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arXiv 2021年

作者： Zhang, Zhuqing Jiao, Yanmei Huang, Shoudong Wang, Yue Xiong, Rong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang China Centre for Autonomous Systems Faculty of Engineering and Information Technology University of Technology Sydney UltimoNSW2007 Australia

Global localization is essential for robots to perform further tasks like navigation. In this paper, we propose a new framework to perform global localization based on a filter-based visual-inertial odometry framework MSCKF. To reduce the computation and memory consumption, we only maintain the keyframe poses of the map and employ Schmidt-EKF to update the state. This global localization framework is shown to be able to maintain the consistency of the state estimator. Furthermore, we introduce a re-linearization mechanism during the updating phase. This mechanism could ease the linearization error of observation function to make the state estimation more precise. The experiments show that this mechanism is crucial for large and challenging scenes. Simulations and experiments demonstrate the effectiveness and consistency of our global localization framework. Copyright © 2021, The Authors. All rights reserved.

关键词： state estimation

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Acoustically Driven Micropipette for Hydrodynamic Manipulation of Mouse Oocytes

Acoustically Driven Micropipette for Hydrodynamic Manipulati...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Zhaofeng Zuo Xiaoming Liu Zhuo Chen Yuyang Li Xiaoqing Tang Dan Liu Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Micromanipulation techniques that can achieve controlled fine operations at the micro scale play an important role in biomedical fields including embryo engineering, gene engineering, drug screening, and cell analysis. However, micromanipulation of biological micro-objects, such as cells and micro tissues, suffers from mechanical damage and low efficiency. Several techniques have been introduced to manipulate cells more easily, but most of them are restricted by expensive devices, limited work area, and potential damage to cellular structure. Here we develop a hydrodynamic manipulation method to rotate and transport mouse oocytes, which utilizes acoustic waves and micropipette to generate acoustic radiation force and excite microstreaming. This method can accomplish rotational and translational operations precisely and controllably. We tested the process of trapping, rotation, and transportation of the mouse oocytes, and measured rotational and translational speed with a range of applied voltage. The method was able to shorten the cost time of delivery and posture adjustment before oocyte injection. Our study provides an easy-to-use technique for oocyte manipulation without contact, and it has the potential to be universally applied in many cellular studies.

关键词： Visualization Voltage measurement Three-dimensional displays Force Transportation Hydrodynamics Biology

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Polarization-Insensitive Terahertz Biosensing Method Based on Toroidal Dipole Metasurface

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IEEE Sensors Journal 2025年第12期25卷 21455-21463页

作者： Liu, Heng Ke, Xue Shen, Liran Cao, Yuqi Zhang, Yi Tian, Liangfei Chen, Jiani Meng, Xue Huang, Pingjie Zhang, Guangxin Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou310000 China Zhejiang University College of Biomedical Engineering and Instrument Science Hangzhou310000 China Hangzhou Ltd TROE Photonics Hangzhou310000 China Zhejiang University School of Medicine Key Laboratory of Molecular Biology in Medical Sciences The Second Affiliated Hospital Department of Breast Surgery Cancer Institute Key Laboratory of Cancer Prevention and Intervention China National Ministry of Education Zhejiang Province Hangzhou310009 China Xi’an University Shaanxi Key Laboratory of Surface Engineering and Remanufacturing College of Mechanical and Material Engineering Xi’an710065 China

Terahertz (THz) metasurfaces based on toroidal dipoles exhibit significant potential in biosensing applications. This study presents a polarization-insensitive THz metasurface biosensor designed with a fourfold rotationally symmetric toroidal dipole structure, consisting of a circular ring and four split-ring resonators. By exploiting the low-loss and polarization-insensitive properties of toroidal dipoles, the proposed sensor achieves significant electromagnetic field magnification and high sensitivity of biomolecular detection in the THz regime. Numerical simulation demonstrates a refractive index sensitivity of 721 GHz/RIU, while experimental measurements of cell suspensions indicate a sensitivity of 400 kHz/(cell/mL). The polarization-insensitive response, analyzed through multipole decomposition theory, is attributed to the balanced electromagnetic characteristics of the structure, which ensures consistent excitation of toroidal dipoles and magnetic quadrupoles across different polarization angles. For quantitative analysis, partial least squares (PLS) and support vector regression (SVR) methods are utilized to analyze liver cell lines (HepG2 and Miha), achieving high predictive accuracy with a mean squared error of 0.083. This work circumvents the polarization dependence observed in conventional THz biosensors and proposes an innovative approach for developing high-performance biosensing devices. © 2001-2012 IEEE.

