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IEEE International Conference on Robotics and Biomimetics

作者： Yanzi Miao Zongwei Zhang Hesheng Wang Artificial Intelligence Research Institute China University of Mining and Technology Xuzhou China China University of Mining and Technology Xuzhou China 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 Shanghai China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665405362

The improvement of urban greening level makes sanitary work more complicated and difficult, especially, for the seasonal leaf cleaning on roads in the park, campus etc.. With the rapid development of computer vision, it is a feasible and innovative way to detect and clean the fallen leaves effectively with intelligent robot. However, since the irregular shape and size, uneven distribution of fallen leaves and complex outdoor conditions, especially the densely stacked leaves, even current advanced object detection algorithm has no satisfactory effect on detection of fallen leaves. To deal with the dense leaves detection problem and improve navigation efficiency, we propose a Non-Maximum Fusion(NMF) algorithm. NMF scales the high-confidence box with the pre-defined δ to fuse intersecting and adjacent boxes instead of supressing these boxes. The experiments on the fallen leaves data set shows that NMF improves the fallen leaves detection coverage significantly and the coverage reaches to 95%. Also, NMF greatly reduces the number of goal nodes for path planning. Since NMF functions at the back end of detector to process detection boxes without training, it can be intergrated into any fallen leaves detection pipeline easily.

关键词： Training Navigation Shape Roads Pipelines Green products Object detection

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A Survey on Deep Reinforcement Learning for Traffic Signal control

A Survey on Deep Reinforcement Learning for Traffic Signal C...

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第33届中国控制与决策会议

作者： Wei Miao Long Li Zhiwen Wang GS-Unis Intelligent Transportation System&Control Technology Co .Ltd College of Electrical and Information Engineering Lanzhou University of Technology Key Laboratory of Gansu Advanced Control for Industrial Processes Lanzhou University of Technology National Demonstration Center for Experimental Electrical and Control Engineering Education Lanzhou University of Technology

Traffic congestion is one of the most important and complex problems in urban governance for a long *** traffic lights are used at intersections,traffic bottlenecks still appear with the increasing number of private *** recent years,with the continuous development of related technologies in the field of intelligent transportation,more attention has been paid to the automatic driving scheme with intelligent vehicle infrastructure cooperative systems as the *** a kind of advanced artificial intelligence method,deep reinforcement learning(DRL) is applied to traffic signal control(TSC) to achieve the purpose of optimizing roadside traffic *** this paper,we introduce the background of TSC(i.e.,main parameters,methods and simulation tools),and then summarize the representation of DRL model(i.e.,state,action and reward) and the application of DRL in *** research scenarios of TSC are divided into single-agent and ***,according to existing works in this field,the problems to be solved are put forward and the paper is summarized.

关键词： Deep reinforcement learning Traffic signal control Multi-agent Intersection

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Finite Element Analysis of Series Elastic Actuator for Exoskeleton Robot Joint 17

Finite Element Analysis of Series Elastic Actuator for Exosk...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Xi, Pengyu Ge, Weimin Zhang, Sen Zhang, Zhili Zielinska, Teresa Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin Sino-German University of Applied Science Intelligent Manufacturing College Tianjin300384 China Institute of Aeronautics and Applied Mechanics Warsaw University of Technology Warsaw00665 Poland

ISBN: (纸本)9781728164151

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. © 2020 IEEE.

关键词： Finite element method

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Performance Analysis and Comparison of Different Corrugated Structures and a Novel Alternative Elliptical Twisted Tube in Supercritical Co2 Tower Solar Receivers

SSRN

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SSRN 2022年

作者： Liu, Yun Dong, Yue Li, Tao Zhang, Chuan-Zhi Hebei Key Laboratory of Low Carbon and High Efficiency Power Generation Technology School of Energy Power and Mechanical Engineering North China Electric Power University Baoding071003 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

