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SSRN 2023年

作者： Ding, Lifeng Song, Yuru Li, Qiang Guo, Jinqing Zhang, Jie Wang, Qi Dong, Hongmei Song, Yongbo Song, Zhengwei Zhao, Xiaohong Niu, Yulan Department of Chemistry and Chemical Engineering Taiyuan Institute of Technology Taiyuan030008 China School of Chemical Engineering and Technology North University of China Taiyuan030051 China MicroNano System Research Center College of Information and Computer Key Laboratory of Advanced Tran sducers and Intelligent Control System Ministry of Education and Shanxi Province Taiyuan University of Technology Taiyuan030024 China

In this work, a ZIF-67/MWCNT/Nafion sensor platform was constructed based on the good adsorption capacity of ZIF-67, the electrical conductivity of multiwalled carbon nanotubes (MWCNTs) and the excellent chemical stability of Nafion for the detection of Cu2+ in water. Meanwhile, the modified materials were characterized by scanning electron microscopy (SEM), X-ray photoelectron spectroscopy (XPS), X-ray diffraction (XRD) and Fourier transform infrared spectrometry (FT-IR). Cyclic voltammetry (CV), electrochemical impedance spectroscopy (EIS) and square wave stripping voltammetry (SWSV) were used to characterize and test ZIF-67/MWCNT/Nafion/GCE. The results show that ZIF-67/MWCNT/Nafion/GCE has high sensitivity (57.5 μA/μM) and a low limit of detection (4.3 nM) for the electrochemical detection of Cu2+ ions in an electrochemical sensing system. Finally, the modified electrode has good repeatability, reproductivity, anti-interference and stability and can be applied to test domestic water. © 2023, The Authors. All rights reserved.

关键词： Electrochemical sensors

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An Assembly Sequence Planning Method Using Ant Colony Algorithm for Arbitrary Placed Workpieces

An Assembly Sequence Planning Method Using Ant Colony Algori...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Ruiming Hou Sheng Xu Chenguang Yang Bing Zhu Jianghua Duan Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China University of Chinese Academy of Science Beijing China Shandong Institute of Advanced Technology CAS Shandong China College of Automation Science and Engineering South China University of Technology Guangzhou China Department of Mechanical and Aerospace Engineering Hong Kong University of Science and Technology Hong Kong

This paper proposes a particular and effective online sequence planning method to help manipulators complete complex assembly tasks. In many existing studies, the workpiece is constrained to be placed at a particular initial position. To overcome this drawback, we combine the ant colony algorithm with a target detection algorithm, which could get the positions of the workpieces in real time for online sequence planning. In addition, the constraint and obstacle avoidance of different workpieces in the assembly process is also considered. According to the experiment results, an observation is found that the new method is superior to the general way in terms of efficiency and cost function value. Furthermore, the proposed method effectively solves different practical and feasible assembly sequence planning problems.

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RSG-Search: Semantic Traffic Scene Retrieval Using Graph-Based Scene Representation

RSG-Search: Semantic Traffic Scene Retrieval Using Graph-Bas...

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IEEE Symposium on intelligent Vehicle

作者： Yafu Tian Alexander Carballo Ruifeng Li Kazuya Takeda Graduate School of Informatics Nagoya University Nagoya Japan State Key Laboratory of Robotic and Intelligent System Harbin Institute of Technology Heilongjiang China Faculty of Engineering Gifu University Gifu City Japan Institute of Innovation for Future Society Nagoya University Nagoya Japan Tier IV Inc Nagoya University Open Innovation Center Nagoya Japan

Browsing specific traffic scene in large-scale dataset is an increasing demand from researchers, self-driving community and insurance companies. It is easy to search scenes with specific tags such as "rain", "snow", or "on highway". However, searching specific scene configurations, like "two vehicles waiting for a person crossing the road", is still an open problem. In this paper, we provide RSG-search, a scene-graph based traffic scene retrieval method, based on our previous research on traffic scene-graph generation. By previously translating open datasets to scene graphs, we can ignore irrelevant details, and efficiently search specific scene configuration among thousands of traffic scenes. Experiment results shows that our graph searching method is able to retrieve results for a given query with high accuracy. Our method simplifies the task of scene retrieval, opening opportunities for new applications.

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Design and 3D Printing of Lower Limb Prosthetic Socket *

Design and 3D Printing of Lower Limb Prosthetic Socket *

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Sheng Li Bin Xie Ye Chen Xinyu Wu Guoxin Fang Yan Zhang Fei Gao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Shien-Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China State Key Laboratory of Powder Metallurgy Central South University Changsha Hunan China

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

The prosthetic socket is a crucial interface connecting the residual limb to the prosthetic device, significantly affecting force transmission and wearer comfort. This work presents a comprehensive framework for design, simulation, and fabrication of the prosthetic socket. A 3D model of the residual limb, including the skeleton model and skin contour, is reconstructed from CT scan data. Using this model, the prosthetic socket and liner are designed based on biomechanical principles. The interaction force between the residual limb and the prosthetic socket and liner is simulated via finite element analysis (FEA) when the body weight of a below-knee amputee exerts on the prosthetic socket. Finally, the prosthetic socket and residual limb are fabricated using additive manufacturing (AM) technology, and a soft prosthetic liner is made of ethylene-vinyl-acetate (EVA) polymer. Clinical trials on a below-knee amputee were conducted to preliminarily test the prosthetic socket’s performance.

