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Chinese Control Conference (CCC)

作者： Fengkui Cao Chi Li Ting Wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China Faculty of Robot Science and Engineering Northeastern University Shenyang China College of Information Engineering Dalian University Dalian China

Robust Place recognition is an open challenging problem under various perceptual conditions, e.g., all weather, times-of-day and seasons shifts. Although LiDAR sensors do not suffer from illumination problem of visual appearance, they are dramatically affected by structural changes across seasons. In this paper, a simple yet effective place recognition method is proposed based on phase congruency to achieve long-term robust localization under severe seasonal changes. To improve the efficiency while retaining geometric information of scene layouts in 3D space, a compact cylindrical description is designed to convert 3D point clouds to 2D images, in which the pixel values are computed based on geometric information rather than heights or numbers of points. Then the histogram of orientated phase congruency are encoded as global descriptor for place retrieval. Extensive real experiments on across-season Oxford robotCar dataset show that the proposed system outperforms baseline methods, verifying its robust performance in challenging scenarios.

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Generalized Deep Implicit Surface Network for Image-based Three-dimensional Object Reconstruction

Generalized Deep Implicit Surface Network for Image-based Th...

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Chinese Automation Congress (CAC)

作者： Yanqiang Zhang Lijin Fang Chengpeng Li Faculty of Robot Science and Engineering Northeastern University Shenyang China SIASUN Robot & Automation CO. Ltd Shenyang China

ISBN: (纸本)9781665426480

Three-dimensional(3D) Object Reconstruction is an activate field in Computer Vision and Computer Graphics. Deep Implicit Surface Network(DISN) utilizes Signed Distance Function(SDF) to generate a high-quality 3D mesh model from a 2D image. However this method can only handle the image with a clear background, since it was trained with rendered images from ShapeNet dataset. To solve this problem, we propose a mask generating method based on saliency map to make DISN more generalized. By performing saliency detection algorithm and morphological operations on image, the object to be reconstruct can be obtained and background would be removed. In order to enhance the representing ability of local features, we propose a channel-weighted local feature extraction algorithm. Using modified sigmoid function, discriminative channels in feature map would have larger weights than others. We evaluate our methods on Pix 3D and Pascal 3D+ datasets. Experimental results show that our methods perform better than other works.

关键词： Solid modeling Surface reconstruction Computer vision Three-dimensional displays Surface morphology Computer graphics Feature extraction

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Experimental and Theoretical Investigation of GS-441524 using Density Functional Theory, FTIR, Raman and UV-VIS Spectroscopy

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Journal of engineering science and Technology Review 2024年第5期17卷 1-7页

作者： Georgopoulou, Nektaria Necitailaite, Ita Zeinalipour-Yazdi, Constantinos D. Palles, Dimitrios Mousdis, George Garoufalis, Christos Marinakis, Sarantos Department of Chemistry University of Patras University Campus Rion AchaiaGR-26504 Greece Department of Chemistry University of East London Stratford Campus Water Lane LondonE15 4LZ United Kingdom Faculty of omputing Mathematics Engineering and Natural Sciences Northeastern University London LondonE1W 1LP United Kingdom Theoretical and Physical Chemistry Institute National Hellenic Research Foundation 48 Vassileos Constantinou Ave. Athens11635 Greece Department of Materials Science University of Patras University Campus Rion AchaiaGR-26504 Greece

GS-441524, a 1′ substituted C glycoside and an adenosine analogue, exhibits broad antiviral activity against RNA viruses. Previous research has primarily concentrated on its antiviral properties for humans and animals. Vibrational and electronic spectroscopy can enhance our understanding of its structure and function and serve as valuable tools in detection techniques and kinetic studies. In this paper, we employed IR and Raman spectroscopy to study its solid form, and UV-VIS spectroscopy to examine its aqueous solution. Density Functional Theory (DFT) calculations were utilized to analyze the spectra. Specifically, we evaluated the DFT functionals B3LYP, BP86, and CAM-B3LYP in conjunction with the basis sets 6-31G(d,p), 6-311G(d,p), and 6-311++G(d,p). The largest basis set, 6-311++G(d,p), performed significantly better than the smaller ones in reproducing the experimental results. The BP86 functional most accurately reproduced the vibrational spectra, while B3LYP best matched the electronic spectra. By increasing the basis set size, disregarding the Tamm-Dancoff approximation (TDA), and accounting for solvent effects using the polarizable continuum model, the wavelength, λmax, of the largest peak in the UV-VIS calculations, shifted (increased) by 2, 7.5, and 18 nm towards the experimental value, respectively. © (2024), (International Hellenic university - School of science). All rights reserved.

