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arXiv 2020年

作者： Jiao, Yanmei Wang, Yue Fu, Bo Tan, Qimeng Chen, Lei Wang, Minhang Huang, Shoudong Xiong, Rong State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China Application Lab Huawei Incorporated Company China University of Technology Sydney Australia

Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose from a set of 3D-2D feature correspondences, of which the main challenge is the presence of outliers, especially in changing environment. In this paper, we propose a robust solution based on efficient global optimization of the consensus maximization problem, which is insensitive to high percentage of outliers. We first introduce translation invariant measurements (TIMs) for both points and lines to decouple the consensus maximization problem into rotation and translation subproblems, allowing for a two-stage solver with reduced search space. Then we show that (i) the rotation can be estimated by minimizing TIMs using only 1-dimensional branch-and-bound (BnB), (ii) the translation can be estimated by running 1-dimensional search for each of the three axes with prioritized progressive voting. Compared with the popular randomized solver, our solver achieves deterministic global convergence without requiring an initial value. Furthermore, ours is exponentially faster compared with existing BnB based methods. Finally, our experiments on both simulation and real-world datasets demonstrate that the proposed method gives accurate pose estimation even in the presence of 90% outliers (only 2 inliers). Copyright © 2020, The Authors. All rights reserved.

关键词： Statistics

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Reutilization and upcycling of spent graphite for sustainable lithium-ion batteries: progress and perspectives

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eScience 2025年

作者： Xueqian Li Chenglong Deng Mengyao Liu Jiawei Xiong Xiaodong Zhang Qiaoyi Yan Jiao Lin Cen Chen Feng Wu Yi Zhao Renjie Chen Li Li Beijing Key Laboratory of Environmental Science and Engineering School of Materials Science and Engineering Beijing Institute of Technology Beijing 100081 China Innovative Research Team in High-Safety Energy Storage System and Smart Microgrids of Guangdong Province Beijing Institute of Technology (Zhuhai) Zhuhai 519088 China Shandong Key Laboratory of Advanced Chemical Energy Storage and Intelligent Safety Advanced Technology Research Institute Beijing Institute of Technology Jinan 250300 China State Key Laboratory of Chemical Engineering College of Chemistry Beijing University of Chemical Technology Beijing 100029 China Quantitative Methodology Program The University of Georgia Athens GA 30605 United States

In the development of sustainable lithium-ion batteries, achieving the efficient and cost-effective recycling of all components, particularly spent graphite (SG) anodes, has become a critical requirement. While considerable efforts have been devoted to recovering and reusing SG materials under conventional conditions, limited attention has been given to recycling under extreme conditions. This review systematically elucidates the main failure mechanisms of graphite anodes, including lithium plating and dendrite formation, solid electrolyte interface film failure, structural degradation, and current collector corrosion, with a particular focus on low-temperature and fast-charging conditions. As a contribution toward optimizing resource utilization, this review comprehensively summarizes the industrial perspective on strategies for recycling SG anodes, which aim to produce high-purity regenerated graphite (RG) powders. We also analyze current methods for modifying RG, such as structural reconstruction and surface reconditioning, to bring added value to modified RG materials. A detailed examination of the technical challenges in SG recycling and RG upgrading is presented, offering guidance for the future development of graphite upcycling technologies. This review also provides valuable insights into achieving high efficiency, intelligence, and sustainability in graphite utilization.