The concentrated solar power generation system with supercritical CO 2 as working medium has high cycle efficiency, which can effectively reduce the volume of heat exchange equipment and reduce the investment cost. However, there is no systematic comparative study on the effect of tube structure on the performance of supercritical CO 2 , but the structure of tubes has a significant effect on the heat transfer performance of supercritical CO 2 , so it is necessary to study it. In this contribution, we firstly analyze the effects of different structures of tubes on the performance of supercritical CO 2 . Then, we design a novel alternative elliptical twisted tube. Finally, we further analyze the effects of the novel tube on the heat transfer performance of supercritical CO 2 by using the field synergy principle. The results show that the novel alternative elliptical twisted tube is the best structure. When the mass flow is 0.08 kg·s - © 2022, The Authors. All rights reserved.

关键词： Solar energy

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Prediction model of bone drilling temperature based on heat source method in surgical rehabilitation

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Procedia CIRP 2020年 89卷 263-269页

作者： Yahui Hu Zhiqiang Yan Xiangjun Li Chunqiu Zhang Qingchun Zheng Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjing University of Technology Tianjin China School of Mechanical Engineering Tianjin University of Technology Tianjin China

In order to feedback the cutting temperature in real time during the operation with the surgical robot, this study established a temperature prediction model to analyze the temperature distribution of the cortex. In this work, a three-dimensional governing equation for heat transfer of bone tissue during drilling is proposed, and the heat transfer of cortical bone is evaluated by a reverse heat transfer method. The prediction model was validated by experimental methods and the heat affected zone (HAZ) of cortical bone was analyzed. The results show that the prediction results are in good agreement with the relevant experimental results. HAZ increases with increasing rate of penetration; the closer the bone hole is, the earlier the temperature rises; and the temperature at which the cortical bone is difficult to measure (radial distance x < 0.5 mm) is predicted. The predictive model can accurately predict the temperature distribution of the cortical bone and prevent the occurrence of thermal damage. Provide technical support for the development of medical rehabilitation robots. And reduce the patient’s secondary injury, which is conducive to rapid recovery after surgery.

关键词： Cortical bone drilling Temperature estimation Inverse heat transfer problem Thermal damage rehabilitative

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Determination of weak squeezed vacuum state through photon statistics measurement

arXiv

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arXiv 2021年

作者： Zuo, Guanhua Zhang, Yuchi Li, Jing Zhu, Shiyao Guo, Yanqiang Zhang, Tiancai State Key Laboratory of Quantum Qptics 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 Taiyuan030600 China

Weak squeezed vacuum light, especially resonant to the atomic transition, plays an important role in quantum storage and generation of various quantum sources. However, the general homodyne detection (HD) cannot determine weak squeezing due to the low signal to noise ratio and the limited resolution of the HD system. Here we provide an alternative method based on photon statistics measurement to determine the weak squeezing of the squeezed vacuum light generated from an optical parametric oscillator working far below the threshold. The approach is established the relationship between the squeezing parameter and the second-order degree of coherence. The theoretical analysis agrees well with the experiment results. The advantage of this method is that it provides a feasible and reliable experimental measure to determine the weak squeezing with high precision and the measurement is independent on the detection efficiency. This method can be used to measure other quantum features for various quantum states with extremely weak non-classicality. Copyright © 2021, The Authors. All rights reserved.

关键词： Optical parametric oscillators

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In-Situ Biaxial Cyclic Loading Behavior of Articular Cartilage and its Microstructure Analysis

SSRN

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SSRN 2022年

作者： Gao, Lilan Feng, Luming Tan, Yansong Liu, Gang Li, Ruixin Gao, Hong Zhang, Chunqiu Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Tianjin Stomatological Hospital Tianjin300041 China School of Chemical Engineering and Technology Tianjin University Tianjin300350 China