关键词： Limbs Solid modeling Sockets Biological system modeling Force Three-dimensional printing Skin Data models Finite element analysis Prosthetics

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A one-step pseudolinear kalman filter for invasive target tracking in three-dimensional space

A one-step pseudolinear kalman filter for invasive target tr...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Zhang, Ying Liang, Rui Xu, Sheng Zhang, Liyuan Zhang, Ye Xiao, Dandan State Grid Tianjin Electric Power Company City West Power Supply Branch Tianjin300190 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen518055 China

ISBN: (纸本)9781665436786

This work studies the characteristics of the 3-dimensional (3D) pseudolinear Kalman filter (PLKF) proposed in the previous work [1] for angle-of-arrival (AOA) target tracking in the 3D space. The previous two-step 3D PLKF contains an xy-PLKF and a z-PLKF. This paper develops a one-step PLKF algorithm, which has low computational complexity. The estimation performance analysis of these two different PLKFs is provided. The one-step PLKF sacrifices the estimation accuracy to acquire a low computational complexity. In the distributed target tracking problem, the one-step PLKF can save a lot of communication costs compared with the two-step one. Furthermore, the stability of two PLKFs are also been simply proven. Simulation examples verify the effectiveness of the proposed one-step 3D PLKF to track an invasive target. Besides, the difference between the two PLKFs based on the theoretical analysis is also demonstrated by the simulation examples. © 2021 IEEE.

关键词： Target tracking

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Error-state Kalman Filtering with Linearized State Constraints

TechRxiv

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TechRxiv 2023年

作者： Do, Hoang Viet Jung, Jae Hyung Park, Chan Gook Song, Jin Woo The Intelligent Navigation and Control Systems Laboratory Department of Convergence Engineering for Intelligent Drone School of Intelligent Mechatronics Engineering Sejong University Seoul05006 Korea Republic of The Department of Aerospace Engineering Automation and Systems Research Institute Seoul National University Seoul08826 Korea Republic of The Navigation and Electronic System Laboratory Department of Aerospace Engineering Institute of Advanced Aerospace Technology Seoul National University Seoul08826 Korea Republic of

In recent years, the error-state Kalman filter (ErKF) has been extensively employed across various applications, including but not limited to robotics, aerospace, and localization. However, incorporating constraints into the ErKF framework when state constraint is necessary has remained a challenging task due to its intrinsic properties. This paper explores all possible ways to achieve this goal in the context of the estimate projection method. In particular, the constraint can be enforced before or after the ErKF’s correction step. We approach the problem from a mathematical perspective by deriving analytical solutions and discussing their statistical properties. We prove that the two mentioned methods are statistically identical for a linear system with linear constraints. Conversely, the filter’s behavior remains uncertain in the presence of linearized constraints. However, we provide a special case of the nonlinear constraint, wherein the results of the linear case remain valid. To support our theorem and verify the filter’s performance when the assumptions are invalidated, we present two Monte Carlo simulations under the increasing initialization error and the constraint’s incompleteness. The simulation results clearly confirm our insights and lead to the conclusion that constraining the error-state after the correction may offer superior outcomes compared to its competitor. © 2023, CC BY.

关键词： Linearization

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advanced growth techniques and challenges in ferroelectric AlScN thin films for next-generation electronic devices

Moore and More

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Moore and More 2025年第1期2卷 135-149页

作者： Xiaoxi Li Yuan Fang Yuchun Li Zhifan Wu Shuqi Huang Yingguo Yang Bitao Dong Gengsheng Chen Yue Hao Genquan Han Hangzhou Institute of Technology Xidian UniversityHangzhou 311200China School of Microelectronics Xidian UniversityXi’an 710071China State Key Laboratory of ASIC and System Shanghai Institute of Intelligent Electronics&SystemsSchool of MicroelectronicsFudan UniversityShanghai 200433China Shanghai Synchrotron Radiation Facility(SSRF) Shanghai Institute of Applied Physics&Shanghai Advanced Research InstituteChinese Academy of SciencesShanghai 201208China Division of Solid State Physics Department of Materials Sciences and EngineeringAngstrom LaboratoryUppsala University75105 UppsalaSweden

The discovery of ferroelectricity in aluminum scandium nitride(AlScN)thin films has garnered significant research inter-est,owing to the large remnant polarization,tunable coercive field,excellent thermal stability,high breakdown field,and compatibility with back-end-of-line processes of these thin *** attributes make AlScN a highly promising can-didate for next-generation electronic device *** techniques,such as reactive magnetron sputtering,radi-ofrequency sputtering,molecular beam epitaxy,metal-organic chemical vapor deposition,and pulsed laser deposition,have been employed to grow ferroelectric AlScN thin *** growth parameters,including deposition atmosphere,precursor selection,and Sc concentration,strongly influence the ferroelectric properties,playing a crucial role in achieving high crystalline *** review critically examines the fabrication techniques used for producing ferroelectric AlScN thin films,focusing on the impact of different growth methods and process conditions on their *** aim to provide comprehensive guidance to assist future researchers in optimizing their process parameters to achieve the desired ferroelectric characteristics in AlScN thin films.

