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1st International Conference on Information Science and Engineering, ICISE2009

作者： Jin, Hailiang Liu, Huijie Key Laboratory of Mine Spatial Information Technologies State Bureau of Surveying and Mapping Henan Polytechnic University Jiaozuo China Key Laboratory of Advanced Design and Intelligent Computing Dalian University Dalian China

ISBN: (纸本)9780769538877

GIS has the function of powerful spatial data process and 3D visualization analysis. In this paper, by using available remote sensing image, DEM data for experiment, we realize 3D terrain visualization and terrain analysis, the technology of how to display huge volume of digital elevation model(DEM)data is introduced, and spatial analysis is studied based on the terrain created using DEM. In the end, the paper introduces the process of the implementation in brief. ©2009 IEEE.

关键词： Data visualization

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A rigid structure matching-based noise data processing approach for human motion capture

A rigid structure matching-based noise data processing appro...

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International Workshop on Digital Media and Digital Content Management, DMDCM 2011

作者： Wei, Xiaopeng Xiao, Boxiang Zhang, Qiang Liu, Rui Key Laboratory of Advanced Design and Intelligent Computing Dalian University Ministry of Education Dalian China School of Mechanical Engineering Dalian University of Technology Dalian China

ISBN: (纸本)9780769544137

A noise data processing algorithm based on rigid structure matching for human motion capture (MoCap) is presented in this paper. The noise model is related to parts of human body, but not to trajectories of markers as most used in traditional approaches. Three issues are addressed in this method: rigid structure matching, semantic restriction and noise reduction, and they are three steps of data processing. First, human body is divided into seven main parts: head, chest, waist, hands and legs, and all parts' candidate parts are generated by algorithm of rigid structure matching from motion data. Missing markers can be automatically reconstructed by existing markers on a same rigid structure. Subsequently, one group of parts with most possibility is determined as initial processed data by semantic restriction. Finally, an impulse noise model is found based on the analysis of data, and the noise has been filtered. At the end, the main conclusions of this research are drawn, and the advantages and limitations of this approach are discussed respectively. The algorithm presented can be easily implemented and performed, and the processed motion data can be expediently used in human body animation. The efficiency of the method is illustrated by the experiments. © 2011 IEEE.

关键词： Rigid structures

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Humanoid Robot Collaborative Lifting Integrating Executable Judgment

Humanoid Robot Collaborative Lifting Integrating Executable ...

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2022 IEEE International Symposium on Product Compliance Engineering - Asia, ISPCE-ASIA 2022

作者： Chang, Hua Yi, Pengfei Liu, Rui Dong, Jing Hou, Yaqing Zhou, Dongsheng The Key Laboratory of Advanced Design and Intelligent Computing Ministry of Education School of Software Engineering Dalian University Dalian China Dalian University of Technology Dalian China

ISBN: (数字)9798350332483

ISBN: (纸本)9798350332483

Humanoid robot collaborative lifting can be used in a variety of scenarios that require repetitive lifting tasks. Most existing studies of humanoid robot collaboration often assume that objects can always be lifted, which may result in damage to both the robot and the object if objects are too heavy to lift. To avoid such situations as much as possible, a collaborative lifting approach integrating executable judgment is proposed. First, a target search and localization method is constructed using monocular vision and marker points to identify the task object. Then, an executable judgment strategy is designed to determine whether the object is overweight or not according to robot force analysis. Finally, a multi-robot joint control model is proposed based on collaborative communication to perform collaborative tasks with different loads based on the judgment results. Experiments on two humanoid robots for different types and weights of targets show the effectiveness of the proposed approach. © 2022 IEEE.

关键词： Anthropomorphic robots

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Robotic global path-planning based modified genetic algorithm and A* algorithm

Robotic global path-planning based modified genetic algorith...

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3rd International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2011

作者： Zeng, Cen Zhang, Qiang Wei, Xiaopeng Dalian University of Technology Dalian Liaoning116024 China Key Laboratory of Advanced Design and Intelligent Computing Dalian University Ministry of Education Dalian 116622 China

ISBN: (纸本)9780769542966

Global path planning for mobile robot using genetic algorithm and A* algorithm is investigated in this paper. The proposed algorithm includes three steps: the MAKLINK graph theory is adopted to establish the free space model of mobile robots firstly, then Dijkstra algorithm is utilized for finding a feasible collision-free path, finally the global optimal path of mobile robots is obtained based on the hybrid algorithm of A* algorithm and genetic algorithm. Experimental results indicate that the proposed algorithm has better performance than Dijkstra algorithm in term of both solution quality and computational time, and thus it is a viable approach to mobile robot global path planning. © 2011 IEEE.

关键词： Mobile robots

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An image encryption algorithm based on DNA self-assembly technology

An image encryption algorithm based on DNA self-assembly tec...

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2010 IEEE International Conference on intelligent computing and intelligent Systems, ICIS 2010

作者： Zhou, Shihua Zhang, Qiang Wei, Xiaopeng School of Mechanical Engineering Dalian University of Technology Dalian China Key Laboratory of Advanced Design and Intelligent Computing Dalian University Ministry of Education Dalian China

ISBN: (纸本)9781424465835

DNA self-assembly that is fast developed in the fields of DNA computing and nano technology has become the focus of scientific fields. DNA self-assembly is a method that uses the characteristics of base-pair to form polyhedron or super molecular structure. This is a complex progress from disordered to well-ordered, from simple to complicated. This paper mainly introduces that the DNA self-assembly technology is applied into the image encryption. In this paper, we proposed a complete design scheme of DNA tiles that is suitable for the image encryption. The DNA tiles mainly include five types, namely DNA tiles of the plaintext, DNA tiles of the encryption, DNA tiles of the cipertext, DNA tiles of the key and DNA tiles of the decryption. Through a simulate example, the effect of the image encryption algorithm is shown. ©2010 IEEE.