关键词： Electromagnetic fields

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Simultaneous hydrogen production with photo reforming of lactic acid over MXene derived MoS_(2)/TiO_(2)/Ti_(3)C_(2)nanowires

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Chinese Journal of Catalysis 2025年第4期71卷 234-245页

作者： Seemal Mansoor Zixu Hu Yuxin Zhang Muhammad Tayyab Mazhar Khan Zeeshan Akmal Liang Zhou Juying Lei Muhammad Nasir Jinlong Zhang Key Laboratory for Advanced Materials Shanghai Engineering Research Center for Multi–media Environmental Catalysis and Resource UtilizationJoint International Research Laboratory of Precision Chemistry and Molecular EngineeringFeringa Nobel Prize Scientist Joint Research CenterSchool of Chemistry and Molecular EngineeringEast China University of Science&TechnologyShanghai 200237China National Engineering Research Center of Industrial Wastewater Detoxication and Resource Recovery State Environmental Protection Key Laboratory of Environmental Risk Assessment and Control on Chemical ProcessEast China University of Science and TechnologyShanghai 200237China State Key Laboratory of Urban Water Resource and Environment Harbin Institute of TechnologyHarbin 150090HeilongjiangChina Shanghai Institute of Pollution Control and Ecological Security Shanghai 200092China Institute of Materials Research Tsinghua Shenzhen International Graduate SchoolTsinghua UniversityShenzhen 518055GuangdongChina COMSATS Univ Islamabad Interdisciplinary Res Ctr Biomed Mat IRCBMLahore CampusLahore 54000Pakistan

Developing efficient photocatalysts to address collaborative energy and environmental crises still faces significant *** this report,we present a highly efficient MXene–based photocatalyst,which is combined with MoS_(2)nano patches and TiO_(2)/Ti_(3)C_(2)(TTC)nanowires through hydrothermal *** all the composites tested,the optimized photocatalyst gave a remarkable H_(2)and revolving polylactic acid(PLA)into pyruvic acid(PA).Achieving a remarkable H_(2)evolution rate of 637.1 and 243.2μmol g^(−1)h^(−1),in the presence of TEOA and PLA as a sacrificial reagent under UV-vis(λ≥365 nm)light *** improved photocatalytic activity is a result of the combination of dual cocatalyst on the surface of TTC photocatalyst,which create an ideal synergistic effect for the generation of PA and the production of H_(2)*** MoS_(2)TiO_(2)/Ti_(3)C_(2)(MTT)composite can generate more photoexcited charge carriers,leading to the generation of more active radicals,which may enhance the system's photocatalytic *** work aims at demonstrating its future significance and guide the scientific community towards a more efficient approach to commercializing H_(2)through photocatalysis.

关键词： Photo reforming Polylactic acid Hydrogen evolution Lactic acid Pyruvic acid

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Radar and Camera Fusion for Object Detection and Tracking: A Comprehensive Survey

arXiv

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arXiv 2024年

作者： Shi, Kun He, Shibo Shi, Zhenyu Chen, Anjun Xiong, Zehui Chen, Jiming Luo, Jun The School of Computer Science and Engineering Nanyang Technological University 639798 Singapore The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China The Hangzhou Dianzi University Hangzhou310005 China The Pillar of Information Systems Technology and Design Singapore University of Technology and Design 487372 Singapore

Multi-modal fusion is imperative to the implementation of reliable object detection and tracking in complex environments. Exploiting the synergy of heterogeneous modal information endows perception systems the ability to achieve more comprehensive, robust, and accurate performance. As a nucleus concern in wireless-vision collaboration, radar-camera fusion has prompted prospective research directions owing to its extensive applicability, complementarity, and compatibility. Nonetheless, there still lacks a systematic survey specifically focusing on deep fusion of radar and camera for object detection and tracking. To fill this void, we embark on an endeavor to comprehensively review radar-camera fusion in a holistic way. First, we elaborate on the fundamental principles, methodologies, and applications of radar-camera fusion perception. Next, we delve into the key techniques concerning sensor calibration, modal representation, data alignment, and fusion operation. Furthermore, we provide a detailed taxonomy covering the research topics related to object detection and tracking in the context of radar and camera technologies. Finally, we discuss the emerging perspectives in the field of radar-camera fusion perception and highlight the potential areas for future research. Copyright © 2024, The Authors. All rights reserved.

关键词： Object detection

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An Optimal control Based Trajectory Planning Method for Cooperative Merging Maneuvers

An Optimal Control Based Trajectory Planning Method for Coop...

