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Close-Range Human Following Control on a Cane-Type Robot with Multi-Camera Fusion

IEEE Robotics and Automation Letters 2023年第10期8卷 6443-6450页

作者： Liu, Haowen Wu, Fengxian Zhong, Bin Zhao, Yijun Zhang, Jiatong Niu, Wenxin Zhang, Mingming Shenzhen Key Laboratory of Smart Healthcare Engineering Guangdong Provincial Key Laboratory of Advanced Biomaterials Department of Biomedical Engineering Southern University of Science and Technology Shenzhen518055 China School of Medicine Tongji University Shanghai201619 China Department of Biomedical Engineering Southern University of Science and Technology Shenzhen518055 China Department of Biomedical Engineering National University of Singapore Singapore117583 Singapore School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

Cane-Type robots have been utilized to assist the mobility-impaired population. The essential technique for cane-Type robots is to follow the user's ambulation at a close range. This study developed a new cane-Type wheeled robot and proposed a novel human-following control frame with multi-camera fusion. This human following control adopts a cascade control strategy consisting of two parts: 1) a human following position controller that locates a user by detecting his/her legs' positions via multi-camera fusion and 2) a cane robot velocity controller to steer the cane robot to the target position. The proposed strategy's effectiveness has been validated in outdoor experiments with six healthy subjects. The experimental scenarios included different terrains (i.e., straight, turning, and inclined paths), road conditions (i.e., asphalt and brick roads) and walking speeds. The obtained results showed that the average tracking error in the X and Y directions was less than 4.1 and 4.4 cm, respectively, and the error in angle was less than 12.9 across all scenarios. Moreover, the cane robot can effectively adapt to a wide range of individual gait patterns and achieve stable human following at daily walking speeds (0.74 m/s-1.47 m/s). © 2016 IEEE.

关键词： Microcontrollers

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Brain Tumor Automated Detection System Based on Hybrid Deep Learning Networks Using MRI Images

Brain Tumor Automated Detection System Based on Hybrid Deep ...

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2024 International Telecommunications Conference, ITC-Egypt 2024

作者： Salama, Gerges M. Ashraf, Shady Bayoumi, Esraa Salah Elwan, Mohammed Abd-Ellah, Mahmoud Khaled Minia University Faculty of Engineering Department of Electrical Engineering Minia6111 Egypt Egyptian Academy for Engineering and Advanced Technology Electrical Engineering Department Egypt College of Computing and Information Technology Arab Academy for Science Smart Village GizaB 2401 Egypt Egyptian Russian university Faculty of Artificial Intelligence Cairo11829 Egypt

ISBN: (纸本)9798350351408

technology undeniably has a significant impact on human life, particularly in advancing various aspects of healthcare. Artificial intelligence (AI) has greatly contributed to the early and precise detection of tumors, especially in the realm of medical image processing, with a specific focus on brain tumor detection using magnetic resonance imaging (MRI). However, manually analyzing numerous MRI images is a challenging task in clinical settings. Hence, the utilization of a computer-aided diagnostic (CAD) system is imperative for the timely identification of normal and abnormal brain tissues. This study proposes a hybrid detection architecture to determine the presence of brain tumors. The system incorporates five different deep convolutional neural networks (CNNs) for feature extraction, each comprising five models that identify the optimal five layers for feature extraction before employing Support Vector Machine (SVM) for classification. The system undergoes training and evaluation to ascertain the most effective detection outcomes. The study utilizes two datasets to assess the system's performance and functionality. © 2024 IEEE.

关键词： Support vector machines

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Ultrathin BiOCl crystals grown in highly disordered vapor micro-turbulence for deep ultraviolet photodetectors

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Rare Metals 2024年第11期43卷 5921-5931页

作者： Qing Guo Xiu-Jun Wang Lin Wang Xin Ye A-Lei Li Xiao-Hang Pan Yun-Lei Zhong Yong Zhang Li-Xing Kang Key Laboratory of Multifunctional Nanomaterials and Smart Systems Division of Advanced MaterialsSuzhou Institute of Nano-Tech and Nano-BionicsChinese Academy of SciencesSuzhou 215123China Key Laboratory of Molecular Optoelectronic Sciences Department of ChemistrySchool of ScienceTianjin UniversityTianjin 300072China School of Electronic and Information Engineering Changshu Institute of TechnologyChangshu 215500China

