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arXiv 2019年

作者： Abdelaziz, Omar Luo, Minzhou Jiang, Guanwu Chen, Saixuan University of Science and Technology of China Hefei230026 China Key Laboratory of special robot technology of Jiangsu Province Hohai University Changzhou213000 China Institute of Intelligent Manufacturing Technology Jiangsu Industrial Technology Research Institute Nanjing211800 China Egyptian Russian University Egypt

The paper presents the Inverse Kinematics (IK) close form derivation steps using combination of analytical and geometric techniques for the UR robot. The innovative application of this work is used in the precise positioning of puncture robotics system. The end effector is a puncture needle guide tube, which needs precise positioning over the puncture insertion point. The IK closed form solutions bring out maximum 8 solutions represents 8 different robot joints configurations. These multiple solutions are helpful in the puncture robotics system, it allow doctors to choose the most suitable configuration during the operation. Therefore the workspace becomes more adequate for the coexistence of human and robot. Moreover IK closed form solutions are more precise in positioning for medical puncture surgery compared to other numerical methods. We include a performance evaluation for both of the IK obtained by the closed form solution and by a numerical method. Copyright © 2019, The Authors. All rights reserved.

关键词： Inverse kinematics

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Evolution model for word-of-mouth communication based on improved cellular automata 2019

Evolution model for word-of-mouth communication based on imp...

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2019 International Conference on Management Science and Industrial Engineering, MSIE 2019

作者： Su, Jiafu Yu, Xin Hu, Sensen National Research Base of Intelligent Manufacturing Service Chongqing Technology and Business University No. 19 Xuefu Avenue Nan'an District Chongqing China International College National Institute of Development Administration 118 Moo3 Serithai Road Klong-Chan Bangkapi Bangkok Thailand Chongqing Key Laboratory of Electronic Commerce and Supply Chain System Chongqing Technology and Business University No. 19 Xuefu Avenue Nan'an District Chongqing China

ISBN: (纸本)9781450362641

From the view of the micro-interaction between customers, this paper aims to investigate the evolution process and mechanism for Word-of-Mouth (WOM) communication. First, consulting the SIS model, this work depicts the process of WOM communication employing the thought of epidemic spread. Then, this paper improves the traditional cellular automata model to better reflect the WOM communication in reality. On its basis, the WOM communication evolution model is proposed. Through simulation of the proposed model, this paper studies the evolution process of WOM communication, and the influence of the WOM introduction strategy and the accessibility of WOM between communities on WOM communication performance. The results give us a comprehensive understanding of the evolution process and mechanism of WOM communication, and reveal valuable management enlightenments about how to improve the WOM communication performance, which are helpful to the managers and decision makers to effectively carry out WOM management. © 2019 ACM.

关键词： Cellular automata

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A Flexible Pressure Sensor Based on Poly(dimethylsiloxane) Nanostructures Film

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Journal of Microelectronic manufacturing 2019年第3期2卷 7-12页

作者： Man Zhang Liangping Xia Suihu Dang Lifang Shi Axiu Cao Chunlei Du School of Electronic Information Engineering Yangtze Normal University Chongqing China 408100 Institute of Optics and Electronics Chinese Academy of Sciences Chengdu China 610209 Chongqing Key Laboratory of Multi-Scale Manufacturing Technology Chongqing Institute of Green and Intelligent Technology Chinese Academy of Sciences Chongqing China 400714

This paper proposed a flexible pressure sensor based on poly(dimethylsiloxane) nanostructures film and report an efficient,simple,and low-cost fabrication strategy via soft nanoimprint *** pressure sensor can convert external pressure or mechanical deformation into electrical signal to detect pressure and strain changes based on the coupling of triboelectrification and electrostatic *** enhance the performance of the pressure sensor,it consists of sub-500 nm resolution on the surface of elastic poly(dimethylsiloxane) sensitive layer and an indium tin oxide electrode thin *** the pressure applied on the nanostructures layer,triboelectrostatic charges are *** the experiment,it measures up to sensitivity of 0.8 V/kPa at frequency of 5 *** study results in potential applications such as wearable smart devices and skin-attachable diagnostics sensing systems.

关键词： Flexible pressure sensor poly(dimethylsiloxane) soft nanoimprint lithography triboelectrostatic charges

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Low loss terahertz devices based on polymer infstrate

Low loss terahertz devices based on polymer infstrate

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International Symposium on Optoelectronic technology and Application 2018: Micro-Optics and MOEMS, OTA 2018

作者： Xia, Liangping Mao, Hongyan Zhang, Xinqun Dang, Suihu Yan, Wenjuan Li, Songbai School of Electronic Information Engineering Yangtze Normal University Chongqing China Chongqing Key Laboratory of Multi-Scale Manufacturing Technology Chongqing Institute of Green and Intelligent Technology Chinese Academy of Sciences Chongqing China

