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Swimming characteristics of soft robot with magnetoelastic material

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Swimming characteristics of soft robot with magnetoelastic m...

2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Xiang, Hongbiao Li, Mengwei Zhang, Tilei Wang, Shoujun Yang, Xiuping Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781728163215

Cable-less micro-robots have exhibit great capabilities for remote applications in small and constrained environments, especially in biotechnology and healthcare. This paper presents a swimmer propelled by its undulatory deformation using magnetoelastic composite material. The robot can move freely on water surface driven through a function of magnetic field, such as forward, backward and steering with different velocity. The magnetic field is generated by 3D Helmholtz coils, and the locomotion of the micro swimming robot is controlled by different applied magnetic field. To understand the characteristics of the swimmer, the force balance equation is established, and the morphologies of swimmer with different magnetic field are analyzed and described through finite element analysis method. Furthermore, we discuss and analyze relationship between the parameters of magnetic field and the speed of the swimmer. The experimental results verified the speed model of the swimming robot, which is influenced by the frequency and strength of magnetic field. © 2019 IEEE.

关键词： Magnetic fields

Visual servoing of magnetic swimming robot based on mean shift and fast template matching algorithm

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Visual servoing of magnetic swimming robot based on mean shi...

2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Xiang, Hongbiao Zhang, Tilei Li, Mengwei Wang, Shoujun Yang, Xiuping Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781728163215

The actuation and control of mini-scale swimming robots have exhibit promising potential in limited and constrained environments, such as biomedical, micro-assembly and microfluidic applications. However, closed-loop control is still a challenging for the precision and repeatability in those applications. In this paper, a new type of soft-micro swimming robot based on magnetoelastic composite material is designed, and the swimmer can move freely on the water surface controlled by a rotating magnetic field with visual servoing. The visual feedback control strategy is proposed based on Mean Shift Algorithm and Fast Template Matching. The algorithm includes three parts: prediction, template matching, target positioning and template updating. To understand the characteristics of the swimmer, the relationship between swimming speed and magnetic field strength and frequency is verified by the algorithm in experiments. Furthermore, the proposed path following method with visual servoing applied in this control system. The experimental results show that the algorithm runs fast, has high accuracy and good real-time performance, and can provide great potential in mini-scale robot applications. © 2019 IEEE.

关键词： Visual servoing

Optical super-resolution effect induced by nonlinear characteristics of graphene oxide films

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Optoelectronics Letters 2018年第1期14卷 21-24页

作者：赵永创聂仲泉翟爱平田彦婷刘超史长坤贾宝华 Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi Province College of Physics and Optoelectronics Taiyuan University of Technology Centre for Micro-Photonics Faculty of Science Engineering and Technology Swinburne University of Technology

In this work, we focus on the optical super-resolution effect induced by strong nonlinear saturation absorption(NSA) of graphene oxide(GO) membranes. The third-order optical nonlinearities are characterized by the canonical Z-scan technique under femtosecond laser(wavelength: 800 nm, pulse width: 100 fs) excitation. Through controlling the applied femtosecond laser energy, NSA of the GO films can be tuned continuously. The GO film is placed at the focal plane as a unique amplitude filter to improve the resolution of the focused field. A multi-layer system model is proposed to present the generation of a deep sub-wavelength spot associated with the nonlinearity of GO films. Moreover, the parameter conditions to achieve the best resolution(~λ/6) are determined entirely. The demonstrated results here are useful for high density optical recoding and storage, nanolithography, and super-resolution optical imaging.