Crystallization,while a common process in nature,remains one of the most mysterious *** its physical mechanisms is essential for obtaining high-quality ***,crystals grown by thermal evaporation or sublimation nucleate the substrate facing the evaporation ***,a novel vapor micro-turbulence mass transport mechanism in the growth process of ultrathin BiOCl single crystals has been *** this mechanism,the precursor vapor bypasses the solid substrate,forming micro-turbulent vaporizing flows to nucleate on the surface of the substrate facing away from the evaporation *** nucleation kinetics,fast shear flows are known to cause secondary nucleation,increasing nucleation quantity while decreasing the final size of the ***,the nucleation and growth process of BiOCl crystals are controlled by adjusting the micro-turbulence intensity to reduce shear flow energy and dilate phase distribution,resulting in BiOCl crystals with uniform distribution and regular *** structural and morphological characterization confirms the high crystallization quality of the obtained crystals,and the performance of the constructed solar-blind photodetectors is comparable to that of similar *** findings contribute to a deeper understanding of vapor mass transport and crystal growth techniques and may be useful for applications related to metal oxide crystals.

关键词： Ultrathin metal oxides crystals Micro-turbulence Microspacing sublimation Ultraviolet photodetectors Crystallization

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High-dielectric loss black silicon decorated with multi-nanostructure for wide-band mid-infrared absorption

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Rare Metals 2023年第7期42卷 2447-2456页

作者： Shao-Xun Zhang Jia-Chen Wang Yong-Min Zhao Yu-Lu Han An-Jie Ming Feng Wei Chang-Hui Mao State Key Laboratory of Advanced Materials for Smart Sensing GRINM Group Co.LtdBeijing100088China Department of Advanced Electronic Materials GRIMAT Engineering Institute Co.LtdBeijing101407China General Research Institute for Nonferrous Metals Beijing100088China College of Bioscience and Resources Environment Beijing University of AgricultureBeijing102206China GRINM(Guangdong)Institute for Advanced Materials and Technology Foshan528051China

Because of the excellent light-trapping ability of black silicon,it has emerged as a versatile substrate for photothermic *** this paper,multi-nanostructured black silicon with wide-band mid-infrared absorption properties for application in pyroelectric detectors is *** silicon is fabricated on a substrate surface masked by Ag nanoparticle arrays using single-step etching of C_(4)F_(8)and SF_(6)*** low absorption of black silicon in the mid-infrared region is improved when a secondary nanostructure with Pt nanoparticles and SiO_(2)thin films is deposited on the surface of the prepared black silicon by microelectromechanical system(MEMS)*** are scattered at particle boundary,resulting in dielectric loss to incident infrared(IR)*** to single black silicon,the structure decorated with the multi-nanostructure can achieve higher infrared absorption,which is contributed to the high-dielectric loss properties of the Pt *** and experiments show that the thickness of black silicon and number of layers of platinum particles contribute to mid-infrared absorption,with wavelength ranging from 2.5 to 20.0μm,and the absorption reaches~90%.The proposed absorber provides a promising solution for thermal detectors.

关键词： Surface manufacturing Mid-infrared absorption Black silicon Multi-nanostructure Single-step etching

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Photocatalytic degradation of antibiotic sulfamethizole by visible light activated perovskite LaZnO_(3)

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Journal of Environmental Sciences 2024年第10期144卷 212-224页

作者： Bui The Huy XCuong Nguyen Vu Khac Hoang Bui Nguyen Ngoc Tri Iqra Rabani Nhu Hoa Thi Tran Quang Viet Ly Hai Bang Truong Major of Biomedical Engineering Division of Smart HealthcareCollege of Information Technology and ConvergencePukyong National UniversityBusan 48513Korea Center for Advanced Chemistry Institute of Research and DevelopmentDuy Tan UniversityDa Nang 550000Viet Nam Faculty of Environmental and Chemical Engineering Duy Tan UniversityDa Nang 550000Viet Nam Department of Environment and Energy Sejong UniversitySeoul 05006Korea Lab of Computational Chemistry and Modelling Department of ChemistryFaculty of Natural SciencesQuy Nhon UniversityQuy NhonViet Nam Department of Nanotechnology and Advanced Materials Engineering Sejong UniversitySeoul 05006Korea Faculty of Materials Science and Technology University of ScienceHo Chi Minh City 700000Viet Nam Vietnam National University Ho Chi Minh City 700000Viet Nam Department of Environmental Engineering Seoul National University of Science and TechnologySeoul 01811Korea Optical Materials Research Group Science and Technology Advanced InstituteVan Lang UniversityHo Chi Minh CityViet Nam Faculty of Applied Technology School of TechnologyVan Lang UniversityHo Chi Minh CityViet Nam