关键词： Continuum mechanics

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BSH-Det3D: Improving 3D Object Detection with BEV Shape Heatmap

arXiv

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arXiv 2023年

作者： Shen, You Zhang, Yunzhou Wu, Yanmin Wang, Zhenyu Yang, Linghao Coleman, Sonya Kerr, Dermot College of Information Science and Engineering Northeastern University Shenyang110819 China School of Electronic and Computer Engineering Peking University Shenzhen China Faculty of Robotics and Engineering Northeastern University Shenyang China The Department of Electronic and Computer Engineering Technical University in Munich Germany School of Computing Engineering and Intelligent Systems Ulster University United Kingdom

The progress of LiDAR-based 3D object detection has significantly enhanced developments in autonomous driving and robotics. However, due to the limitations of LiDAR sensors, object shapes suffer from deterioration in occluded and distant areas, which creates a fundamental challenge to 3D perception. Existing methods estimate specific 3D shapes and achieve remarkable performance. However, these methods rely on extensive computation and memory, causing imbalances between accuracy and real-time performance. To tackle this challenge, we propose a novel LiDAR-based 3D object detection model named BSH-Det3D, which applies an effective way to enhance spatial features by estimating complete shapes from a bird's eye view (BEV). Specifically, we design the Pillar-based Shape Completion (PSC) module to predict the probability of occupancy whether a pillar contains object shapes. The PSC module generates a BEV shape heatmap for each scene. After integrating with heatmaps, BSH-Det3D can provide additional information in shape deterioration areas and generate high-quality 3D proposals. We also design an attention-based densification fusion module (ADF) to adaptively associate the sparse features with heatmaps and raw points. The ADF module integrates the advantages of points and shapes knowledge with negligible overheads. Extensive experiments on the KITTI benchmark achieve state-of-the-art (SOTA) performance in terms of accuracy and speed, demonstrating the efficiency and flexibility of BSH-Det3D. The source code is available on https://***/mystorm16/BSH-Det3D. Copyright © 2023, The Authors. All rights reserved.

关键词： Object detection

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Meta-heuristic computing knacks for target angle estimation in monostatic radar system with coprime arrays

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Ain Shams engineering Journal 2024年第5期15卷

作者： Akbar, Sadiq Sohail, Muhammad Asif Zahoor Raja, Muhammad Zaman, Fawad Ullah, Rizwan Abdul Rehman Khan, Muhammad Ajavakom, Nopdanai Phanomchoeng, Gridsada Department of Mechanical Engineering Faculty of Engineering Chulalongkorn University Bangkok10330 Thailand Hefei230026 China Future Technology Research Center National Yunlin University of Science and Technology Douliou64002 Taiwan Department of Electrical & Computer Engineering COMSATS University Islamabad Islamabad44000 Pakistan Department of Electrical Engineering Faculty of Engineering Chulalongkorn University Bangkok10330 Thailand Department of Electrical & Computer Engineering COMSATS University Islamabad Attock Campus 43600 Pakistan Human-Robot Collaboration and Systems Integration Research Unit Faculty of Engineering Chulalongkorn University Bangkok10330 Thailand

Angle estimation of signals received by antenna arrays is a key step in adaptive beamforming, used to detect and locate targets in space. It is desirable to reduce costs by employing a smaller number of antennas while maintaining efficiency and degrees of freedom (DOF) of the system at the same time. Co-prime antenna arrays not only circumvent the operational constraints of cost and hardware complexity, but also boost the DOF by utilizing far fewer antennas as compared to traditional uniform linear arrays. In this paper, meta-heuristic computing paradigm for estimating arrival angle of targets with co-prime arrays incorporated in monostatic radar is proposed. The system's autocorrelation and Mean Square Error (MSE) are used for fitness function optimized by global/local search with Genetic Algorithm (GA) and Pattern Search (PS). Monte Carlo simulations are performed to evaluate the performance via estimation accuracy, MSE, and computational cost for varying numbers of impinging waves. © 2024 THE AUTHORS

关键词： Genetic algorithms

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Research on Hybrid Flow-shop Scheduling Based on INSGA-II Algorithm 4

Research on Hybrid Flow-shop Scheduling Based on INSGA-II Al...