关键词： Spent lithium-ion batteries Graphite anode Degradation mechanism Recycling Regeneration

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Screening piezoelectricity in determination of flexoelectric coefficient at nanoscale

arXiv

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arXiv 2020年

作者： Lun, Yingzhuo Zhou, Hao Yao, Di Wang, Xueyun Hong, Jiawang School of Aerospace Engineering Beijing Institute of Technology Beijing100081 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering China Academy of Space Technology Beijing100094 China

Piezoelectricity usually accompanies with flexoelectricity in polar materials which is the linear response of polarization to a strain gradient. Therefore, it is hard to eliminate piezoelectric effect in determination of pure flexoelectric response. In this work, we propose an analytical method to characterize the flexoelectric coefficient quantitatively at nanoscale in piezoelectric materials by screening piezoelectricity. Our results show that the flexoelectricity reduces the nanopillar stiffness while the piezoelectricity enhances it. With careful design of the shape of the nanopillars and measuring their stiffness difference, the flexoelectric coefficient can be obtained with the piezoelectric contribution eliminated completely. This approach avoids the measurement of electrical properties with dynamic load, which helps to reduce the challenge of flexoelectric measurement at nanoscale. Our work will be beneficial to quantitative characterization of flexoelectric properties and design of flexoelectric devices at nanoscale. Copyright © 2020, The Authors. All rights reserved.

关键词： Piezoelectricity

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10-Hertz quantum light source generation on the cesium D2 line using single photon modulation

arXiv

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arXiv 2022年

作者： Zuo, Guan-Hua Zhang, Yu-Chi Li, Gang Zhang, Peng-Fei Yang, Peng-Fei Guo, Yan-Qiang Zhu, Shi-Yao Zhang, Tian-Cai State Key Laboratory of Quantum Optics and Quantum Optics Devices Collaborative Innovation Center of Extreme Optics Institute of Opto-Electronics Shanxi University Taiyuan030006 China College of Physics and Electronic Engineering Shanxi University Taiyuan030006 China Department of Physics Zhejiang University Hangzhou310027 China Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi Province College of Physics and Optoelectronics Taiyuan University of Technology Taiyuan030024 China

Generation of quantum light source is a promising technique to overcome the standard quantum limit in precision measurement. Here, we demonstrate an experimental generation of quadrature squeezing resonating on the cesium D2 line down to 10 Hz for the first time. The maximum squeezing in audio frequency band is 5.57 dB. Moreover, we have presented a single-photon modulation locking to control the squeezing angle, while effectively suppressing the influence of laser noise on low-frequency squeezing. The whole system operates steadily for hours. The generated low-frequency quantum light source can be applied in quantum metrology, light-matter interaction investigation and quantum memory in the audio frequency band and even below. Copyright © 2022, The Authors. All rights reserved.

关键词： Photons

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Design and analysis of a flying-crawling spherical robot for multi-mode movement

Design and analysis of a flying-crawling spherical robot for...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Lu, Pengfei Xu, Kun Ding, Xilun Jiang, Shuiqing Tang, Zixin Wang, Yaobing Beihang University Robotics Institute of School of Mechanical Engineering and Automation Beijing China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9781728163215

A novel spherical robot named flying-crawling spherical robot is designed in this paper. It can fly or roll on ground with its single rotor and eight tail fins. When its limbs stretch out it can crawl on the supporting surface. Besides, with its limbs the robot can realize carrying objects, landing on uneven ground and walking on the supporting surface. Dynamic model of the robot in flight mode is established and the motion characteristics are analyzed. A PID control system is designed to enable the robot to achieve stable flight. Trot gait planning of the robot is given and a PID controller is designed for tail fins assistant in crawling mode. Corresponding simulations are carried out and the simulation results verify the proposed methods. © 2019 IEEE.

关键词： Three term control systems

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An Improved Chimp Optimization Algorithm for Short-term Hydrothermal Scheduling

IAENG International Journal of Computer Science

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IAENG International Journal of Computer Science 2022年第3期49卷 666页

作者： Chen, Gonggui Wang, Shumin He, Yongsheng Shang, Wanfeng Long, Hongyu Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Chongqing University of Posts and Telecommunications Chongqing400065 China State Grid Chongqing Electric Power Company Chongqing400015 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen Shenzhen518055 China Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China