关键词： AlScN Wurtzite Ferroelectric Growth technique

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Key Techniques on Unified Identity Authentication in OpenMBEE Integration 4

Key Techniques on Unified Identity Authentication in OpenMBE...

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4th IEEE International Conference on Electronics and Communication Engineering, ICECE 2021

作者： Xue, Junjie Zhou, Junhua Shi, Guoqiang Feng, Chaoqun Liu, Penghua Quan, Hongyan Beijing Complex Product Advanced Manufacturing Engineering Research Center Beijing Simulation Center Beijing China State Key Laboratory of Intelligent Manufacturing System Technology Beijing China Institute of Electronic System Engineering Beijing China Beijing Complex Product Advanced Manufacturing Engineering Research Center Beijing Simulation Center Beijing China Science and Technology on Space System Simulation Laboratory Beijing Simulation Center Beijing China School of Computer Science and Technology East China Normal University Shanghai China

ISBN: (纸本)9781728194226

In order to make full use of the concept of model-based systems engineering (MBSE) and the collaborative design capability of the open model-based engineering environment (OpenMBEE) in establishing complex product development platform, we propose an effective method to solve the problem of unified identity authentication in OpenMBEE integration. The proposed method is based on the Model View Controller(MVC) architecture in OpenMBEE, which has the characteristics strong plasticity and can be benefit for expanding the function in the controller layer. In our research, we make full use of the Software Development Kit (SDK) of OpenMBEE to expand the existing functions in the controller layer, and increase the function of communicating with the application development platform, then realize the function of sharing user authentication information between the development platform and OpenMBEE. After expansion, the system includes three modules, including the Front-end Service Module(FSM), MQ based Information Receiving Service Module(IFRSM), and the OpenMBEE Back-end Server Module(BSM). The effectiveness of the proposed strategies is verified by some practical instances, which verifies that our study can provide an effective design idea for the identity authentication in OpenMBEE integration. ©2021 IEEE

关键词： Integration

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A Self-supervised Contrastive Learning Method for Grasp Outcomes Prediction

arXiv

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arXiv 2023年

作者： Liu, Chengliang Huang, Binhua Liu, Yiwen Su, Yuanzhe Mai, Ke Zhang, Yupo Yi, Zhengkun Wu, Xinyu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518055 China

In this paper, we probe the proficiency of contrastive learning techniques in forecast grasp outcomes, without supervision. Employing a dataset that’s open to the public, we establish the effectiveness of contrastive learning techniques in accurately predicting grasp outcomes. More precisely, an impressive accuracy of 81.83% is achieved by the dynamic-dictionary-based method combined with the momentum updating technique, using data from just one tactile sensor, surpassing other unsupervised techniques. Our findings underscore the promise held by contrastive learning techniques in the domain of robotic grasping, while emphasizing the critical role played by precise grasp prediction in securing stable grasps. Copyright © 2023, The Authors. All rights reserved.

关键词： Forecasting

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Surgical Gesture Recognition in Open Surgery Based on 3DCNN and SlowFast

Surgical Gesture Recognition in Open Surgery Based on 3DCNN ...

引用

IEEE Information technology, Networking, Electronic and Automation Control Conference

作者： Yutao Men Jian Luo Zixian Zhao Hang Wu Feng Luo Guang Zhang Ming Yu 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) Tianjin China Systems Engineering Institute Academy of Military Sciences People's Liberation Army Tianjin China

ISBN: (数字)9798350370805

ISBN: (纸本)9798350370812

In the field of computer-aided medicine, automated surgical gesture recognition is an important research direction. Its main applications include automated skills assessment, intraoperative guidance, and education and training systems. Current research has focused on robotic surgery, and there is less research on surgical gestures for open surgery. Therefore, in this study, a new simulated open surgery dataset was developed, and a series of surgical gestures for open surgery were defined for closure the abdomen surgery with the cooperation of professional doctors. In addition, this paper uses the classical algorithm 3DCNN and SlowFast model in the field of action recognition to perform offline recognition of surgical gestures for open surgery on the dataset. 3DCNN uses R3D and R(2+1)D models. The experimental results show that on the self-built open surgical dataset, the R3D model has the best surgical gesture recognition results, with an accuracy rate of 90.4%, a precision rate of 90.5%, and a recall rate of 90.0%.

关键词： Training Automation Accuracy Surgery Gesture recognition Medical services Information technology Robots Abdomen

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