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4th International Conference on robotics, Intelligent Control and Artificial Intelligence, RICAI 2022

作者： Chen, Haopeng Fang, Zaojun Zhong, Caiming Faculty of Electrical Engineering and Computer Science Ningbo University Ningbo Zhejiang China Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo Zhejiang China Zhejiang Key Laboratory of Robot and Intelligent Manufacturing Equipment Technology Ningbo Zhejiang China College of Science and Technology Ningbo University Ningbo Zhejiang China

ISBN: (纸本)9781450398343

Aiming at the hybrid flow shop scheduling problem (HFSP), a multi-objective optimization scheduling model is established with the objectives of minimizing makespan, energy consumption and total load, and an improved non-dominated sorting genetic algorithm-II (INSGA-II) is proposed to solve the problem. Combining the problem characteristics of task sequencing and equipment selection in the production process of hybrid flow shop, a double-layer coding rule combining the job sequence code (JSC) and machine allocation code (MAC) is adopted. Different crossover and mutation operators are used for JSC and MAC respectively to improve the global search capability of the algorithm. Aiming at the poor local search capability of NSGA-II, neighborhood search is introduced to improve the quality of population. Finally, the optimal parameters combination of the algorithm is determined by orthogonal experiment, and the feasibility and effectiveness of INSGA-II for solving the multi-objective scheduling problem in hybrid flow shop are verified by simulation experiments. © 2022 ACM.

关键词： Multiobjective optimization

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The structure-property relationship of cationic collectors: Effects of methyl and hydroxyl in polar head groups

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Colloids and Surfaces A: Physicochemical and engineering Aspects 2025年 722卷

作者： Zhao, Panxing Liu, Wengang Liu, Wenbao Shen, Yanbai Guo, Ying Zhang, Yahui Butt, Stephen School of Resources and Civil Engineering Northeastern University Shenyang110819 China Guizhou Academy of Sciences Guizhou Guiyang550001 China Faculty of Engineering and Applied Science Memorial University of Newfoundland St. John'sNLA1B3X5 Canada

The structure of the flotation collectors determines their hydrophobicity and adsorption behavior on mineral surface. In this study, the flotation performances of four cationic collectors with different polar head groups, i.e., dodecylpropanolamine (NDPA), N-dodecyl-isopropanolamine (DMPA), N-(2-hydroxy-1,1-dimethylethyl) dodecylamine (DMEA), and N-(2,3-propanediol)-N-dodecylamine (DPDA), were compared in hematite reverse flotation for quartz removal. The micro-flotation tests showed that the four collectors had excellent collecting capacity for quartz, while their flotation performance on hematite varied considerably. The differences in flotation performance caused by the collector molecular structure were investigated using Fourier transform infrared spectroscopy (FTIR), adsorption amount measurements, surface tension measurements, and molecular simulations. From the perspective of adsorption mechanisms, the numbers of introduced methyl and hydroxyl in the polar head groups of the collectors did not change the adsorption mechanism on the mineral surface, but affected the surface activities of the collector molecules. Molecular simulations indicated that the larger polar head groups of the collectors, the greater the steric hindrance between the collector molecules, which could prevent other molecules from adsorbing onto the mineral surface once the collector was adsorbed. The increase in the number of hydroxyl groups would enhance hydrogen bonding, which would also strengthen the collector adsorption. This study could help deepen the understanding of the relationship between molecular structure and properties of cationic collectors and provide guidance for the design of new cationic collectors. © 2025 Elsevier B.V.

