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2nd International Conference on Automation, robotics and Computer Engineering, ICARCE 2023

作者： Yang, Chengxu Sun, Xiangyu Liu, Gangfeng School of Mechatronics Engineering Harbin Institute of Technology Harbin China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350308341

In this paper, for the requirements of image recognition and localization of the obstacles existing on the moving path in the inspection task of FAST cable inspection robot, the deep learning method is used to realize the recognition of multi-kind and multi-scale obstacles. The obstacles on FAST wire rope have not been identified before. By enhancing the data set and improving the network model, the recognition accuracy and speed are both improved, which meets the efficiency and accuracy requirements of obstacle detection on the wire rope, and provides help for the subsequent robot pace planning and overhaul tasks. © 2023 IEEE.

关键词： Inspection

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An adjustable time slice process scheduling algorithm based on feature similarity clustering 4

An adjustable time slice process scheduling algorithm based ...

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4th International Conference on Artificial Intelligence and Electromechanical Automation, AIEA 2023

作者： Xiao, Gong Liang, Ding State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China China Software Testing Center Beijing100000 China

ISBN: (纸本)9781510666412

In order to improve the efficiency of the operating system scheduler, this paper proposes an adjustable time slice process scheduling algorithm ATSPS (Adjustable Time Slice Process Scheduling) based on feature similarity clustering, which can reduce the cost of the operating system process scheduling time, reduce the process turnaround time, and improve the process execution efficiency. ATSPS forms different process clusters by clustering the characteristics of process burst time, time slice, weight, and context switching times. It uses the same specification time slice for each type of process cluster. Through queue scheduling adjustment, it accelerates the execution efficiency of computationally intensive processes, reduces the number of contexts switching times caused by the expiration of time slice, and saves scheduling time. The scheduling process of robot grabbing program in the operating system is simulated by MATLAB, and the ready queue, blocking queue and execution queue of the operating system are simulated. The robot grabbing program is simulated, including visual process, force control process and posture process. ATSPS is compared with five classical scheduling algorithms. The experimental results show that on the scheduling criteria of three CPU scheduling algorithms, namely, waiting time, turnaround time and context switching times, ATSPS algorithm reduces the time cost of process scheduling, realizes the real-time scheduling of operating system process, and provides guarantee for the real-time control of robot. © 2023 SPIE.

关键词： Scheduling algorithms

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Revealing the Impact of Ferromagnetic Elements on Fe-Based Amorphous Alloy Properties via ab initio Molecular Dynamics Simulations and Experiments

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Chinese Physics Letters 2025年第1期42卷 102-113页

作者： Jin-Hua Xiao Da-Wei Ding Lin Li Yi-Tao Sun Mao-Zhi Li Wei-Hua Wang State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power UniversityBeijing 102206China Institute of Physics Chinese Academy of SciencesBeijing 100190China Department of Physics and Beijing Key Laboratory of Opto-electronic Functional Materials&Micro-nano Devices Renmin University of ChinaBeijing 100872China

A high saturation magnetic flux density(Bs)is essential for the development of Fe-based amorphous alloys for electromagnetic devices and ***,achieving a high Bs often compromises the glass-forming ability(GFA)of Fe-based amorphous *** study investigates the effects of ferromagnetic elements(Fe,Co,and Ni)on the microstructure and magnetic properties of Fe86B7C7 amorphous alloys through experiments and ab initio molecular dynamics *** analyzing both the experimental and simulation results,the relationship between the atomic structures,GFA,and magnetic properties of these amorphous alloys was *** results indicate that the GFA of the alloys is correlated with the proportion of icosahedral and body-centered cubic *** addition of Co and Ni not only improved the GFA of the alloys but also effectively increased the overall magnetic moment with an appropriate amount of Co and a small amount of *** increase in the magnetic moment primarily arises from the enhancement of the magnetic moment of Fe atoms,resulting from the redistribution between the spin-up and spin-down electrons of Fe-3d orbits,as well as the strong exchange interactions between Fe and Co and Fe–Ni *** results obtained offer valuable insights into the correlation between the atomic structure and magnetic properties of these amorphous alloys and suggest potential directions for the optimization of Fe-based amorphous alloys.

关键词： alloys microstructure magnetic

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Wheel's Slip Ratio and Sinkage Estimation for Planetary Rovers Moving on Deformable Terrain

Wheel's Slip Ratio and Sinkage Estimation for Planetary Rove...

