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arXiv 2023年

作者： Song, Liang Wang, Guangming Liu, Jiuming Fu, Zhenyang Miao, Yanzi Wang, Hesheng Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China Department of Automation 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 Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

In recent studies, the generalization of neural radiance fields for novel view synthesis task has been widely explored. However, existing methods are limited to objects and indoor scenes. In this work, we extend the generalization task to outdoor scenes, trained only on object-level datasets. This approach presents two challenges. Firstly, the significant distributional shift between training and testing scenes leads to black artifacts in rendering results. Secondly, viewpoint changes in outdoor scenes cause ghosting or missing regions in rendered images. To address these challenges, we propose a geometric correction module and an appearance correction module based on multi-head attention mechanisms. We normalize rendered depth and combine it with light direction as query in the attention mechanism. Our network effectively corrects varying scene structures and geometric features in outdoor scenes, generalizing well from object-level to unseen outdoor scenes. Additionally, we use appearance correction module to correct appearance features, preventing rendering artifacts like blank borders and ghosting due to viewpoint changes. By combining these modules, our approach successfully tackles the challenges of outdoor scene generalization, producing high-quality rendering results. When evaluated on four datasets (Blender, DTU, LLFF, Spaces), our network outperforms previous methods. Notably, compared to MVSNeRF, our network improves average PSNR from 19.369 to 25.989, SSIM from 0.838 to 0.889, and reduces LPIPS from 0.265 to 0.224 on Spaces outdoor scenes. © 2023, CC BY.

关键词： Rendering (computer graphics)

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Bulk Quantification and Molecular Characterization of Thermal Decomposition from the Thermal Desorption of Organic Aerosol

ACS ES&T Air

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ACS ES&T Air 2024年第7期1卷 628-636页

作者： Qingfeng Guo Wei Hu Min Hu Yujue Wang Song Guo Zhijun Wu Jing Zheng Limin Zeng State Key Joint Laboratory of Environmental Simulation and Pollution Control College of Environmental Sciences and Engineering International Joint Laboratory for Regional Pollution Control Ministry of Education (IJRC) Peking University Beijing 100871 China Institute of Surface-Earth System Science School of Earth System Science Tianjin University Tianjin 300072 China Collaborative Innovation Center of Atmospheric Environment and Equipment Technology Nanjing University of Information Science & Technology Nanjing 210044 China Key Laboratory of Marine Environment and Ecology Ministry of Education of China Ocean University of China Qingdao 266100 China

The thermal desorption (TD) technique has been widely employed to measure the molecular composition and volatility of organic aerosols through coupling to mass spectrometry. Although the impact of thermal decomposition on TD instruments has been discussed in the literature, its extent has not yet been quantified. Here, we quantify the decomposition of organic aerosol at the bulk level and qualitatively distinguish between compounds evaporating and decomposing at the molecular level through the combination of online thermodenuder aerosol mass spectrometer (TD-AMS), offline organic carbon/elemental carbon (OC/EC) analyzer, and ultra-high resolution mass spectrometer. Results show that up to 56% of organic mass in ambient aerosol decomposes at a desorption temperature lower than 180 °C, which means that large amounts of organics cannot be detected by TD-coupled instruments. Sulfur-containing compounds with larger molecular masses exhibit weaker thermal stability, making them more susceptible to thermal decomposition than other compounds not containing sulfur. This work provides a means to obtain quantitative and qualitative insights into the thermal decomposition of organic aerosol, which will aid in understanding secondary organic aerosol (SOA) formation and reducing the gap between SOA measurements and model simulations.

关键词： Aerosols Desorption Organic compounds Organic reactions Thermodynamic properties

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Robust UAV Path Planning with Obstacle Avoidance for Emergency Rescue

Robust UAV Path Planning with Obstacle Avoidance for Emergen...