关键词： Cryptography

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Kinematic Modeling and Error Analysis of the Six Pole Parallel Robot

Kinematic Modeling and Error Analysis of the Six Pole Parall...

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2016 IEEE advanced Information Management,Communicates,Electronic and Automation Control Conference(IMCEC 2016)

作者： ZHAO Xin-hua LUAN Qian-qian ZHAO Lei WANG Shou-jun GE Wei-min FAN Meng-ran Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronic System Tianjin University of Technology School of Mechanic Engineering

ISBN: (纸本)9781509001668

The parallel manipulator has some advantages of high accuracy,high speed and high stiffness *** makes up for the shortcomings of serial *** the parallel mechanism becomes a potential motion platform with high speed and high *** poles parallel robot improves these defects of more singularity,poor load capacity and low stiffness which exist in workspace of the classic plane five poles parallel *** and forward kinematic models are established based on the structure of the *** influence of foundation beds' location error,driving angle error and rod processing error on control accuracy is systematically *** theoretical foundation has been provided for realizing the optimal design of the robot and control in high accuracy.

关键词： high speed parallel robot kinematics error analysis

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An asymmetrically substituted dithieno[3,2-b:2',3'-d]pyrrole organic small-molecule hole-transporting material for high-performance perovskite solar cells

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Chinese Journal of Chemical Engineering 2022年第5期35卷 51-57页

作者： Jingwen Jia Yue Zhang Liangsheng Duan Quanping Wu Yu Chen Song Xue Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin 300384China Tianjin Key Laboratory of Organic Solar Cells and Photochemical Conversion Department of Applied ChemistryTianjin University of TechnologyTianjin 300384China

Hole-transporting materials play a vital role in terms of the performance of perovskite solar cells(PSCs).The dithieno[3,2-b:2’,3’-d]pyrrole(DTP),an S,N-heterocyclic building block,has been proved to be desirable for molecular design of hole-transporting materials in *** developed an asymmetrically substituted DTP small-molecule(JW12)and a reference compound(JW11).The asymmetrical structure of JW12 leads to different absorption properties and electron *** device in a planar n-i-p architecture using JW12 shows a much higher PCE(18.07%)than that based on JW11(15.46%),which is also better than the device based on spiro-OMe TAD(17.47%).We hope our research can provide a new perspective in molecular design of organic HTMs for perovskite solar cells.

关键词： Hole-transporting materials DTP Perovskite Photovoltaic performance

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Experimental research on dynamic characteristics analysis of machine tool based on unit structure

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Revista de la Facultad de Ingenieria 2016年第4期31卷 70-84页

作者： Zhu, Peihao Zheng, Qingchun Hu, Yahui Wang, Bing Chao, Jiaqi Tu, Huan Sun, Ning Li, Jinxiang School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin300384 China

By the experiment modal research for unit structure, the natural frequency and mass of US by means of experimental modal analysis is explored. Experimental modal analysis on US was applied to achieve optimal US simultaneously to satisfy multiple conflicting performance requirements of mass and natural frequency of US. Then the structural parameters of US were optimized to increase natural frequencies and reduce mass. Experimental modal analysis is an efficient technique to accurately identify the dynamic behavior of a structure and provides modal parameters, such as natural frequencies and mode shapes.

关键词： Modal analysis

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key Frames Extraction Based on the Improved Genetic Algorithm

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Computer Aided Drafting,design and Manufacturing 2014年第4期24卷 74-78页

作者： ZHOU Dong-sheng JIANG Wei YI Peng-fei LIU Rui Key Laboratory of Advanced Design and Intelligent Computing Ministry of Education Dalian University

In order toovercomethe poor local search ability of genetic algorithm, resulting in the basic genetic algorithm is time-consuming, and low search abilityin the late evolutionary, we use thegray coding instead ofbinary codingatthebeginning of the coding;we use multi-point crossoverto replace the originalsingle-point ***, theexperimentshows that the improved genetic algorithmnot only has a strong search capability, but also thestability has been effectively improved.

关键词： key frames extraction grey code binary code genetic algorithm

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Path Tracking Controller design of Automated Parking Systems via NMPC with an Instructible Solution

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 353-367页

作者： Liang Chen Zhaobo Qin Manjiang Hu Yougang Bian Xiaoyan Peng State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082China Wuxi Intelligent Control Research Institute of Hunan University Wuxi 214115China

Parking difficulties have become a social issue that people have to *** parking system is practicable for quick par operations without a driver which can also greatly reduces the probability of parking *** paper proposes a Lyapunov-based nonlinear model predictive controller embedding an instructable solution which is generated by the modified rear-wheel feedback method(RF-LNMPC)in order to improve the overall path tracking accuracy in parking ***,A discrete-time RF-LNMPC considering the position and attitude of the parking vehicle is proposed to increase the success rate of automated parking ***,the RF-LNMPC problem with a multi-objective cost function is solved by the Interior-Point Optimization,of which the iterative initial values are described as the instructable solutions calculated by combining modified rear-wheel feedback to improve the performance of local optimal ***,the details on the computation of the terminal constraint and terminal cost for the linear time-varying case is *** closed-loop stability is verified via Lyapunov techniques by considering the terminal constraint and terminal cost ***,the proposed RF-LNMPC is implemented on a selfdriving Lincoln MKZ platform and the experiment results have shown improved performance in parallel and vertical parking *** Monte Carlo analysis also demonstrates good stability and repeatability of the proposed method which can be applied in practical use in the near future.

关键词： Automated parking Path tracking controller Nonlinear model predictive control Monte Carlo analysis

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