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IEEE International Conference on Mechatronics and Automation

作者： Pengyu Xi Weimin Ge Sen Zhang Zhili Zhang Teresa Zielinska Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Intelligent Manufacturing College Tianjin Sino-German University of Applied Science Tianjin China Institute of Aeronautics and Applied Mechanics Warsaw University of Technology Warsaw Poland

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

The finite element simulation for the joints of an exoskeleton robot is conducted in this paper. Using software OpenSim to simulate the normal walking gait of the human body, the motion angle and moment of the human hip, knee and ankle joints are obtained. Using the obtained data as the input parameters in the finite element simulation of the simulation software Ls-dyna, the strain diagrams and contact force curves of the circular roller and cam disk were obtained. In this study, three commonly used materials are selected: alloy steel, ductile iron and hard aluminum alloy. Finally, the effects of different materials on the key components of the series elastic actuator are studied.

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A Method for Obtaining Contact Force between Catheter Tip and Vascular Wall in Master-slave Robotic system

A Method for Obtaining Contact Force between Catheter Tip an...

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IEEE International Conference on Mechatronics and Automation

作者： Xiaoliang Jin Shuxiang Guo Jian Guo Peng Shi Dapeng Song Faculty of Engineering and Design Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In the research of vascular interventional surgery robotic system, the force information acquisition of surgical tools (guidewires and catheters) has a significant affect on the safety of surgery, especially the contact force between the catheter tip and vascular wall. Therefore. In order to obtain this contact force, we noticed the pressure sensitive rubber because of its piezoresistive effect and easy processing into any shape. a force sensor based on the pressure sensitive rubber was developed in this paper. Once a force is applied on the force sensor attached to the catheter tip, the contact force can be approximated by the piezoresistive effect of the pressure sensitive rubber. The feasibility of the developed force sensor was verified by the experiments in “Vitro”. And the results showed that the force sensor was developed in this paper can accurately detect the contact force between the catheter tip and vascular wall at different positions in the vascular model, the extraction of contact force information of catheter tip is of great significance to the safety of surgery, and the application potential of pressure sensitive rubber.

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Publisher Correction: Ozone pollution mitigation strategy informed by long-term trends of atmospheric oxidation capacity

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Nature Geoscience 2024年 172页

作者： Wenjie Wang Xin Li Ying Liu Sihua Lu Yusheng Wu Shiyi Chen Keding Lu Min Hu Limin Zeng Min Shao Yuanhang Zhang Hang Su Yafang Cheng Ruijing Ni Ulrich Pöschl Zhaofeng Tan Franz Rohrer Andreas Wahner David D. Parrish Cheng Huang Xudong Tian K. M. Leung Liangfu Chen Meng Fan Qiang Zhang State Key Joint Laboratory of Environmental Simulation and Pollution Control College of Environmental Sciences and Engineering Peking University Beijing China State Key Laboratory of Atmospheric Environment and Extreme Meteorology Institute of Atmospheric Physics Chinese Academy of Sciences Beijing China Max Planck Institute for Chemistry Mainz Germany International Joint Laboratory for Regional Pollution Control Ministry of Education Beijing China Collaborative Innovation Centre of Atmospheric Environment and Equipment Technology Nanjing University of Information Science & Technology Nanjing China Institute of Carbon Neutrality Peking University Beijing China Institute for Environmental and Climate Research Jinan University Guangzhou China State Environmental Protection Key Laboratory of Formation and Prevention of Urban Air Pollution Complex Shanghai Academy of Environmental Sciences Shanghai China Institut für Energie-und Klimaforschung: Troposphäre (IEK-8) Forschungszentrum Jülich Jülich Germany Key Laboratory of Ecological and Environmental Monitoring Forewarning and Quality Control of Zhejiang Zhejiang Ecological and Environmental Monitoring Center Hangzhou China Environmental Protection Department The Government of the Hong Kong Special Administrative Region Hong Kong China State Key Laboratory of Remote Sensing Science The Aerospace Information Research Institute Chinese Academy of Sciences Beijing China Department of Earth System Science Tsinghua University Beijing China

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Research on the Radio Frequency Simulation Method for Wide-band Radar Complex Target based on Physical Optics and Physical Diffraction Theory

Research on the Radio Frequency Simulation Method for Wide-b...

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2019 IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2019

作者： Guijier, DIao Hong, Ni Tianming, Zhan Yajing, Zhang Liang, Yang Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electro-mechanical Engineering Institute Beijing China Beijing Aerospace Smart Manufacturing Technology Development Co.Ltd. Beijing China Datang Mobile Communication Equipment Co. Ltd. Datang Telecom Group Beijing China

ISBN: (纸本)9781728123455

A radio frequency (RF) simulation technique based on high frequency hybrid method is proposed for complex target. Firstly, the radar cross section (RCS) of the target is obtained by vector addition of facets scattering field and wedges scattering field that are calculated respectively by physical optics (PO) method and physical theory of diffraction (PTD). Then, scattering centers of the target are extracted based on multi scattering center theory, and the radar echo signal is simulated through radio frequency simulation system (RFSS). This technique could improve the fidelity of radar signal simulation and the confidence of RF simulation test. At last, simulation results validate the technique. © 2019 IEEE.