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IEEE Conference on Wireless communications and Networking

作者： Junteng Mao Ziye Jia Hanzhi Gu Chenyu Shi Haomin Shi Lijun He Qihui Wu The Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space Ministry of Industry and Information Technology Nanjing University of Aeronautics and Astronautics Nanjing Jiangsu China National Mobile Communications Research Laboratory Southeast University Nanjing Jiangsu China The School of Information and Control Engineering China University of Mining and Technology Xuzhou China

ISBN: (数字)9798350368369

ISBN: (纸本)9798350368376

The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle avoidance for UAVs is a significant issue for security assurance. In this paper, we construct a comprehensive 3D scenario with obstacles and no-fly zones for dynamic UAV trajectory. Moreover, a novel artificial potential field algorithm coupled with simulated annealing (APF-SA) is proposed to tackle the robust path planning problem. APF-SA modifies the attractive and repulsive potential functions and leverages simulated annealing to escape local minimum and converge to globally optimal solutions. Simulation results demonstrate that the effectiveness of APFSA, enabling efficient autonomous path planning for UAVs with obstacle avoidance.

关键词： Three-dimensional displays Simulation Heuristic algorithms Forestry Simulated annealing Autonomous aerial vehicles Path planning Trajectory Collision avoidance Vehicle dynamics

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Urban constructed wetlands: Assessing ecosystem services and disservices for safe, resilient, and sustainable cities

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Frontiers of engineering Management 2023年第4期10卷 582-596页

作者： Aamir Mehmood SHAH Gengyuan LIU Yu CHEN Qing YANG Ningyu YAN Feni AGOSTINHO Cecilia MVBALMEIDA Biagio FGIANNETTI State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentBeijing Normal UniversityBeijing 100875China Beijing Engineering Research Center for Watershed Environmental Restoration&Integrated Ecological Regulation Beijing 100875China Advanced Interdisciplinary Institute of Environment and Ecology Beijing Normal UniversityZhuhai 519087China Key Laboratory for City Environmental Safety and Green Development of the Ministry of Education Institute of Environmental and Ecological EngineeringGuangdong University of TechnologyGuangzhou510006China Southern Marine Science and Engineering Guangdong Laboratory(Guangzhou) Guangzhou511458China State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentBeijing Normal UniversityBeijing100875China Programa de Pós-graduação em Engenharia de Produção Laboratório de Produção e Meio AmbienteUniversidade Paulista(UNIP)São Paulo04026-002Brazil

Climate change and rapid urbanization are pressing environmental and social concerns, with approximately 56% of the global population living in urban areas. This number is expected to rise to 68% by 2050, leading to the expansion of cities and encroachment upon natural areas, including wetlands, causing their degradation and fragmentation. To mitigate these challenges, green and blue infrastructures (GBIs), such as constructed wetlands, have been proposed to emulate and replace the functions of natural wetlands. This study evaluates the potential of eight constructed wetlands near Beijing, China, focusing on their ecosystem services (ESs), cost savings related to human health, growing/maintenance expenses, and disservices using an emergy-based assessment procedure. The results indicate that all constructed wetlands effectively purify wastewater, reducing nutrient concentrations (e.g., total nitrogen, total phosphorus, and total suspended solids). Among the studied wetlands, the integrated vertical subsurface flow constructed wetland (CW-4) demonstrates the highest wastewater purification capability (1.63E+14 sej/m^(2)/yr) compared to other types (6.78E+13 and 2.08E+13 sej/m^(2)/yr). Additionally, constructed wetlands contribute to flood mitigation, groundwater recharge, wildlife habitat protection, and carbon sequestration, resembling the functions of natural wetlands. However, the implementation of constructed wetlands in cities is not without challenges, including greenhouse gas emissions, green waste management, mosquito issues, and disturbances in the surrounding urban areas, negatively impacting residents. The ternary phase diagram reveals that all constructed wetlands provide more benefits than costs and impacts. CW-4 shows the highest benefit-cost ratio, reaching 50%, while free water surface constructed wetland (CW-3) exhibits the lowest benefits (approximately 38%), higher impacts (approximately 25%), and lower costs (approximately 37%) compared to other we

关键词： constructed wetland emergy ecosystem services disservices ternary diagram

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Manual Alignment of Dual End-Effectors for Piezo-Driven Microhand