The short-term hydrothermal scheduling (STHS) is a complex non-linear, non-convex and high-dimensional mathematical optimization problem. Due to the fact that the original chimp optimization algorithm (ChOA) is likely to fall into local optimum and has the disadvantage of low population diversity, an improved chimp optimization algorithm (IChOA) is proposed to solve the STHS problem. Firstly, Logistic-Tent chaotic mapping is employed to initialize the population and increase the population diversity. Then a new nonlinear convergence factor is introduced to make the optimization search process more applicable to STHS problems. Next, particle swarm algorithm (PSO) and gravitational search algorithm (GSA) are combined to enhance the shortcoming and balance the global search ability and local exploration ability of ChOA. Moreover, Cauchy mutation and opposition-based learning strategy are supplemented as perturbation interference when the optimal position is not updated to improve the ability to leap out of the local optimum. Finally, a graded optimization strategy is adopted for the constraint handing of dynamic reservoir balance and thermal power balance. Three standard hydrothermal power systems are utilized to verify the practicability and validity of the proposed method. Results of simulations reveal that IChOA has significant competitive advantages in addressing the STHS problem. © 2022, IAENG International Journal of Computer Science. All Rights Reserved.

关键词： Particle swarm optimization (PSO)

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Efficient Image Super-Resolution with Feature Interaction Weighted Hybrid Network

arXiv

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arXiv 2022年

作者： Li, Wenjie Li, Juncheng Gao, Guangwei Deng, Weihong Yang, Jian Qi, Guo-Jun Lin, Chia-Wen Pattern Recognition and Intelligent System Laboratory School of Artificial Intelligence Beijing University of Posts and Telecommunications Beijing100080 China Intelligent Visual Information Perception Laboratory Institute of Advanced Technology Nanjing University of Posts and Telecommunications Nanjing210046 China Key Laboratory of Artificial Intelligence Ministry of Education Shanghai200240 China Provincial Key Laboratory for Computer Information Processing Technology Soochow University Suzhou215006 China School of Communication and Information Engineering Shanghai University Shanghai200444 China School of Computer Science and Technology Nanjing University of Science and Technology Nanjing210094 China Research Center for Industries of the Future the School of Engineering Westlake University Hangzhou310024 China OPPO Research SeattleWA98101 United States Department of Electrical Engineering National Tsing Hua University Hsinchu30013 Taiwan

Lightweight image super-resolution aims to reconstruct high-resolution images from low-resolution images using low computational costs. However, existing methods result in the loss of middle-layer features due to activation functions. To minimize the impact of intermediate feature loss on reconstruction quality, we propose a Feature Interaction Weighted Hybrid Network (FIWHN), which comprises a series of Wide-residual Distillation Interaction Block (WDIB) as the backbone. Every third WDIB forms a Feature Shuffle Weighted Group (FSWG) by applying mutual information shuffle and fusion. Moreover, to mitigate the negative effects of intermediate feature loss, we introduce Wide Residual Weighting units within WDIB. These units effectively fuse features of varying levels of detail through a Wide-residual Distillation Connection (WRDC) and a Self-Calibrating Fusion (SCF). To compensate for global feature deficiencies, we incorporate a Transformer and explore a novel architecture to combine CNN and Transformer. We show that our FIWHN achieves a favorable balance between performance and efficiency through extensive experiments on low-level and high-level tasks. Codes will be available at https://***/IVIPLab/FIWHN. Copyright © 2022, The Authors. All rights reserved.