关键词： Fourier transform infrared spectroscopy

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Synthesis, flotation behavior, and structure-performance relationship of three hydroxyl-containing cationic collectors

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Minerals engineering 2025年 231卷

作者： Zhao, Panxing Liu, Wenbao Liu, Wengang Bao, Lingyun Shen, Yanbai Butt, Stephen Zhang, Yahui School of Resources and Civil Engineering Northeastern University Shenyang110819 China Guizhou Academy of Sciences Guiyang Guizhou550001 China Faculty of Engineering and Applied Science Memorial University of Newfoundland St. John'sNLA1B3X5 Canada

Removal of quartz from hematite by reverse flotation using cationic collectors is an effective approach for iron concentrate upgrading. In this paper, three hydroxyl-containing cationic collectors, i.e., N-Dodecylethanolamine (NDEA), N-Dodecylpropanolamine (NDPA), and N-Dodecylbutanolamine (NDBA), were synthesized and characterized. The flotation performance and the structure-performance relationship of the collectors were systematically investigated by micro-flotation experiments and various surface analysis techniques. At the concentration of 20 mg/L, the flotation recoveries of quartz by NDEA, NDPA, and NDBA were 94.9 %, 93.5 %, and 93.3 %, respectively. Collectors with shorter hydroxyl-substituted carbon chains exhibited stronger collecting ability and enhanced hydrophobicity of quartz surface, as confirmed by contact angle measurements. Zeta potential measurements and molecular simulations revealed that the collectors adsorb onto the quartz surface through electrostatic and hydrogen bonding interactions. The introduced hydroxyl groups could enhance the formation of hydrogen bonds between collectors and mineral surface. However, as the carbon chain length increases, the adsorption area of a single collector on the mineral surface increases, the number of collector molecules adsorbed per unit area decrease, reducing the collecting ability of the collector for quartz. This research could provide theoretical guidance for the design of novel cationic collectors. © 2025 Elsevier Ltd

关键词： Froth flotation

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Regulated Output Synchronization of Heterogeneous Multi-Agent Systems with Desired Convergence Rate via Scale-Free Protocol Design

Regulated Output Synchronization of Heterogeneous Multi-Agen...

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Chinese Automation Congress (CAC)

作者： Zhenwei Liu Ali Saberi Anton A. Stoorvogel College of Information Science and Engineering Northeastern University Shenyang P. R. China School of Electrical Engineering and Computer Science Washington State University Pullman WA USA Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Enschede The Netherlands

This paper outlines scalable collaborative protocols for achieving regulated output synchronization in heterogeneous multi-agent systems (MAS) in presence of arbitrary desired convergence rates. The proposed protocol design is scale-free, i.e., only requires knowledge of the agents' models, without any networks information and the number of agents. With our protocols, only adjusting a single parameter allows output synchronization to be achieved at any convergence rates.

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Super odometry: IMU-centric LiDAR-visual-inertial estimator for challenging environments

arXiv

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arXiv 2021年

作者： Zhao, Shibo Zhang, Hengrui Wang, Peng Nogueira, Lucas Scherer, Sebastian Robotics Institute Carnegie Mellon University United States Faculty of Robot Science and Engineering Northeastern University China

We propose Super Odometry, a high-precision multi-modal sensor fusion framework, providing a simple but effective way to fuse multiple sensors such as LiDAR, camera, and IMU sensors and achieve robust state estimation in perceptually-degraded environments. Different from traditional sensor-fusion methods, Super Odometry employs an IMU-centric data processing pipeline, which combines the advantages of loosely coupled methods with tightly coupled methods and recovers motion in a coarse-to-fine manner. The proposed framework is composed of three parts: IMU odometry, Visual-inertial odometry, and LiDAR-inertial odometry. The Visual-inertial odometry and LiDAR-inertial odometry provide the pose prior to constrain the IMU bias and receive the motion prediction from IMU odometry. To ensure high performance in real-time, we apply a dynamic octree that only consumes 10% of the running time compared with a static KD-tree. The proposed system was deployed on drones and ground robots, as part of Team Explorer's effort to the DARPA Subterranean Challenge where the team won 1st and 2nd place in the Tunnel and Urban Circuits 1, respectively. © 2021, CC BY-NC-SA.

关键词： Motion estimation

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