Manual Alignment of Dual End-Effectors for Piezo-Driven Micr...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Jichao Pang Dan Liu Xiaoqing Tang Yan Chen Qiang Huang Tatsuo Arai Xiaoming Liu Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical EngineeringBeijing Institute of Technology Key Laboratory of Biomimetc Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accurately aligned seriously affects the precise grasping of the microhand. However, few researchers have presented practical ways for precisely aligning the tip positions of a 6-DOF microhand’s two end- effectors. This paper proposes a novel, inexpensive, lightweight, robust, and easy-to-use microhand dual end-effectors clamping device that can precisely and quickly align the two end-effectors of a 6-DOF microhand. First, we describe the microhand dual end-effectors clamping device’s lightweight structural design. After that, we simplify the microhand dual end-effectors clamping device model and create a mathematical model to determine the relationship between the end-effectors’ tip position and the rotation angles of screw No.1, screw No.2, screw No.3 of the microhand dual end-effectors clamping device. Through experimentation, we are able to attain precise alignment of the two end-effectors tip positions of the 6-DOF microhand, so we confirm that our mathematical model is true. Finally, we use the impulse response of PZT in the microhand’s lower module to confirm the stability of the microhand dual end- effectors clamping device. We believe that the proposed the microhand dual end-effectors clamping device has great potential in industrial and biological applications as a universal tool for precise alignment of the tip positions of the two end-effectors of a 6-DOF microhand.

关键词： Costs Accuracy Fasteners End effectors 6-DOF Mathematical models Biology

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Magnetically Driven Soft Continuum Microrobot for Intravascular Operations in Microscale

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Cyborg and Bionic Systems 2022年第1期2022卷 265-272页

作者： Dan Liu Xiaoming Liu Zhuo Chen Zhaofeng Zuo Xiaoqing Tang Qiang Huang Tatsuo Arai Key Laboratory of Biomimetic Robots and Sytems Ministry of EducationState Key Laboratory of Ielligent Control and Decision.of Complex SystemBeijing Advanced Innovation Center for Itelligent Robots and Systemsand School of Mechatronical EngineeringBeijing Institute of TechnologyBejing 100081China Center for Neuroscience and Biomedical Engineering The University of Electro-CommunicationsTokyo 1828585Japan

Remotely controlled soft continuum robots with active steering capability have broad prospects in medical ***,conventional continuum robots have the miniaturization *** paper presents a microscale soft continuum microrobot with steering and locomotion capabilties based on magnetic field *** magnetically driven soft continuum microrobot is made of NdFeB particles and polyd imethylsiloxane(PDMS),and it can be as small as 200 pum in ***,a hydrogel layer is covered on the surface of the microrobot,which not only overcomes the adhesion force between the microobjects and the soft tip but also reduces the friction between the microrobot and *** performance test indicates the soft continuum microrobot featured excellent control and steering *** experimental results demonstrate that the soft continuum microrobot can travel through the microfluidic channel by its own vibration and flexibly steer in a bifurcation ***,the micromanipulation of microbeads in the microfluidic channels proves that the proposed microscale soft continuum microrobot has a great potential for intravascu lar manipu lation.

关键词： friction robot overcome

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Towards Efficient Path Finding and Moving Stability-Focused Trajectory Planning for Mobile Robots

Towards Efficient Path Finding and Moving Stability-Focused ...

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IEEE International Conference on Robotics and Biomimetics

作者： Muyang Hou Zhenya Lei Haidong Hu Zhong Wang Yong Wang Le Xie Hesheng Wang Department of Automation Shanghai Jiao Tong University Shanghai China School of Information and Control Engineering China University of Mining and Technology Xuzhou China Beijing Institute of Control Engineering Beijing China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China Department of Automation 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 Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant; on the other hand, service robots, which have a higher center of gravity, demand greater moving stability than that of current trajectory planners provide. To address these two challenges. Firstly, we propose a safety boundary first A* which fully utilizes environmental obstacle information to create a safety boundary and searches in it to quickly find an initial path. Secondly, we formulate the trajectory optimization problem as a nonlinear optimization problem, where the smoothness, safety, feasibility, and moving stability of the robot are taken into account. Furthermore, to constrain the robot's lateral acceleration, we design a time allocation algorithm based on non-uniform B-spline, enhancing the quality of the resulting trajectory. Simulations and real-world experiments demonstrate that our algorithms significantly improve path search efficiency, enhance moving stability, reduce the difficulty of tracking, and improve the quality of task completion.

