key Laboratory of ASIC and System School of Information Science and Engineering Fudan University Department of Physics Fudan University Shanghai Institute of Technical Physics Chinese Academy of Sciences State Key Laboratory of ASIC and System Fudan University

In this paper, we propose a new form of nanostructures with Al film deposited on a patterned dielectric material for generating structural color, which is induced by local surface plasmonic resonant(LSPR) absorption in sub-wavelengthindented hole/ring arrays. Unlike other reported results obtained by using focus ion beam(FIB) to create metallic nanostructures, the nano-sized hole/ring arrays in Al film in this work are replicated by high resolution electron beam lithography(EBL) combined with self-aligned metallization. Clear structural color is observed and systematically studied by numerical simulations as well as optical characterizations. The central color is strongly related to the geometric size, which provides us with good opportunities to dye the colorless Al surface by controlling the hole/ring dimensions(both diameter and radius), and to open up broad applications in display, jewelry decoration, green production of packing papers, security code,and counterfeits prevention.

关键词： structural color local surface plasmonic resonant absorption sub-wavelength metal metamaterial high resolution electron beam lit

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The relationship between carbon oxides in oil and thermal aging degree of oil-paper insulation

The relationship between carbon oxides in oil and thermal ag...

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International Conference on High Voltage Engineering and Application, ICHVE

作者： Qiang Fu Mengjun Wang Tiansheng Chen Xudong Li Jian Li Jing Zhang Department of Chemistry and Energy Storage Electric Power Research Institute of Guangdong Power Grid Co Guangzhou China State Key Laboratory of Power Transmission Equipment & System and New Technology Chongqing University Chongqing China

ISBN: (纸本)9781509004973

The thermal aging is one of the main factors leading to degradation of oil-paper insulation. Carbon oxides dissolved in insulation oil mainly come from cellulose pyrolysis, which indicates that the carbon oxides in oil can be used to predict the thermal aging degree of oil-paper insulation in power transformer. In this paper, accelerated thermal aging test for oilpaper samples composed of conventional 25# mineral oil and ordinary Kraft paper were performed at 130°C. The changing laws of degree of polymerization (DP) of insulation paper and content of carbon oxides in oil with thermal aging time were analyzed. The relationships between DP of insulation paper and the content of CO, CO 2 , CO+CO 2 and CO 2 /CO were also analyzed. The results show that DP of insulation paper decreases fast with time in early thermal aging stage and decreases slowly with time in late thermal aging stage. There is no significant quantitative relationship between the content of CO and DP, also CO 2 /CO and DP. The content of CO 2 and CO 2 /CO both are significant linear correlation with DP, which are good indexes used to judge the thermal degree of impregnated insulation paper.

关键词： Aging Oils Power transformer insulation Oil insulation Gases

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A bionic MIS device for lumbar fracture reduction

A bionic MIS device for lumbar fracture reduction

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IEEE/ASME International Conference on Mechtronic and Embedded systems and Applications, MESA

作者： Jingmin Li Lihua Guo Weiping Shi Tao Li Zhenkun Lei Weikang Li Yuancheng Li Yuanchang Liu Chong Liu Key Laboratory for Micro/Nano Technology Dalian University of Technology Dalian China Department of Orthopedics First Affiliated Hospital of Dalian Medical University Dalian China State Key Laboratory of Structural Analysis for Industrial Equipment Dalian University of Technology Dalian China Department of Mechanical Engineering University College London London UK Key Laboratory for Micro/Nano Technology and System of Liaoning Province Dalian University of Technology Dalian China

ISBN: (纸本)9781509061914

Open surgery is currently the main treatment method for the lumbar burst fracture with neurological deficit but may irreversibly disrupt the lumbar anatomy. The minimally invasive surgery (MIS) techniques have gained increasing attentions recently. However, their use is still limited to lumbar burst fractures mainly due to their difficulties in burst fracture reduction and decompression. Here we present a novel bio-inspired MIS device which can be used with an endoscope to reset the bone fragments retropulsed into the spinal canal within the wounded vertebral body. This study may be capable of converting the posterior open surgeries to the MIS procedures, and expands the use of the MIS techniques in the treatment of lumbar burst fractures.