关键词： Image reconstruction

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Test piece design, mechanical properties and fracture strain in two-step tensile testing of lightweight materials at high strain rates

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International Journal of Impact Engineering 2025年 206卷

作者： Da Cai Hao Jiang Peng Wang Qing Wang Weifeng Gan Junjia Cui Guangyao Li State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle Hunan University Changsha 410082 China Battery System Development Department Contemporary Amperex Technology Co. Ltd Ningde 352100 China Shenzhen Huashun Intelligent Equipment Co. Ltd Shenzhen 518119 China Shenzhen Automotive Research Institute Beijing Institute of Technology Shenzhen 518119 China

Continuous forming at high strain rates is an important research direction for future precision forming of light alloys. In this study, dynamic behavior of AA5052 aluminum alloy in two-step tensile testing at high strain rates were investigated. Special two-step tensile test piece at high strain rate was designed. The test piece of the special design contained a weak structural notch area and a dog-bone shaped area. The test piece was pre-stretched to a pre-determined strain so that the weak region broke. Then a secondary stretching was performed. The response surface equations of pre-strain and pre-strain rate were established separately to evaluate the functional relationship between the notch interval, tensile velocity and strain rate, and equivalent plastic strain. The effects of the parameters on the fracture strain were compared. The results showed that the test pieces could meet the requirements of the two-step tensile test at high strain rates. The pre-strain and pre-strain rate were affected by the size of the notch interval and the tensile velocity. The increase of tensile strength was related to pre-strain and secondary strain rate. The linear cumulative damage criterion can be used to interpret the two-step stretching at high strain rates. When the strain rate in single-step stretching is the same as the strain rate in each step of two-step stretching, the fracture strain in single-step stretching can be substituted for the fracture strain in two-step stretching. Research can help solve the problems of poor formability and early failure of lightweight alloys.

关键词：

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Magnetically Actuated Pick-and-place Operations of Cellular Micro-rings for High-speed Assembly of Micro-scale Biological Tube

Magnetically Actuated Pick-and-place Operations of Cellular ...

引用

2020 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Yang Wu Tao Sun Qing Shi Huaping Wang Qiang Huang Toshio Fukuda Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and system Ministry of Education School of Mechatronical Engineering Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Tissue engineering is trying to use modular tissue micro-rings to construct artificial biological microtubes as substitute of autologous tissue tubes to alleviate the shortage of donor sources. However, because of the lack of effective assembly strategies, it is still challenging to achieve high-speed fabrication of biological microtubes with high cell density. In this paper, we proposed a robotic-based magnetic assembly strategy to handle this challenge. We first encapsulated magnetic alginate microfibers into micro-rings formed by cell self-assembly to enhance the controllability. Afterwards, a 3D long-stroke manipulator with visual servoing system was designed to achieve magnetic pick-and-place operations of micro-rings for 3D assembly. Moreover, we developed a mathematical model of the motion of micro-ring in solution environments. Based on visual feedback, we analyzed the feasibility of automatic assembly and following response of micro-rings with the moving magnets, which shows our proposed method has great potential to achieve high-speed bio-assembly. Finally, we successfully assembled multi-micro-rings into a biological microtube with high cell density.

关键词： robotic assembly Fabrication Three-dimensional displays Visual servoing Magnetic analysis Electron tubes Mathematical model

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Post-capture angular momentum management of space robot with controllable damping joints 2

Post-capture angular momentum management of space robot with...

引用

2nd IEEE International Conference on Automation, Electronics and Electrical Engineering, AUTEEE 2019

作者： Jia, Chen Xia, Yongjian Chu, Ming Zhang, Xiaodong Space Robot Laboratory Automation School Beijing University of Posts and Telecommunications Beijing China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application Beijing Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (数字)9781728150307

ISBN: (纸本)9781728150291

Aiming at the problems of combination instability and momentum wheel overrun caused by angular momentum transfer after capturing the target in orbit, a method of combination angular momentum management based on controllable electromagnetic damper at joint is proposed. Firstly, based on the Kane method, the combination dynamics equations of space robot base, manipulators with controllable damping joints and target spacecraft are established. Then the structural model of the electromagnetic damper is modeled and the output characteristics and parameters of the damper are studied by analytical calculation. Finally, the simulation of ADAMS verifies the effectiveness of this method in reducing the spin-axis angular momentum of the space combination. © 2019 IEEE.

关键词： Angular momentum

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