Altered cyclic loading may change the mechanical properties, further inducing damage to articular cartilage. In this study, we studied the biaxial cyclic loading behavior of knee articular cartilage and analyzed the changes of microstructure at fibril level. Firstly, the in-plane biaxial cyclic behaviors of cartilage were investigated with an emphasis on the effects of loading paths to account for complicated loading states in daily activities. The results show that the strain evolution in X-direction is obviously affected by the constraints in Y-direction (orthogonal direction). The loading path has a great influence on the biaxial mean strain, while due to no constraint and the largest stress constraint in Y direction, proportional loading path and uniaxial loading path show the highest and lowest mean strain in X-direction, respectively. Subsequently, the effects of stress amplitude and stress peak holding time on mean strain were probed under square path. It was found that the mean strain of cartilage increases with the increase of stress amplitude or peak stress holding time. In addition, to reveal the inherent deformation mechanism, the collagen fibrils networks before and after biaxial cyclic loading were analyzed. The rearrangement of collagen fibrils networks is related to the stress state of cartilage. Larger stress leads to severer fiber damage in cartilage. © 2022, The Authors. All rights reserved.

关键词： Cartilage

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Dynamic analysis of a mobile parallel manipulator with imperfect revolute joints

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Robotica 2025年

作者： Yang, Yuwei Lv, Xingchang Li, Zhaotong Yin, Jiapeng Wang, Haoyu Li, Shuo Wang, Jutao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

Due to the effects of tolerance, design, and manufacturing deviations, there are clearances in the revolute joints of mechanical arms. These clearances can easily lead to system impacts and vibrations, resulting in a decrease in dynamic performance and affecting the trajectory tracking accuracy of the end effector. The existing dynamic models of mechanisms with clearance in revolute joints lack comprehensiveness, universality, and systematicity, and have not addressed the impact of joint reaction forces within clearance revolute joints on the system. The impact collision problem of the revolute joints with clearance was systematically, accurately, and comprehensively modeled and simulated in this study based on multibody dynamics theory. Based on Hertz's elastic theory, the LuGre friction model, and joint reaction forces, this paper constructs constraint and mechanical models of revolute joints with clearance based on the theory of multibody dynamics. To facilitate multibody dynamics analysis, the collision impact direction matrix is proposed and used for the first time to transform the mechanical model of revolute joints with clearance into external forces. The dynamic models of mobile parallel and double serial manipulators are then constructed. Through numerical simulations on different clearance amounts, tracking trajectories, and load parameters, the impact of revolute joint clearances on system dynamic performance is analyzed. The engineering significance of this research in dynamic analysis of mobile parallel manipulators under imperfect revolute joint conditions is also discussed. © The Author(s), 2025.

关键词： Vibration analysis

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Lasing in self-assembled biophotonic network

arXiv

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arXiv 2021年

作者： Gong, Chaoyang Qiao, Zhen Zhu, Song Wang, Wenjie Chen, Yu-Cheng School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education Taiyuan University of Technology 79 Yingze Street Taiyuan030024 China School of Chemical and Biomedical Engineering Nanyang Technological University 62 Nanyang Drive 637459 Singapore

Mode competition is conventionally regarded as an unwanted phenomenon that induces instability of laser emission. Here, we experimentally demonstrate that the random dynamics behavior of mode competition provides hidden information of the intracavity topology. We introduced the concept of self-assembled biophotonics networks, where human insulin protein with network topology was sandwiched in a Fabry-Perot (FP) cavity. The optical coupling between insulin fibrils and enables strong mode competition. Thanks to the optical feedback provided by the FP cavity, the interaction between the light and insulin network was enhanced. Subtle changes in the network will cause significant changes in laser mode dynamics. By recording the transverse mode dynamics, we reconstruct a graph that reveals the optical correlation in the insulin network. Our results indicate that the graph represents an intrinsic feature and can sensitivity respond to the stimulus. The unclonable and sensitively responsive property of the biophotonic lasing network can potentially be employed in applications in sensing and information encryption. © 2021, CC BY-NC-ND.

关键词： Insulin

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Flat-band Line states in Photonic Kagome Lattices

Flat-band Line states in Photonic Kagome Lattices

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第9届纳米操纵、制造与测量国际会议

作者： Xianglian Liu Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of EducationTaiyuan University of TechnologyChina

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