关键词： GO Optical super-resolution effect induced by nonlinear characteristics of graphene oxide films NSA

Super-resolution longitudinally polarized light needle achieved by tightly focusing radially polarized beams

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Optoelectronics Letters 2018年第1期14卷 1-5页

作者：史长坤聂仲泉田彦婷刘超赵永创贾宝华 Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi Province College of Physics and Optoelectronics Taiyuan University of Technology Centre for Micro-Photonics Faculty of Science Engineering and Technology Swinburne University of Technology

Based on the vector diffraction theory, a super-resolution longitudinally polarized optical needle with ultra-long depth of focus(DOF) is generated by tightly focusing a radially polarized beam that is modulated by a self-designed ternary hybrid(phase/amplitude) filter(THF). Both the phase and the amplitude patterns of THF are judiciously optimized by the versatile particle swarm optimization(PSO) searching algorithm. For the focusing configuration with a combination of a high numerical aperture(NA) and the optimized sine-shaped THFs, an optical needle with the full width at half maximum(FWHM) of 0.414λ and the DOF of 7.58λ is accessed, which corresponds to an aspect ratio of 18.3. The demonstrated longitudinally polarized super-resolution light needle with high aspect ratio opens up broad applications in high-density optical data storage, nano-photolithography, super-resolution imaging and high-efficiency particle trapping.

关键词： Super-resolution longitudinally polarized light needle achieved by tightly focusing radially polarized beams THF PSO

PSF–NET: A non-parametric point spread function model for ground based optical telescopes

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arXiv 2020年

作者： Jia, Peng Wu, Xuebo Yi, Huang Cai, Bojun Cai, Dongmei College of Physics and Optoelectronics Taiyuan University of Technology Taiyuan030024 China Key Laboratory of Advanced Transducers and Intelligent Control Systems Ministry of Education and Shanxi Province Taiyuan University of Technology Taiyuan030024 China Department of Physics Durham University South Road DurhamDH1 3LE United Kingdom

Ground based optical telescopes are seriously affected by atmospheric turbulence induced aberrations. Understanding properties of these aberrations is important both for instruments design and image restoration methods development. Because the point spread function can reflect performance of the whole optic system, it is appropriate to use the point spread function to describe atmospheric turbulence induced aberrations. Assuming point spread functions induced by the atmospheric turbulence with the same profile belong to the same manifold space, we propose a non-parametric point spread function – PSF-NET. The PSF-NET has a cycle convolutional neural network structure and is a statistical representation of the manifold space of PSFs induced by the atmospheric turbulence with the same profile. Testing the PSF-NET with simulated and real observation data, we find that a well trained PSF–NET can restore any short exposure images blurred by atmospheric turbulence with the same profile. Besides, we further use the impulse response of the PSF-NET, which can be viewed as the statistical mean PSF, to analyze interpretation properties of the PSF-NET. We find that variations of statistical mean PSFs are caused by variations of the atmospheric turbulence profile: as the difference of the atmospheric turbulence profile increases, the difference between statistical mean PSFs also increases. The PSF-NET proposed in this paper provides a new way to analyze atmospheric turbulence induced aberrations, which would be benefit to develop new observation methods for ground based optical telescopes. Copyright © 2020, The Authors. All rights reserved.

关键词： Optical transfer function

Wireless Network Monitoring system for River Ice Environment Based on a Data Fusion Algorithm

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Wireless Network Monitoring System for River Ice Environment...

作者： Zhen-yu ZHONG Li ZHANG Jian-min QIN Ze-yu ZHONG Li-qin CUI Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi ProvinceTaiyuan University of Technology China Mobile Group Co. Ltd. State Grid Taiyuan Power Supply Company

There are still quite a few problems in river ice environment monitoring by remote monitoring network, such as the increase of the various sensor nodes and network capacity overload due to the dense deployment, and the decrease of the life expectance of the network. In view of this, the improved K-means data fusion algorithm was proposed to fuse a variety of data by a novel self-developed sensor. Furthermore, the resilient BP network was employed to build a data model database, so as to identify the overall river ice environment at the back-end remotely in real time. Simulation verification and comparison test results show that the proposed algorithm can achieve efficient and accurate data transmission by various sensors and the existing sensor network during the real-time monitoring of the river ice environment.