关键词： Decision support systems

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Analysis of Class Group Distinguishing Based Conceptual Models for Multiple Fault Diagnosis 34

Analysis of Class Group Distinguishing Based Conceptual Mode...

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第三十四届中国控制会议

作者： ZHANG Ke CHAI Yi LIU Jianhuan FENG Xiaohui State Key Laboratory of Power Transmission Equipment & System Security and New Technology College of Automation Chongqing University Department of Automation Tsinghua University

ISBN: (纸本)9781467374439

It is common that multiple fault exists in actual engineering and complex systems. Due to parameters in multiple faults tightly coupled, relationship between the fault mode and known mono-fault features is non-linear. Thus, it is hard to see how distinguish in mapping set for "fault to symptom". In this case, there is no guarantee that traditional diagnosis methods for mono-fault meet the demands. With the requirement, an analysis of the traits of multiple faults is made. A summarization is given to class group distinguishing(CGD) based methods that applied in fault diagnosis. Major defects in the methods that applied in multiple fault diagnosis are analyzed. On that basis, fault modes and symptoms are taken as key points. Conceptual models for multiple fault diagnosis based on CGD are gradually explored. By the models, actual faults can be mapped to one or more known mono-faults via distinguishing analysis, and therefore multiple faults can be diagnosed. There are 4 kinds of flow chart and construction for the models are established. Each of these models presents advantages and disadvantages are separately presented at the end of the chapter.

关键词： Multiple Fault,Fault Diagnosis,Class Group Distinguishing,Conceptual Models,Cluster,Classification

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Molecular dynamics simulations of coating process: Influences of thermostat methods

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Journal of Computational and Theoretical Nanoscience 2016年第7期13卷 4629-4633页

作者： Li, Qibin Peng, Xianghe Peng, Tiefeng Tang, Qizhong Liu, Chao Shi, Xiaoyang College of Aerospace Engineering Chongqing Key Laboratory of Heterogeneous Material Mechanics Chongqing University Chongqing400044 China State Key Laboratory of Coal Mine Disaster Dynamics and Control Chongqing University Chongqing400044 China Key Laboratory of Low-Grade Energy Utilization Technology and System Ministry of Education College of Power Engineering Chongqing University Chongqing400044 China Department of Earth and Environmental Engineering Columbia University New YorkNY10027 United States

Several thermostat methods, including Nose-Hoover method, Berendsen method, Langevin method and Velocity rescaling method are employed to investigate the coating process using molecular dynamics simulations. The coating system consists of Au atoms depositing onto Cu substrate. The temperature profiles of the particles indicate Nose-Hoover thermostat and Velocity rescaling method every 10,000 steps are not appropriate for constraining the temperature of the simulation system. The thermostat methods show little difference on the particles in the coherent layers. In addition, by the end of the simulation, the surface is found to be rougher in the simulations with Nose-Hoover method and Velocity rescaling method every 10,000 steps. © 2016 American Scientific Publishers All rights reserved.

关键词： Molecular dynamics

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A Human Motion Prediction Algorithm Based on HSMM for SIAT's Exoskeleton

A Human Motion Prediction Algorithm Based on HSMM for SIAT's...

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第35届中国控制会议

作者： Min Wang Xinyu Wu Du-Xin Liu Can Wang Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences Department of Mechanical and Automation The Chinese University of Hong Kong

ISBN: (纸本)9781509009107

Getting the exoskeleton pilot's motion intent is very important for exoskeleton *** this paper,a new approach to predict human motion is *** prediction method is based on Hidden Semi-Markov *** orientation of the pilot's segment is collected by the Inertial Measurement *** Adaptive Boosting algorithm is adopted to classify the orientation data into *** sequence of motion labels is inputted into Hidden Semi-Markov Models for motion *** experimental data validate the proposed method.

关键词： Adaptive Boosting Hidden Semi-Markov Model Human Motion Prediction Exoskeleton

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Evaluation of Global Satellite Mapping of precipitation analysis product during torrential rainfall event of 22 July 2010 in Jinghe Basin

Evaluation of Global Satellite Mapping of precipitation anal...