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Intelligent Robotics and systems (ISoIRS), International Symposium on

作者： Qi Wang Hao Ge Xuting Duan Jianshan Zhou State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control State Key Laboratory of Air Traffic Management System and Technology School of Transportation Science and Engineering Beihang University Beijing China State Key Laboratory of Air Traffic Management System and Technology Nanjing Research Institute of Electronic Engineering Nanjing China State Key Lab of Intelligent Transportation System Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beihang University Beijing China

Due to the prediction errors and diverse driving styles of surrounding vehicles, traffic congestion and even accidents can occur in the traffic bottleneck area where vehicles merge into the main road. To ensure that connected and automated vehicles (CAVs) can quickly and efficiently merge into the main road, this paper proposes a cooperative trajectory planning method based on optimal control for vehicle cut-in scenarios. A optimal control model is constructed, and a quintic polynomial is used to generate the initial solution of the optimal control problem to accelerate the solution process and improve the success rate. Finally, The obtained merging trajectory is then synchronized with the movement of vehicles on the main road to optimize their actions and ensure a safe merging process. Joint simulation with Robot Operating System (ROS) and RVIZ is utilized, and the results show that the proposed algorithm can quickly obtain cooperative results, the locally successful merging trajectory meets the requirements of smoothness and safety, and if the solution does not allow merging, the merging vehicle is instructed to terminate the execution.

关键词：

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SAMOC: Enabling Atomic Invocations for Cross-chain Crowdsourcing Testing DApps in industrial control Through Trusted Smart Community and Lock Mechanism

SAMOC: Enabling Atomic Invocations for Cross-chain Crowdsour...

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IEEE International Conference on Trust, Security and Privacy in Computing and Communications (TrustCom)

作者： Weiguo Huang Yong Ding Jun Li Yujue Wang Hai Liang Changsong Yang Guangxi Key Laboratory of Cryptography and Information Security School of Computer Science and Information Security Guilin University of Electronic Technology Guilin China Guangxi Engineering Research Center of Industrial Internet Security and Blockchain Guilin University of Electronic Technology Guilin China Lion Rock Labs of Cyberspace Security Institute of Cyberspace Technology HKCT Institute for Higher Education China China Industrial Control Systems Cyber Emergency Response Team Beijing China Hangzhou Innovation Institute of Beihang University Hangzhou China

ISBN: (数字)9798331506209

ISBN: (纸本)9798331506216

Crowdsourcing testing leverages extensive user participation to identify and fix potential issues in industrial control software, ensuring its security and reliability. Decentralized applications (DApps) can utilize blockchain and smart contract technologies to ensure the decentralization, transparency, and tamper-resistance of industrial control software testing. However, testing efforts conducted via DApps are typically confined to a single blockchain. Coordinating and scheduling DApps deployed on different blockchains has become a critical challenge. Moreover, DApps need to verify the credibility of crowdsourcing participants to ensure the reliability of testing. In order to address these issues, this paper proposes SAMOC, an atomic cross-chain system based on the Atomic-Oracle chain, which aims to realize atomic cross-chain invocations for DApps. SAMOC can realize atomic cross-chain invokes, and the intelligent community deployed on the Atomic-Oracle chain calculates the reputation of users’ accounts across multiple chains through Oracle. This paper also designs a corresponding incentive mechanism to ensure that the auditing of cross-chain invokes is honest and trustworthy. Experimental results show that the cross-chain invokes of the proposed SAMOC scheme have lower latency compared to AtomCI.

关键词： Crowdsourcing Software testing Smart cities industrial control Smart contracts Decentralized applications Software Blockchains Software reliability Security

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SMNet: Multi-Drone Detection and Classification via Monitoring Flight control Signals on Spectrograms

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IEEE Transactions on Cognitive Communications and Networking 2025年

作者： Yu, Ningning Wu, Jiajun Zhou, Chengwei Shi, Zhiguo Chen, Jiming Zhejiang University College of Information Science and Electronic Engineering Hangzhou310027 China Jinhua Institute Zhejiang University Jinhua321037 China Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China Hangzhou Dianzi University School of Artificial Intelligence Hangzhou310018 China