关键词： Physical optics

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A registration-aided domain adaptation network for 3D Point cloud based place recognition

arXiv

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arXiv 2020年

作者： Qiao, Zhijian Hu, Hanjiang Shi, Weiang Chen, Siyuan Liu, Zhe Wang, Hesheng Department of Automation Insititue of Medical Robotics Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong University Shanghai200240 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology China Department of Mechanical Engineering Carnegie Mellon University United States Department of Computer Science and Technology University of Cambridge United Kingdom

In the field of large-scale SLAM for autonomous driving and mobile robotics, 3D point cloud based place recognition has aroused significant research interest due to its robustness to changing environments with drastic daytime and weather variance. However, it is time-consuming and effort-costly to obtain high-quality point cloud data for place recognition model training and ground truth for registration in the real world. To this end, a novel registration-aided 3D domain adaptation network for point cloud based place recognition is proposed. A structure-aware registration network is introduced to help to learn features with geometric information and a 6-DoFs pose between two point clouds with partial overlap can be estimated. The model is trained through a synthetic virtual LiDAR dataset through GTA-V with diverse weather and daytime conditions and domain adaptation is implemented to the real-world domain by aligning the global features. Our results outperform state-of-the-art 3D place recognition baselines or achieve comparable on the real-world Oxford RobotCar dataset with the visualization of registration on the virtual dataset. Copyright © 2020, The Authors. All rights reserved.

关键词： Three dimensional computer graphics

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An Optimal Terrain Following Trajectory Online Regeneration Method

An Optimal Terrain Following Trajectory Online Regeneration ...

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control Technology and Applications (CCTA),

作者： Yijun Feng Wanchun Chen Liang Yang Donghui Wei School of Astronautics Beihang University Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China

In this paper, we present a numerical method for two-dimensional terrain following (TF) optimal trajectory regeneration. This method corrects the planned optimal trajectory to avoid collision with previously unknown obstacles. Firstly, an optimal TF trajectory is acquired using Hp-adaptive Gaussian quadrature collocation method. Then, a neighboring optimum feedback law is presented for trajectory regeneration using a backward sweep method. Numerical simulations are provided to validate the effectiveness and demonstrate the features of the problem.

关键词： Trajectory History Vehicle dynamics Mathematical model Optimal control Aircraft Aerodynamics

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Monocular visual based obstacle distance estimation method for ultra-low altitude flight

Monocular visual based obstacle distance estimation method f...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Jin Cheng Donghui Wei Wanchun Chen Wang Gao Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China School of Astronautics Beihang University Beijing China

ISBN: (纸本)9781728137933

This paper focuses on the problem of ultra-low-altitude flight obstacle distance estimation for monocular vision-assisted aircraft. First, the basic error model of distance estimation using sequence images is derived and the phenomenon of "epipole dead zone" is revealed. Then the distance estimation algorithm based on pairs of coplanar points is proposed as well as its error model. This algorithm is proved to be a solution of the "epipole dead zone" problem theoretically. Finally, numerical simulations show that the proposed distance estimation algorithm can effectively improve the accuracy of distance estimation in the "epipole dead zone".

关键词： Ultra-low altitude flight Monocular vision Distance estimation Monocular Vision error model flight altitude flight Death Dead

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Optimal Terrain Following Trajectory Regeneration Using Linear Gauss Pseudo-Spectral Method

Optimal Terrain Following Trajectory Regeneration Using Line...

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IEEE International Conference on Unmanned systems (ICUS)

ISBN: (纸本)9781728137933

A numerical method for two-dimensional terrain following optimal trajectory regeneration is proposed in this paper, which corrects the planned optimal trajectory to avoid collision with previously unknown obstacles. The neighboring extremal problem is established near the optimal terrain following trajectory, which can be regarded as a two-point boundary-value problem (TPBVP) and solved using Linear Gauss Pseudo-Spectral (LGP) method. Compared with the classical backward sweep method for solving TPBVPs, LGP method is much faster in obtaining approximate results. Numerical simulations are provided to validate the effectiveness and demonstrate the features of the problem.

关键词： Terrain following Optimal control Neighboring extremal Linear gauss pseudo-Spectral terrain following Optimal control Numerical methods trajectory Gauss

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Electrochemical parameters of aluminum oxide film in situ during anodization of aluminum by white light-optical interferometry

Electrochemical parameters of aluminum oxide film in situ du...