ISBN: (纸本)9781510623385

The fabrication method of hard template infstrate supporting in the lithography process is proposed to realize THz devices based on low loss polymer infstrate with large effective area. Based on this method, the THz polarizer with single layered and double layered grating structure are fabricated and measured. The transmission spectra indicates that the loss of the polarizer is low and the polarization extinction ratio is as high as 55dB and 70dB for single and double layered samples respectively. The THz band stop filter result indicates that the loss keeps low and the filter band width is wider for the multi-layered metallic structure. © 2018 SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Notch filters

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Research on modeling and compensation method for ground level error based on mobile manipulator

International Journal of Mechatronics and Applied Mechanics

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International Journal of Mechatronics and Applied Mechanics 2019年第5期2019卷 179-186页

作者： Guo, Shuai Yue, Chengtao Song, Tao Jia, Qibo Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronics Engineering and Automation Shanghai University HC204 No. 99 Road Shangda Shanghai200444 China Shanghai Robot Industrial Technology Research Institute 509 Wuning Road Putuo District Shanghai China

In this paper, a modeling and compensation method for ground level error based on mobile manipulator is proposed. The ground level error is caused by the former civil construction and will affect the accuracy of baseline drawing and subsequent decoration engineering. This paper focuses on a mobile manipulator which can carry out decoration engineering automatically. The ground level error should be dealt with before baseline drawing. The entire method can be summed up into three steps. The first step is spatial kinematics modeling for mobile manipulator. The second one is step ground level error acquisition with tilt sensor mounted on the system. The last one is curve fitting and compensation based on the mobile manipulator. Two fitting methods are proposed: direct polynomial fitting and piecewise polynomial fitting which aims to common baseline and high-grade baseline respectively. The experiment was also carried out to verify the proposed method. © 2019, Cefin Publishing House. All rights reserved.

关键词： Curve fitting

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Seabed Terrain 3D Reconstruction Using 2D Forward-Looking Sonar: A Sea-Trial Report From The Pipeline Burying Project ⋆

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IFAC-PapersOnLine 2019年第21期52卷 175-180页

作者： Sanming Song Yan Li Zhigang Li Zhiqiang Hu Shuo Li Gun Rae Cho Ji-Hong Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Applied Technology Division Korea Institute of Robot and Convergence 39 Jigok-ro Nam-gu Pohang 709-784 Republic of Korea

In this short paper, we report some preliminary results on the seabed terrain reconstruction using the two-dimensional (2D) forward-looking sonar. In the underwater pipeline burying project, when the burying machine excavating the trench using the jetting device, the stirred turbid water sharply shorten the visual distance of optical camera. Researchers from Shenyang Institute of Automation, Chinese Academy of Sciences (SIA, CAS) and Korea Institute of robot and Convergence (KIRO) work together to reconstruct the 3D environment using the acoustic camera. The proposed reconstruction procedure mainly includes two parts: 3D point-cloud extraction for each sonar frame and point-cloud registration. With the former step, the elevation information, which is irreversely lost in the acoustic imaging process, is recovered by the shape-from-shading technology under the Lambert surface assumption. With the latter, a registration method based on symmetrical Kullback-Leibler divergence has been proposed to stitch the point clouds from each sonar image into a panoramic terrain map. The initial experiment results with the sea-trial datasets demonstrate that the proposed method is feasible for the practical underwater engineering.

关键词： Seabed terrain 3D reconstruction forward-looking sonar pipeline burying shape-from-shading point-cloud registration

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Thermal conductivity and rheological behavior of silica / simulated body fluid - Dispersed Hardystonite and Åkermanite nanofluids: X-ray diffraction to analyze structure and morphology of a bio-ceramic

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International Communications in Heat and Mass Transfer 2025年 165卷

作者： Liu, Shulong Saidani, Taoufik Feng, Dulong Alawi, Mohammed Jameel Hussien, Mohamed Deebani, Wejdan Anhui Province Key Laboratory of Intelligent Computing and Applications Huaibei Normal University Huaibei235000 China Anhui Province Industrial Generic Technology Research Center for Alumics Materials Huaibei Normal University Huaibei235000 China School of Physics and Electronic Information Huaibei Normal University Huaibei235000 China Center for Scientific Research and Entrepreneurship Northern Border University Arar73213 Saudi Arabia Anhui Guangbo Mechanical Electronic Manufacturing Co. Ltd. Huaibei235000 China Electrical Engineering Department College of Engineering and Architecture Umm Al-Qura University Makkah Saudi Arabia Department of Chemistry Faculty of Science King Khalid University P.O. Box 9004 Abha61413 Saudi Arabia Department of Mathematics College of Science & Arts King Abdul Aziz University Rabigh21911 Saudi Arabia