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2021 International Conference on robotics Automation and Intelligent Control, ICRAIC 2021

作者： Yang, Huaiguang Ding, Liang Gao, Haibo Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China

Planetary rover plays a significant role in the lunar and Mars exploration missions and wheel's move status such as sinkage and slip ratio are the critical Factor to estimate the moving ability of the Mars rover. A method is proposed to estimate wheel's sinkage and skid angle based on terramechanic model and estimate slip ratio based on rover's dynamic model using Extended Kalman Filter algorithm. The proposed method can avoid the errors caused by Visual Odometry and improves the estimation accuracy of rover state through the fusion with other sensors' data. The effectiveness of the estimation method for planetary rovers is verified by comparing with the results obtained from dynamic simulation of Mars rovers. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： Rovers

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Recent advances in Alzheimer’s disease:mechanisms,clinical trials and new drug development strategies

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Signal Transduction and Targeted Therapy 2024年第9期9卷 3907-3941页

作者： Jifa Zhang Yinglu Zhang Jiaxing Wang Yilin Xia Jiaxian Zhang Lei Chen Department of Neurology Laboratory of Neuro-system and Multimorbidity and State Key Laboratory of Biotherapy and Cancer CenterWest China HospitalSichuan UniversityChengdu 610041 SichuanChina Department of Pharmaceutical Sciences College of PharmacyUniversity of Tennessee Health Science CenterMemphis 38163 TNUSA

Alzheimer’s disease(AD)stands as the predominant form of dementia,presenting significant and escalating global *** etiology is intricate and diverse,stemming from a combination of factors such as aging,genetics,and *** current understanding of AD pathologies involves various hypotheses,such as the cholinergic,amyloid,tau protein,inflammatory,oxidative stress,metal ion,glutamate excitotoxicity,microbiota-gut-brain axis,and abnormal ***,unraveling the interplay among these pathological aspects and pinpointing the primary initiators of AD require further elucidation and *** the past decades,most clinical drugs have been discontinued due to limited effectiveness or adverse ***,available drugs primarily offer symptomatic relief and often accompanied by undesirable side ***,recent approvals of aducanumab(1)and lecanemab(2)by the Food and Drug Administration(FDA)present the potential in disreasemodifying ***,the long-term efficacy and safety of these drugs need further ***,the quest for safer and more effective AD drugs persists as a formidable and pressing *** review discusses the current understanding of AD pathogenesis,advances in diagnostic biomarkers,the latest updates of clinical trials,and emerging technologies for AD drug *** highlight recent progress in the discovery of selective inhibitors,dual-target inhibitors,allosteric modulators,covalent inhibitors,proteolysis-targeting chimeras(PROTACs),and protein-protein interaction(PPI)*** goal is to provide insights into the prospective development and clinical application of novel AD drugs.

关键词： drugs clinical approval

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China’s carbon neutrality:an extensive and profound systemic reform

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Frontiers of Environmental Science & Engineering 2023年第2期17卷 1-7页

作者： Xi Lu Dan Tong Kebin He State Key Joint Laboratory of Environment Simulation and Pollution Control and School of Environment Tsinghua UniversityBeijing 100084China Institute for Carbon Neutrality Tsinghua UniversityBeijing 100084China Beijing Laboratory of Environmental Frontier Technologies Tsinghua UniversityBeijing 100084China State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex Beijing 100084China Department of Earth System Science Ministry of Education Key Laboratory for Earth System ModelingInstitute for Global Change StudiesTsinghua UniversityBeijing 100084China

China is the largest developing economy and carbon dioxide emitter in the world,the carbon neutrality goal of which will have a profound influence on the mitigation pathway of global climate *** transition towards a carbon-neutral society is integrated into the construction of ecological civilization in China,and brings profound implications for China’s socioeconomic ***,we not only summarize the major challenges in achieving carbon neutrality in China,but also identify the four potential new opportunities:namely,the acceleration of technology innovations,narrowing regional disparity by reshaping the value of resources,transforming the industrial structure,and co-benefits of pollution and carbon ***,we provide five policy suggestions and highlight the importance of balancing economic growth and carbon mitigation,and the joint efforts among the government,the enterprises,and the residents.

关键词： Carbon neutrality Energy structure Technology-dependent society Coordinated mitigation for air pollutants and CO_(2)

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Environmental sources,fate,toxicological effects,and health risks of copper pyrithione:an overview

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Frontiers of Environmental Science & Engineering 2024年第11期18卷 1-20页

作者： Can Tang Xian Qin Wenlong Huang Sutapa Debi Zonghang Zhang Jiahua Guo Wenhua Liu Jiezhang Mo Guangdong Provincial Key Laboratory of Marine Disaster Prediction and Prevention Shantou UniversityShantou 515063China State Key Laboratory of Marine Pollution City University of Hong KongHong KongChina Department of Forensic Medicine Shantou University Medical CollegeShantou 515041China Shaanxi Key Laboratory of Earth Surface System and Environmental Carrying Capacity College of Urban and Environmental SciencesNorthwest UniversityXi’an 710127China

Copper pyrithione(CuPT)is an alternative to tributyltin that is widely used as an antifoulant and biocide in paint for ship hulls,fishing nets,and other marine environmental *** gradually leaches from antifouling coatings into the aquatic environment,posing health risks to aquatic *** recent years,there have been increasing concerns regarding the impacts of CuPT and its degradation products on organisms,as well as the associated health *** the ecotoxicity of CuPT and its degradation products in various species has been studied,there are no comprehensive reviews in the literature that have collated and interpreted these *** review provides a comprehensive summary of the ecotoxicological effects of CuPT and its degradation products on microorganisms,plants,invertebrates,fish,and *** and its degradation products can affect the light utilization of plants,thereby altering primary production in *** can disrupt cell membranes,antioxidant capacity,and cellular pH gradients in animals,leading to developmental toxicity,deformities,morphological damages,endocrine disruption,reproductive toxicity,hepatotoxicity,and *** are believed to be the primary target of CuPT-induced toxicity in aquatic animals;however,further investigations are warranted to reveal the long-term(e.g.,multigenerational and transgenerational)impacts and associated molecular mechanisms of CuPT and its degradation products—particularly at environmentally realistic *** will facilitate a more comprehensive understanding of the health effects(both in terms of toxicity and hormesis)and environmental risks of CuPT and its degradation products,facilitating more effective regulation and mitigation.