The widespread use of drones has provided numerous benefits, but it has also raised critical concerns regarding public safety and personal privacy due to many accidents stemming from their illegal use. Most radio frequency (RF) based methods for drone monitoring focus on the video-transmission signals (VTS), therefore bringing the potential risks that illicit drones can evade RF monitoring systems by disabling their VTS. To address this problem, we shift our attention to the flight control signals (FCS) that are indispensable for carrying the routine flight control instructions and logs. This paper proposes a new network designed specifically for FCS-oriented detection and classification, named the Spectrogram Monitoring Network (SMNet). Specifically, SMNet can identify the classes, frequency ranges, and time ranges of FCS by monitoring objects of interest on spectrograms. Different from traditional detectors, SMNet exploits the edge and corner features of FCS, which makes it perform well in complex electromagnetic environments. Then, we leverage our insights into texture features (TF) and position features (PF) found within FCS. By integrating TF-aware and PF-aware mechanisms, SMNet can effectively extract weak and scattered features of FCS to improve accuracy. Besides, we explore the application of SMNet to deal with multi-drone scenarios with a scale-limited dataset, which aims to reduce the demanded scale of data acquisition and labelling from the exponential level to the linear level. To this end, we utilize mixup-based data augmentation to generate pseudo-spectrograms that reflect multi-drone communication activities, thereby enhancing the generalizability of SMNet. Extensive experiments show that the proposed method outperforms the compared methods in terms of robustness against six typical types of noise while maintaining similar precision and recall. © 2015 IEEE.

关键词： Spectrographs

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In Situ Measurement of the Kinetic Friction of Si Nanowires on SiC Substrates in SEM with a Microprobe 11

In Situ Measurement of the Kinetic Friction of Si Nanowires ...

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11th IEEE Annual International Conference on cyber technology in Automation, control, and Intelligent systems, cyber 2021

作者： Gao, Peng Zhou, Jie Zou, Tao Rong, Weibin State Key Laboratory of Robotics and Systems Harbin Institute of Technology HarbinHeilongjiang150080 China School of Electrical and Control Engineering Heilongjiang University of Science and Technology HarbinHeilongjiang150022 China

ISBN: (纸本)9781665425278

This research introduces a kinetic friction modeling and measurement method for silicon nanowires (NWs) and silicon carbide substrates. The NW was pushed to slide by the micro-force probe at a constant speed. Under the conditions of kinetic friction and deformation of the nanowires, the silicon nanowires are in equilibrium during the measurement. Under this condition, the value measured by the micro-force probe is the total kinetic friction force. The thermal insulation connector is used to isolate the heat conduction to the micro-force probe to avoid the influence of temperature rise on the measurement result. The Faraday cup was used to measure the surface current in the scanning electron microscope (SEM). The appropriate parameters of SEM were chosen according to the surface current to reduce the influence of the charging effect on the measurement results. The high sensitivity of the micro-force probe is used to ensure that there is no contact between the probe and the substrate, thereby avoiding the interference of the pre-load force. The entire experiment process was monitored in real-time to improve the stability of the measurement. The study in this paper found that the shear stress of silicon nanowires is 1.05 \pm 0.32\text{MPa}. © 2021 IEEE.

关键词： Silicon carbide

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SAMOC: Enabling Atomic Invocations for Cross-chain Crowdsourcing Testing DApps in industrial control Through Trusted Smart Community and Lock Mechanism 23

SAMOC: Enabling Atomic Invocations for Cross-chain Crowdsour...

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23rd IEEE International Conference on Trust, Security and Privacy in Computing and Communications, TrustCom 2024

作者： Huang, Weiguo Ding, Yong Li, Jun Wang, Yujue Liang, Hai Yang, Changsong Guilin University of Electronic Technology Guangxi Key Laboratory of Cryptography and Information Security School of Computer Science and Information Security Guilin China Hkct Institute for Higher Education Lion Rock Labs of Cyberspace Security Institute of Cyberspace Technology 999077 China Guilin University of Electronic Technology Guangxi Engineering Research Center of Industrial Internet Security and Blockchain Guilin China China Industrial Control Systems Cyber Emergency Response Team Beijing China Hangzhou Innovation Institute of Beihang University Hangzhou China

Crowdsourcing testing leverages extensive user participation to identify and fix potential issues in industrial control software, ensuring its security and reliability. Decentralized applications (DApps) can utilize blockchain and smart contract technologies to ensure the decentralization, transparency, and tamper-resistance of industrial control software testing. However, testing efforts conducted via DApps are typically confined to a single blockchain. Coordinating and scheduling DApps deployed on different blockchains has become a critical challenge. Moreover, DApps need to verify the credibility of crowdsourcing participants to ensure the reliability of testing. In order to address these issues, this paper proposes SAMOC, an atomic cross-chain system based on the Atomic-Oracle chain, which aims to realize atomic cross-chain invocations for DApps. SAMOC can realize atomic cross-chain invokes, and the intelligent community deployed on the Atomic-Oracle chain calculates the reputation of users' accounts across multiple chains through Oracle. This paper also designs a corresponding incentive mechanism to ensure that the auditing of cross-chain invokes is honest and trustworthy. Experimental results show that the cross-chain invokes of the proposed SAMOC scheme have lower latency compared to AtomCI. © 2024 IEEE.

关键词： Software testing

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