In thiswork,the perovskite LaZnO_(3) was synthesized via sol-gel method and applied for photocatalytic treatment of sulfamethizole(SMZ)antibiotics under visible light *** was almost completely degraded(99.2%±0.3%)within 4 hr by photocatalyst LaZnO_(3) at the optimal dosage of 1.1 g/L,with amineralization proportion of 58.7%±0.4%.The efficient performance of LaZnO_(3) can be attributed to itswide-range light absorption and the appropriate energy band edge levels,which facilitate the formation of active agents such as·O_(2)^(−),h^(+),and·*** integration of RP-HPLC/Q-TOF-MS and DFT-based computational techniques revealed three degradation pathways of SMZ,which were initiated by the deamination reaction at the aniline ring,the breakdown of the sulfonamidemoieties,and a process known as Smile-type rearrangement and SO2 *** toxicity of SMZ and the intermediateswere analyzed by quantitative structure activity relationship(QSAR),indicating the effectiveness of LaZnO_(3)-based photocatalysis in preventing secondary pollution of the intermediates to the ecosystem during the degradation *** visible-light-activated photocatalyst LaZnO_(3) exhibited efficient performance in the occurrence of inorganic anions and maintained high durability across multiple recycling tests,making it a promising candidate for practical antibiotic treatment.

关键词： Perovskite Antibiotics Photocatalysis Density functional theory Toxicity

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Influence of physical and chemical properties of XLPE insulation on DC treeing 9

Influence of physical and chemical properties of XLPE insula...

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9th International Conference on Energy Materials and Electrical engineering, ICEMEE 2023

作者： Qiao, Bo Shi, Xiaoning Zheng, Zhe Fan, Lu Wang, Yalin Yin, Yi Beijing Institute of Smart Energy Beijing China State Grid Smart Grid Research Institute Co.Ltd State Key Laboratory of Advanced Power Transmission Technology Beijing China Department of Electrical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781510672765

Electric tree branches are a typical defect in cross-linked polyethylene high-voltage DC cables, and their initiation and growth will ultimately lead to cable breakdown. And the physical and chemical properties of XLPE will have a certain effect on the growth of DC branches. In this paper, XLPE for AC and DC cable were used to prepare pressed sample pieces, and XLPE samples were obtained from finished AC cables. The physicochemical properties of different XLPE were studied by means of DSC, XRD, GPC. And through electrical tree growth experimental system, the DC tree growth process and partial discharge characteristics of different XLPE needle plate samples were compared and analyzed. The results show that among the three materials, XLPE for DC has the smallest crystallinity, larger grain size, larger relative molecular weight of the polymer, and better resistance to electrical tree branches. And the finished AC cable has higher crystallinity, smaller wafer thickness and close to the polymer relative molecular mass of XLPE for AC, with average resistance to electrical tree branches. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Materials properties Dielectrics Polymers

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Exfoliation of bulk 2H-MoS_(2)into bilayer 1T-phase nanosheets via ether-induced superlattices

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Nano Research 2024年第6期17卷 5705-5711页

作者： Xiuling Shi Dongmei Lin Zhuorui Xiao Yibo Weng Hanxiang Zhou Xiaoying Long Zhiyu Ding Fuyuan Liang Yan Huang Guohua Chen Kaikai Li Tong-Yi Zhang School of Materials Science and Engineering Harbin Institute of TechnologyShenzhen 518055China Department of Mechanical Engineering Research Institute for Smart EnergyThe Hong Kong Polytechnic UniversityHong KongChina School of Energy and Environment City University of Hong KongTat Chee AvenueKowloonHong KongChina The Hong Kong University of Science and Technology(Guangzhou) Guangzhou Municipal Key Laboratory of Materials InformaticsAdvanced Materials Thrust and Sustainable Energy and Environment ThrustNanshaGuangzhou 511400China