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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： Jiaqi Chen Jianan Lin Bin Yong Bo Chen Department of Space Microwave Remote Sensing System Institute of Electronics Beijing China State Key Laboratory of Millimeter Wave Southeast University Nanjing China College of Computer and Information Engineering Hohai University Nanjing China Hohai University Nanjing Jiangsu CN State Key Laboratory of Hydrology-Water Resources and Hydraulic Engineering Hohai University Nanjing China

ISBN: (纸本)9781509033331

The Global Satellite Mapping of Precipitation product (GSMaP) [1] , is a recent solution of satellite-based precipitation estimates which provides global rainfall products of high spatial (0.1°) and temporal resolutions (1 hour). This paper presents a study of GSMaP precipitation products (GSMaP_MVK and GSMaP_Gauge) for a torrential precipitation event in Jinghe Basin (from 06:00 AM on 22 July 2010 to 11:00 AM on 24 July 2010). Measurements from a dense rain gauge network are used as the ground truth to evaluate the latest GSMaP products. Study results demonstrate the precision of GSMaP_MVK product has strong correlation with both elevation and rainfall intensity, which makes GSMaP_MVK perform poorly in high-altitude mountain storm center. Furthermore, for corresponding rainstorm area, significantly improvement could be found in ground correction products (GSMaP_Gauge), which suggests effectiveness and broad prospects of precipitation assimilation techniques.

关键词： Rain Satellites Microwave radiometry Satellite broadcasting Estimation Microwave theory and techniques Remote sensing

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Gesture recognition based on sparse representation

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International Journal of Wireless and Mobile Computing 2016年第4期11卷 348-356页

作者： Miao, Wei Li, Gongfa Sun, Ying Jiang, Guozhang Kong, Jianyi Liu, Honghai College of Machinery and Automation Wuhan University of Science and Technology Wuhan430081 China State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Intelligent Systems and Biomedical Robotics Group School of Computing University of Portsmouth PortsmouthPO1 3HE United Kingdom

Aiming at the problem that the robustness of gesture recognition is difficult to guarantee, this paper presents a method based on multi-features and sparse representation. Hu invariant moments and HOG features of training samples are extracted in training phase. The K-SVD algorithm is used to train the initial value of dictionary formed by two features so as to obtain two sub-dictionaries. In recognition phase, sparse coefficients of corresponding training dictionary are derived by solving minimum l1-norm. Finally, the overall reconstruction error is calculated to judge the categories of test samples. In experimental simulation, five kinds of grasp gesture are collected to create gesture sample library. After selecting optimal HOG parameters and the weight of two features, the recognition effect of the method is analysed. Compared with the commonly used classification, the results show that the method has better recognition rate and robustness. Copyright © 2016 Inderscience Enterprises Ltd.

关键词： Gesture recognition

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A study on key technologies of unmanned driving

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CAAI Transactions on Intelligence Technology 2016年第1期1卷 4-13页

作者： Xinyu Zhang Hongbo Gao Mu Guo Guopeng Li Yuchao Liu Deyi Li Department of Computer Science and Technology Tsinghua University Beijing 100084 China Information Technology Center Tsinghua University Beijing 100084 China State Key Laboratory of Software Development Environment Beihang University Beijing 100191 China The Institute of Electronic System Engineering Beijing 100039 China

Although the development of machine intelligence is far from simulating all the cognitive competence of our brains, still it is absolutely possible to peel the driving activity from people＇s cognitive activities and then make the machine finish some low-level, complicated and lasting driving cognition by simulating our brains. The goal of driving is to replace drivers and free them from boring driving activities. Based on some studies on unmanned driving, this paper summarizes and analyzes the background, significance, research status and key technology of unmanned driving and the research group also introduces some research on brain cognition of driving and sensor placement of intelligent vehicles, which offers more meaningful reference to push the study of unmanned driving.

关键词： Unmanned driving Brain cognition of driving Sensor placement Formalization of brain cognition

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