关键词： River ice Wireless network monitoring Data fusion Data fusion algorithm

Non-invasive optical focusing inside strongly scattering media with linear fluorescence

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arXiv 2020年

作者： Li, Dayan Sahoo, Sujit Kumar Lam, Huy Quoc Wang, Dong Dang, Cuong Nanyang Technological University Singapore 50 Nanyang Avenue Singapore639798 Singapore School of Electrical Sciences Indian Institute of Technology Goa Goa403401 India Temasek Laboratories @ Nanyang Technological University 50 Nanyang Avenue 639798 Singapore 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

Non-invasive optical focusing inside scattering media is still a big challenge because inhomogeneous media scatter both incoming photons for focusing and outgoing photons for observation. Various approaches, utilizing non-linear fluorescence or ultrasound, have been reported to address this difficulty. However, implementation of these methods is complicated and highly expensive, as ultrafast laser systems or photo-acoustic equipment must be employed. Here, we demonstrate a wavefront shaping technique to achieve non-invasive focusing (NiF) inside scattering media using only a linear fluorescent signal. Contrast and mean of incoherent speckles, produced by the linear fluorescence, are utilized as feedback signals to optimize the input wavefront. While increasing speckle contrast makes the focus tighter, and increasing the speckle mean enhances the intensity, fine-tuning the contribution of these two factors in our two-step optimization is essential. An optimal wavefront is found to achieve simultaneously both a micrometer focal spot size (down to 20 μm diameter) and high intensity (more than a 100-fold enhancement) inside the scattering media. Our method promises a new route in life science towards focusing, imaging or manipulating deep into biological tissues with linear fluorescent agents. Copyright © 2020, The Authors. All rights reserved.

关键词： Fluorescence

Charged Lovelock black holes in the presence of dark fluid with a nonlinear equation of state

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arXiv 2019年

作者： Li, Xiang-Qian Chen, Bo Xing, Li-Li College of Physics and Optoelectronic Engineering Taiyuan University of Technology Taiyuan030024 China Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi Province Taiyuan University of Technology Taiyuan030024 China

We consider a model that charged static spherically-symmetric black hole is surrounded by dark fluid with nonlinear equation of state pd = -B/ρd. We find that the energy density of the dark fluid can be characterized by two parameters. The derivation of metric solution, as well as the calculation of black hole thermodynamical quantities as functions of horizon radius, are performed. Specially, in D-dimensional Einstein gravity and Gauss-Bonnet gravity cases, we plot the metric functions and corresponding thermodynamical quantities, such as mass, Hawking temperature and heat capacity, by varying the values of spacetime dimensions and dark fluid parameters. The effects of the dark fluid parameters on black hole solutions as well as on thermodynamical stability of black holes are discussed. Copyright © 2019, The Authors. All rights reserved.

关键词： Gravitation

Data–driven image restoration with option–driven learning for big and small astronomical image datasets

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arXiv 2020年

作者： Jia, Peng Ning, Ruiyu Sun, Ruiqi Yang, Xiaoshan Cai, Dongmei College of Physics and Optoelectronics Taiyuan University of Technology Taiyuan030024 China Key Laboratory of Advanced Transducers and Intelligent Control Systems Ministry of Education and Shanxi Province Taiyuan University of Technology Taiyuan030024 China Department of Physics Durham University South Road DurhamDH1 3LE United Kingdom

Image restoration methods are commonly used to improve the quality of astronomical images. In recent years, developments of deep neural networks and increments of the number of astronomical images have evoked a lot of data–driven image restoration methods. However, most of these methods belong to supervised learning algorithms, which require paired images either from real observations or simulated data as training set. For some applications, it is hard to get enough paired images from real observations and simulated images are quite different from real observed ones. In this paper, we propose a new data–driven image restoration method based on generative adversarial networks with option–driven learning. Our method uses several high resolution images as references and applies different learning strategies when the number of reference images is different. For sky surveys with variable observation conditions, our method can obtain very stable image restoration results, regardless of the number of reference images. Copyright © 2020, The Authors. All rights reserved.

关键词： Image reconstruction