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Corrosion Conference and Expo 2019

作者： Habib, Khaled Mohammad, Waleed Karim, Farzia Dutta, Joydeep Materials Science and Photo-Electronics Lab RE program EBR Center KIS R P.O.Box 24885 Safat13109 Kuwait Center of Research in Optoelectronics Communication and Control System School of Engineering Bangkok University Pathum Thani12120 Thailand Center of Excellent in Nanotechnology School of Engineering and Technology Asian Institute of Technology Pathum Thani12120 Thailand Functional Materials division KTH Royal Institute of Technology Isafjordsgatan 22 Stockholm Sweden

Both of Fabry-Pérot interferometry and the DC electrochemical method have been simultaneously used for the first time to measure in situ the anodic current density (J) of aluminum oxide films in 0,2,4,5,6,8 and 10% sulfuric acid solutions (H2SO4). The calculated values of J by Fabry-Pérot interferometry were verified by the DC electrochemical method, i.e., a potentiostat, and the AC electrochemical method, i.e., a potentiostat with an accessory of AC impedance spectroscopy (EIS). The corresponding thickness (d) of the aluminum oxide (Al2O3) film to the anodic current density was determined by Fabry-Pérot interferometry under a potentiostatic condition of 9 V with respect to the open circuit potential of the aluminum samples in the H2SO4 solutions, for 90 minutes. Then, the obtained d of the Al2O3 films by Fabry-Pérot interferometry was verified by scanning electron microscopy (SEM) and compared to d values that were obtained by the EIS. The calculated J by Fabry-Pérot interferometry was found in agreement with those of the DC electrochemical method. In contrast, the calculated J by Fabry-Pérot interferometry was found in a 3 fold discrepancy with data obtained by the EIS. © 2019 by NACE International.

关键词： Aluminum oxide

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Comparation of Aroma-Active Compounds in Fresh Commercial Infant Formula and the Change during Ambient Storage

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Journal of Future Foods 2025年

作者： Lirong Xu Ailing Tian Jiayi Su Meifan Pan Riqing Liu Peipei Gao Beilei Pang Zitong Liu Lijiao Fan Huaixia Zhang Yali Wang Lei Du Lili Zheng Yingchun Zhao Xiaoxiao Feng Jing Lv Department of Nutrition The Affiliated Hospital of Qingdao University Qingdao China Institute of Nutrition and Health Qingdao University 266071 Qingdao China Department of Gastrointestinal Surgery The Affiliated Hospital of Qingdao University Jiangsu Road 16# Qingdao Shandong 266400 People's Republic of China Department of Health Education and Management and the Ministry of Education Key Lab of Hazard Assessment and Control in Special Operational Environment School of Public Health Fourth Military Medical University Xi'an China. Department of surgery The Affiliated Hospital of Qingdao University Qingdao China National Engineering Research Centre for Intelligent Electrical Vehicle Power System (Qingdao) College of Mechanical & Electronic Engineering Qingdao University Qingdao 266071 China College of Chemical Engineering Qingdao University of Science and Technology Analysis and Testing Center Qingdao University of Science and Technology 266042 Qingdao China Department of Food Science & Technology School of Agriculture & Biology Shanghai Jiao Tong University Shanghai 200240 China

This study compared the aroma-active compounds in 14 brands of commercially infant formula and investigated their changes during ambient storage after opening for 2 months. A total of 29 major aroma-active compounds were detected in infant formula. From the PCA and heatmap analysis, a total of 14 brands of infant formula were classified into 3 groups, the second group contained JLB-Y, AY and FH-F, of which 2-furanmethanol and (E,E)-3,5-octadien-2-one were mainly compounds, the third group contained YL and JLB-L, the characteristic flavor compounds in this group were mainly hexanal, heptanal, etc. Aldehydes, as the main volatile substances, account for more than half of the total volatiles. Nearly half of the aldehydes showed more significant changes after storage, e.g. hexanal, octanal, (E)-2-octenal and 3-methylbutyraldehyde. The YL and YP-Q produced more saturated aldehydes after storage, the concentration of hexanal in YL-2m and YP-Q-2m was 2138.5 μg/kg and 2004.1μg/kg, respectively. The concentrations of heptanal, octanal, and nonanal also increased relatively significantly, which may lead to a distinct rancid flavor in YL and YP-Q. Besides, among the ketones, (E,E)-3,5-octadien-2-one showed the greatest change after storage, especially in JLB-L. According to sensory evaluation experiments, the milky flavor of infant formulas decreased and fatty, rancid, fishy and grassy flavors were found to have increased to different extents after storage. The current information gap on the concentration and evolution of volatile compounds in commercially available infant formula is filled by this study.

关键词： Infant formula Volatile compounds GC-MS Ambient Storage

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