Bioceramics are integral in biomedical applications due to their biocompatibility, bioactivity, and mechanical properties. This study compares the thermal and rheological behavior of two hybrid bio-nanofluids (bi-ns): Hardystonite/Silica and Åkermanite/Silica dispersed in simulated body fluid (SBF). Nanoparticle morphology and composition were analyzed using X-ray diffraction (XRD) and field emission scanning electron microscopy (FESEM), confirming the crystalline phases of both composites. Åkermanite/Silica showed better dispersion stability, with a higher zeta potential (−16.19 mV) than Hardystonite/Silica (−7.23 mV). The addition of silica (SiO2) improved stability for both, with zeta potential increases of ∼203 % and 69 %, respectively. Thermal conductivity of both nanofluids increased with temperature and volume fraction, with Åkermanite/Silica achieving a maximum enhancement of 13.16 % (20–40 °C). However, both showed negative thermal conductivity enhancements compared to SBF, especially at higher concentrations. Hardystonite/Silica demonstrated greater thermal compatibility with SBF. Rheologically, both nanofluids exhibited shear-thinning behavior. Hardystonite/Silica showed a stronger reduction in viscosity with temperature increase—up to 43.43 % at 0.25 % volume fraction—compared to 32.74 % for Åkermanite/Silica. These results highlight the interaction between thermal and flow properties in bi-ns, indicating that Hardystonite/Silica may be better suited for applications requiring thermal compatibility and viscosity control. The findings contribute to the optimization of hybrid nanofluids for bone-related biomedical applications. © 2025 Elsevier Ltd

关键词： Medical nanotechnology

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Sparsity-aware SSAF algorithm with individual weighting factors for acoustic echo cancellation

arXiv

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arXiv 2020年

作者： Yu, Yi Yang, Tao Chen, Hongyang de Lamare, Rodrigo C. Li, Yingsong School of Information Engineering Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Southwest University of Science and Technology Mianyang621010 China Research Center for Intelligent Networking Zhejiang Lab Hangzhou311121 China CETUC PUC-Rio Rio de Janeiro22451-900 Brazil Department of Electronic Engineering University of York YorkYO10 5DD United Kingdom School of Information and Communication Engineering Harbin Engineering University Harbin150001 China

In this paper, we propose and analyze the sparsity-aware sign subband adaptive filtering with individual weighting factors (S-IWF-SSAF) algorithm, and consider its application in acoustic echo cancellation (AEC). Furthermore, we design a joint optimization scheme of the step-size and the sparsity penalty parameter to enhance the S-IWF-SSAF performance in terms of convergence rate and steady-state error. A theoretical analysis shows that the S-IWF-SSAF algorithm outperforms the previous sign subband adaptive filtering with individual weighting factors (IWF-SSAF) algorithm in sparse scenarios. In particular, compared with the existing analysis on the IWF-SSAF algorithm, the proposed analysis does not require the assumptions of large number of subbands, long adaptive filter, and paraunitary analysis filter bank, and matches well the simulated results. Simulations in both system identification and AEC situations have demonstrated our theoretical analysis and the effectiveness of the proposed algorithms. Copyright © 2020, The Authors. All rights reserved.

关键词： Impulse noise

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Modified ddpg algorithm applied to simulation supervised learning 48

Modified ddpg algorithm applied to simulation supervised lea...

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48th International Conference on Computers and Industrial Engineering, CIE 2018

作者： Jia, Zhengxuan Xiao, Yingying Zhao, Zhilong Lin, Tingyu State Key Laboratory of Intelligent Manufacturing System Technology Beijing 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

With rapid development of machine learning, supervised learning and reinforcement learning have witnessed a considerable success. However, some problems like the absence of supervising signal in supervised learning are not yet solved. In this paper, a novel approach has been proposed based on the deep deterministic policy gradient algorithm to address such kind of problems, forming the training of an agent supervised by the simulation environment. As verification, our proposed approach is applied to a modified tower defense game, and the experimental results confirmed the effectiveness of our proposed approach. © 2018, Curran Associates Inc. All rights reserved.

关键词： Supervised learning

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Adaptive detection scheme for solder joints based on guided image filtering and geometrical edge selection

Adaptive detection scheme for solder joints based on guided ...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Liang, Qiaokang Jin, Jing Long, Jianyong Sun, Wei Cai, Juan Xia, Xiaohu Zhang, Guangbing Hunan Key Laboratory of Intelligent Robot Technology in Electronic Manufacturing Hunan University Changsha410082 China College of Electrical and Information Engineering Huaihua University Huaihua418000 China Department of Mechanical Engineering Hefei University Hefei China School of Electronics and Information Engineering Anhui Jianzhu University Hefei China

ISBN: (纸本)9781538680698

Aiming to effectively inspect solder joints on vehicle body-in-white, a novel detection and calibration scheme based on guided image filtering and geometrical edge selection is proposed. The scheme can be generally divided into the following three stages. In the image preprocessing stage, the homomorphic filter is utilized to adjust the illumination of the solder joint image. Then the contours of solder joints are sharpened, and the noise is eliminated by the guided image filtering. In the edge detection stage, the candidate contours are given by the improved Canny edge detection. Then, the obvious interference edges are effectively removed by the proposed geometrical edge selection method. After that, an improved K-means clustering method is used to remove the round edges of the body spots and distinguish multiple solder joints' edges. In the calibration stage, multiple solder joints' edges and centers are calculated by the least square method. The extensive experiments on various kinds of solder joints on vehicle body-in-white, which contained vehicle frame contours, rusted, scratched and spotted body, showed that the proposed scheme can detect and calibrate the solder joints quickly and accurately. © 2018 IEEE.

关键词： Edge detection

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