关键词： Hands Trajectory tracking Trajectory planning Service robots Stability analysis Safety Mobile robots Resource management Splines (mathematics) Trajectory optimization

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Real-time Detection and Classification for Targeted marine Mammals

Real-time Detection and Classification for Targeted Marine M...

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2021 OES China Ocean Acoustics, COA 2021

作者： Chen, Yankun Wang, Weiping Liang, Yinian Zhou, Defu Dong, Chao Li, Jie Guangzhou510300 China Key Laboratory of Marine Environmental Survey Technology and Application Ministry of Natural Resources Guangzhou510300 China Southern Marine Science and Engineering Guangdong Laboratory Zhuhai519000 China Wireless Acoustic Radio Cooperative Communications and Application Laboratory Guangzhou China

ISBN: (纸本)9781728181905

With the continuous development of offshore engineering, major offshore projects develop rapidly. During the development of offshore engineering, different degrees of noise will be generated, and the man-made noise can have harmful effects on marine mammals. Currently, The researchers usually use Passive Acoustic Monitoring(PAM) method to monitor the marine mammals. However, it is impossible to acquire, monitor and analyze the sound of marine mammals in real time and lack of comprehensive information of marine mammals monitoring, and the data analysis and study of vocalization rules can only be carried out after data collection is completed and equipment is recovered. Therefore, this paper proposes a real-time automatic detection and classification technology to monitor targeted marine mammals efficiently and continuously timely in offshore engineering areas. © 2021 IEEE.

关键词： Offshore oil well production

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An overview for monitoring and prediction of pathogenic microorganisms in the atmosphere

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Fundamental Research 2024年第3期4卷 430-441页

作者： Jianping Huang Danfeng Wang Yongguan Zhu Zifeng Yang Maosheng Yao Xiaoming Shi Taicheng An Qiang Zhang Cunrui Huang Xinhui Bi Jiang Li Zifa Wang Yongqin Liu Guibing Zhu Siyu Chen Jian Hang Xinghua Qiu Weiwei Deng Huaiyu Tian Tengfei Zhang Tianmu Chen Sijin Liu Xinbo Lian Bin Chen Beidou Zhang Yingjie Zhao Rui Wang Han Li Collaborative Innovation Center for Western Ecological Safety College of Atmospheric SciencesLanzhou UniversityLanzhou 730000China Research Center for Eco-Environmental Sciences Chinese Academy of SciencesBeijing 100085China National Clinical Research Center for Respiratory Disease Guangzhou Institute of Respiratory HealthFirst Affiliated Hospital of Guangzhou Medical UniversityState Key Laboratory of Respiratory Disease(Guangzhou Medical University)Guangzhou 510230China College of Environmental Sciences and Engineering Peking UniversityBeijing 100871China China CDC Key Laboratory of Environment and Population Health National Institute of Environmental HealthChinese Center for Disease Control and PreventionBeijing 100021China Guangdong-Hong Kong-Macao Joint Laboratory for Contaminants Exposure and Health School of Environmental Science and EngineeringInstitute of Environmental Health and Pollution ControlGuangdong University of TechnologyGuangzhou 510006China Ministry of Education Key Laboratory for Earth System Modeling Department of Earth System ScienceTsinghua UniversityBeijing 100084China Vanke School of Public Health Tsinghua UniversityBeijing 100084China State Key Laboratory of Organic Geochemistry and Guangdong Key Laboratory of Environmental Protection and Resources Utilization Guangzhou Institute of GeochemistryChinese Academy of SciencesGuangzhou 510640China National Cancer Center/National Clinical Research Center for Cancer/Cancer Hospital Chinese Academy of Medical Sciences and Peking Union Medical CollegeBeijing 100021China State Key Laboratory of Atmospheric Boundary Layer Physics and Atmospheric Chemistry Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing 100029China Center for Pan-third Pole Environment Lanzhou UniversityLanzhou 730000China College of Atmospheric Sciences Lanzhou UniversityLanzhou 730000China School of Atmospheric Sciences Sun Yat-sen Universityand Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai)Zhuhai 510640