关键词： Copper pyrithione Ecotoxicity Environmental fate Ecological risk assessment Review

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WSC-Trans: A CNN-Transformer Structure-Based 3D Multi-Structural Automatic Segmentation Model for Temporal Bone CT

WSC-Trans: A CNN-Transformer Structure-Based 3D Multi-Struct...

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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Hua, Xin Ma, Jixin Yu, Hongjian Du, Zhijiang Zheng, Fanjun Zhang, Chen Lu, Qiaohui Zhao, Hui Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China The 6th Medical Center Chinese Pla General Hospital Senior Department of Otolaryngology Head and Neck Surgery Beijing China

ISBN: (纸本)9798350386226

Cochlear implantation is the most effective treatment for severe deafness, which requires accurate localization of temporal bone anatomy. Preoperative CT image segmentation is an essential technique to determine the location of relevant tissues in the temporal bone. However, manual segmentation is usually time-consuming and suffers from low accuracy due to the complex and small structures of these tissues in temporal bone CT. To address this issue, we proposed a CNN-Transformer structure-based 3D multi-structured model for the automatic segmentation of fine and complex tissues such as the cochlea, facial nerve, ossicles, vestibule and semicircular canal in the temporal bone CT. Our model adopts a new Transformer deformation structure, which effectively utilizes the spatial attention mechanism to capture feature dependencies, and uses the channel attention mechanism to fuse different channel semantic representations to improve segmentation accuracy. Extensive experiments on a private temporal bone CT dataset show that our model achieves higher DSS and JSS scores, and lower HD95 and ASSD scores for all targets compared with other existing segmentation methods, demonstrating its superior performance. © 2024 IEEE.

关键词： Computerized tomography

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Hydrodynamics study of dolphin’s self-yaw motion realized by spanwise flexibility of caudal fin

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Journal of Ocean Engineering and Science 2022年第3期7卷 213-224页

作者： Zhihan Li Dan Xia Jiabo Cao Weishan Chen Xingsong Wang School of Mechanical Engineering Southeast UniversityNanjingJiangsu 211189China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China

The hydrodynamic performance of the virtual underwater vehicle under self-yaw is investigated numerically in this paper,we aim to explore the fluid laws behind this plane motion achieved by the bionic flexibility,especially the spanwise flexibility of the caudal *** kinematics of the chordwise flexible body and the spanwise flexible caudal fin are explored through dynamic mesh technology and user-defined functions(UDF).The 3-D Navier-Stokes equations are applied to simulate the viscid fluid surrounding the bionic *** study focuses on quantitative problems about the fluid dynamics behind the specific motion law,including speed of movement,energy loss and working *** current results show that the self-yaw can be composed of two motions,autonomous propulsion and active *** addition,the degree of the flexible caudal fin can produce different yaw *** chordwise phase differenceФis dominant in the propulsion function,while the spanwise phase differenceδhas a more noticeable effect on the steering *** pressure distribution on the surface of the dolphin and the wake vortex generated in the flow field reasonably reveal the evolution of *** properly turns out that the dolphin can combine the spanwise flexible caudal fin and the chordwise flexible body to achieve self-yaw motion.

关键词： Self-yaw dolphin Spanwise flexibility Caudal fin Numerical simulation Hydrodynamic performance

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Design and Experiment of A Hybrid Wave Energy Harvester Based on Tapered Rollers 21

Design and Experiment of A Hybrid Wave Energy Harvester Base...

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21st International Conference on Micro and Nanotechnology for Power Generation and Energy Conversion Applications, PowerMEMS 2022

作者： Li, Yunfei Tang, Tianyi Fang, Yan Huang, Manjuan Hou, Cheng Liu, Huicong Sun, Lining State Key Laboratory of Robotics and System Harbin150001 China Soochow University School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics China

ISBN: (纸本)9781665493062

This paper presents a hybrid energy harvester based on tapered rollers with an electromagnetic generator (EMG) component and a triboelectric nanogenerator (TENG) component for ultra-low frequency wave energy harvesting. The chaotic pendulum is adjusted to adapt the wave excitation under different sea conditions, ensuring that the device achieves optimal output performance. At excitation frequency of 1Hz and the tilt angle of 60°, the open-circuit voltage peaks of 8.4 and 132 V can be achieved by the EMG and TENG, respectively, corresponding to the power outputs of 4.38 and 0.078 mW, respectively. It was demonstrated that the device can easily light up over 360 red light-emitting diodes. © 2022 IEEE.

关键词： Wave energy conversion

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