The exfoliation of bulk 2H-molybdenum disulfide(2H-MoS_(2))into few-layer nanosheets with 1T-phase and controlled layers represents a daunting challenge towards the device applications of MoS_(2).Conventional ion intercalation assisted exfoliation needs the use of hazardous n-butyllithium and/or elaborate control of the intercalation potential to avoid the decomposition of the MoS_(2).This work reports a facile strategy by intercalating Li ions electrochemically with ether-based electrolyte into the van der Waals(vdW)channels of MoS_(2),which successfully avoids the decomposition of MoS_(2)at low *** co-intercalation of Li+and the ether solvent into MoS_(2)makes a first-order phase transformation,forming a superlattice phase,which preserves the layered structure and hence enables the exfoliation of bulk 2H-MoS_(2)into bilayer nanosheets with *** with the pristine 2H-MoS_(2),the bilayer 1T-MoS_(2)nanosheets exhibit better electrocatalytic performance for the hydrogen evolution reaction(HER).This facile method should be easily extended to the exfoliation of various transition metal dichalcogenides(TMDs).

关键词： exfoliation of MoS_(2) phase transformations superlattices ether electrolyte hydrogen evolution reaction(HER)

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Ti_(3)AICN MAX for tailoring MgH_(2) hydrogen storage material:from performance to mechanism

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Rare Metals 2023年第6期42卷 1923-1934页

作者： Xing-Qing Duan Guang-Xu Li Wen-Hui Zhang Hui Luo Hai-Mei Tang Li Xu Peng Sheng Xin-Hua Wang Xian-Tun Huang Cun-Ke Huang Zhi-Qiang Lan Wen-Zheng Zhou Jin Guo Mohammd Bin Ismail Hai-Zhen Liu Guangxi Novel Battery Materials Research Center of Engineering Technology Guangxi Colleges and Universities Key Laboratory of Novel Energy Materials and Related TechnologySchool of Physical Science and TechnologyGuangxi UniversityNanning530004China State Key Laboratory of Advanced Power Transmission Technology State Grid Smart Grid Research Institute Co.Ltd.Beijing102209China Department of Materials Science and Engineering Zhejiang UniversityHangzhou310027China Department of Materials Science and Engineering Baise CollegeBaise533000China Energy Storage Research Group Faculty of Ocean Engineering Technology and InformaticsUniversiti Malaysia TerengganuKuala Nerus21030Malaysia

Many MXenes are efficient catalysts for MgH_(2)hydrogen storage ***,the synthesis of MXenes should consume a large amount of corrosive HF to etch out the Al layers from the transition metal aluminum carbides or nitrides(MAX) phases,which is environmentally *** this work,Ti_(3)AlCN MAX without HFetching was employed directly to observably enhance the kinetics and the cycling stability of MgH_(2).With addition of10 wt% Ti_(3)AlCN,the onset dehydrogenation temperature of MgH2 was dropped from 320 to 205℃,and the rehydrogenation of MgH2 under 6 MPa H2 began at as low as50℃.Furthermore,at 300℃,it could provide 6.2 wt% of hydrogen in 10 *** cycling,the composite underwent an activation process during the initial 40 cycles,with the reversible capacity increased from 4.7 wt% to 6.5 wt%.After that,the capacity showed almost no attenuation for up to 100 *** enhancing effect of Ti_(3)AICN on MgH_(2) was comparable to many *** was demonstrated that Ti_(3)AICN did not destabilize MgH_(2) but acted as an efficient catalyst for MgH_(2).Ti_(3)AICN was observed to be the active sites for the nucleation and growth of MgH_(2)and might also help in dissociation and recombination of hydrogen *** two factors are believed to contribute to the improvement of MgH_(2).This study not only provides a promising strategy for improving the hydrogen storage performances of MgH_(2) by using noncorrosive MAX materials,but also adds evidence of nucleation and growth of MgH_(2) on a catalyst.

关键词： Hydrogen storage Magnesium hydride MAX MXene Titanium aluminum carbonitride

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Near-Infrared Heptamethine Cyanine Photosensitizers with Efficient Singlet Oxygen Generation for Anticancer Photodynamic Therapy

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ANGEWANDTE CHEMIE-INTERNATIONAL EDITION 2024年第47期63卷 e202411802页

作者： Liu, Wenkai He, Shan Ma, Xue Lv, Chengyuan Gu, Hua Cao, Jianfang Du, Jianjun Sun, Wen Fan, Jiangli Peng, Xiaojun State Key Laboratory of Fine Chemicals Frontier Science Center for Smart Materials Dalian University of Technology Dalian 116024 China Department of Chemistry Hong Kong Branch of Chinese National Engineering Research Center for Tissue Restoration and Reconstruction and Institute for Advanced Study Hong Kong University of Science and Technology Hong Kong 999077 China School of Chemical Engineering Dalian University of Technology Panjin 124221 China Ningbo Institute of Dalian University of Technology Ningbo 315016 China Liaoning Binhai Laboratory Dalian 116023 China