Corona virus disease 2019(COVID-19)has exerted a profound adverse impact on human *** have demonstrated that aerosol transmission is one of the major transmission routes of severe acute respiratory syndrome coronavirus 2(SARS-CoV-2).Pathogenic microorganisms such as SARS-CoV-2 can survive in the air and cause widespread infection among *** monitoring of pathogenic microorganism transmission in the atmosphere and accurate epidemic prediction are the frontier guarantee for preventing large-scale epidemic *** of pathogenic microorganisms in the air,especially in densely populated areas,may raise the possibility to detect viruses before people are widely infected and contain the epidemic at an earlier *** multi-scale coupled accurate epidemic prediction system can provide support for governments to analyze the epidemic situation,allocate health resources,and formulate epidemic response *** review first elaborates on the effects of the atmospheric environment on pathogenic microorganism transmission,which lays a theoretical foundation for the monitoring and prediction of epidemic ***,the monitoring technique development and the necessity of monitoring pathogenic microorganisms in the atmosphere are summarized and ***,this review introduces the major epidemic prediction methods and highlights the significance to realize a multi-scale coupled epidemic prediction system by strengthening the multidisciplinary cooperation of epidemiology,atmospheric sciences,environmental sciences,sociology,demography,*** summarizing the achievements and challenges in monitoring and prediction of pathogenic microorganism transmission in the atmosphere,this review proposes suggestions for epidemic response,namely,the establishment of an integrated monitoring and prediction platform for pathogenic microorganism transmission in the atmosphere.

关键词： Aerosol transmission Epidemic monitoring methods Epidemic prediction modelsEpidemic response Multidisciplinary cooperation

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Hydrogel-anchored caffeic acid-copper ions coating: Integrated defensive and offensive strategy for synergistic antifouling

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Chemical engineering Journal 2025年 515卷

作者： Niu, Jingyu Li, Yiming Shen, Yun Yuan, Shideng Wang, Dong Zheng, Peijun Wang, Zhining Shandong Provincial Key Laboratory of Water Pollution Control and Resource Reuse School of Environmental Science and Engineering Shandong University Qingdao266237 China China Frontiers Science Center for Deep Ocean Multispheres and Earth System/Key Laboratory of Marine Chemistry Theory and Technology Ministry of Education Ocean University of China Qingdao266100 China

marine biofouling poses significant global challenges for maritime activities, resulting in serious economic losses and environmental issues. Biomimetic coatings have drawn extensive attentions due to their environmentally friendly antifouling properties. Herein, an innovative strategy is reported for constructing antifouling coating composed of caffeic acid-copper ions (CA-Cu2+) anchored on a Kevlar hydrogel. The resultant coating achieves good adhesion (1.3 MPa) to various substrates via the bioinspired polymerization of metal-polyphenol networks (MPNs). The hydrophilic nature and synergistic antimicrobial effects enable efficient self-cleaning, anti-protein (100 %), anti-bacterial (100 %), and anti-algae (99.84 %) performance. Strikingly, the coating exhibits superior acid and alkali tolerance, abrasive resistance, and long-term stability over 60 days in real seawater, owing to the hydrogen bonds and coordination interactions between the Kevlar hydrogel and the CA-Cu2+ functional layer. Further research demonstrates that the antifouling performance are realized via the synergistic antifouling models. The hydration layer formed by the synergistic action of the hydrogel and CA effectively prevents the attachment of microorganisms, and the chemodynamic antibacterial mode triggered by Cu2+ can actively kill the microorganisms adhered to the material surface. Importantly, the Cu2+ release profile of the H/PCA-Cu coating meets the environmental requirements. The "defensive" and "offensive" integrated antifouling strategy provides groundbreaking performance for broad-spectrum biofouling control, which greatly desired for marine facilities. Our work not only expands the family of MPNs application in marine antifouling coatings, but also pioneers a rational pathway toward developing long-lasting and environmentally friendly broad-spectrum antifouling coatings. © 2025 Elsevier B.V.

关键词： Antifouling paint

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