Near-infrared photosensitizers are valuable tools to improve treatment depth in photodynamic therapy (PDT). However, their low singlet oxygen ( 1 O 2 ) generation ability, indicated by low 1 O 2 quantum yield, presents a formidable challenge for PDT. To overcome this challenge, the heptamethine cyanine was decorated with biocompatible S ( Scy7 ) and Se ( Secy7 ) atom. We observe that Secy7 exhibits a redshift in the main absorption to ~840 nm and an ultra-efficient 1 O 2 generation capacity. The emergence of a strong intramolecular charge transfer effect between the Se atom and polymethine chain considerably narrows the energy gap (0.51 eV), and the heavy atom effect of Se strengthens spin–orbit coupling (1.44 cm −1 ), both of which greatly improved the high triplet state yield (61 %), a state that determines the energy transfer to O 2 . Therefore, Secy7 demonstrated excellent 1 O 2 generation capacity, which is ~24.5-fold that of indocyanine green, ~8.2-fold that of IR780, and ~1.3-fold that of methylene blue under low-power-density 850 nm irradiation (5 mW cm −2 ). Secy7 exhibits considerable phototoxicity toward cancer cells buried under 12 mm of tissue. Nanoparticles formed by encapsulating Secy7 within amphiphilic polymers and lecithin, demonstrated promising antitumor and anti-pulmonary metastatic effects, exhibiting remarkable potential for advancing PDT in deep tissues.

关键词： Photochemistry NIR light Intramolecular charge transfer Ultra-efficient ROS generation Photodynamic therapy

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Review of UAVs for efficient agrochemical spray application

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International Journal of Agricultural and Biological engineering 2025年第1期18卷 1-9页

作者： Narayan Raosaheb Gatkal Sachin Madhukar Nalawade Girishkumar Balasaheb Bhanage Ramesh Kumar Sahni Avdhoot Ashok Walunj Pravin Bhaskar Kadam Musrrat Ali Department of Farm Machinery and Power Engineering Dr.Annasaheb Shinde College of Agricultural Engineering and TechnologyMahatma Phule Krishi VidyapeethRahuri 413722MaharashtraIndia Centre for Advanced Agricultural Science and Technology for Climate Smart Agriculture and Water Management(CAAST-CSAWM) Dr.Annasaheb Shinde College of Agricultural Engineering and TechnologyMahatma Phule Krishi VidyapeethRahuri 413722AhmednagarMaharashtraIndia Central Institute of Agricultural Engineering Bhopal 462038Madya PradeshIndia Department of Mathematics and Statistics College of ScienceKing Faisal UniversityAl-Ahsa 31982Saudi Arabia

Insect infestation attacks in agricultural ecosystems are becoming more common because of global warming as well as farmland environmental circumstances,necessitating the development of new crop production *** application is one of the most common strategies for protecting the entire growing period of plants or shrubs against pests and pathogens in *** rapid,effective,and profitable application of plant control substances via unmanned aerial vehicle(UAV)crop spraying is anticipated to be a key new *** compared to ground spraying,UAV spraying saves chemicals,water,time,does not damage crop plants or balls of crop,and does not create soil *** using UAV,pesticide drift and deposition must be managed in order to use pesticides safely,effectively,and *** paper focuses on agrochemical spraying by unmanned aerial vehicles and the key parameters that influence spray effectiveness,such as the operating parameters of nozzle type,flying speed,flight height,type of nozzle,and type of UAV model,for reducing drift and increasing application *** multirotor UAV is most suitable for spraying due to its fast operation,safety,not requiring a runway for takeoff and landing,and lower cost as compared to fixed-wing and *** can also be used for crop disease identification,soil health monitoring,livestock monitoring,field mapping,*** paper aims to review the development of various UAV models,optimization of operating parameters,effect of nozzle on UAV spraying,characterization of droplet deposition,drift reduction technology,UAV-based remote sensing for plant protection,and cost comparison of UAV to conventional ground sprayer.

关键词： deposition drift flight height flying speed nozzle unmanned aerial vehicle(UAV)

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