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SSRN 2023年

作者： Saifan, Adnan Chen, Silu Miao, Hong Yan Shen, Yanbo Yuan, Liming Zhu, Ran Zhai, Menggang Zhao, Su Liu, Yuanyuan Liang, Junqiang Zhang, Chi Yang, Guilin Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Zhejiang Ningbo315201 China Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Zhejiang Ningbo315201 China International College University of Chinese Academy of Sciences Beijing Beijing100049 China Department of Mechanical Engineering Polytechnic Montréal MontréalQCH3TIJ4 Canada LandSpace Technology Huzhou Co. Ltd Zhejiang Huzhou313099 China Minth Auto Technology Research & Development Co. Ltd Zhejiang Ningbo315800 China Center of Materials Science and Optoelectronics Engineering China

The uniformity and efficiency of ultrasonic needle peen-forming (UNPF) cannot be achieved by a handheld single-needle peening device. Thus, a novel robotized UNPF system is designed in this paper with a multi-needle peening device. By taking the aluminum alloy 2024-T3 specimens as an example, the peening device's travel velocity and standoff distance are first determined to balance processing efficiency and safety. Thereafter, the resulting arc height for Almen-size specimens with respect to other manipulated variables (MVs), such as the vibration amplitude, the air pressure, and the number of peening passes, are fitted by the data-driven models. As the radius of curvature at the saturation state is identical for small and large specimens with similar shapes, its relationship with the arc height and at the saturation state is represented by a function of elliptic paraboloid for understanding the limit of UNPF capability. It is shown that specimens of different sizes but the same aspect ratio have a consistent radius of curvatures after being treated with the same MVs. Notably, by increasing the vibration amplitude from 21 μm to 35 μm, the ratios of peening time required for achieving full coverage to its counterpart for achieving saturation state reduced from 76% to 8.3%, showing a significant improvement of forming productivity and capability. Moreover, the maximum compressive residual stress after UNPF is -500 MPa at the depth 1.2 mm, and the hardness is drastically increased by 45.4 % for specimens of thickness 1.5 mm, improving their fatigue life. © 2023, The Authors. All rights reserved.

关键词： Needles

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A ROS Based Open Source Simulation Environment for robotics Beginners

A ROS Based Open Source Simulation Environment for Robotics ...

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International Conference on robotics and Automation engineering (ICRAE)

作者： Linyu Su Guoping Qiu Wengming Tang Min Chen College of Electronic and Information Engineering Guangdong Key Laboratory of Intelligent Information Processing and Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen University China Super-accurate Vision Science and Technology Ltd Shenzhen China

ISBN: (纸本)9781665406987

This paper presents an open source robot simulation environment based on the robot operating system (ROS). To help novice to learn robotics, we have designed several important experiments that most robotics beginners will need to practice. Our simulation environment provides an efficient, safe, and transferable testing and operating environment for the rapid verification of robot algorithms. Through practicing the experiments in this paper, robotics beginners can learn robotics knowledge faster, better and at a lower cost, which should great facilitate them to operate robots in real-world applications. Source code, simulation video and detailed wiki for the simulation environment are available online at https://***/Suyixiu/robot_sim.

关键词： Electronic publishing Costs Codes Automation Operating systems Information services Internet

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Group-wise Inhibition based Feature Regularization for Robust Classification

Group-wise Inhibition based Feature Regularization for Robus...

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International Conference on Computer Vision (ICCV)

作者： Haozhe Liu Haoqian Wu Weicheng Xie Feng Liu Linlin Shen Computer Vision Institute College of Computer Science and Software Engineering SZU Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society National Engineering Laboratory for Big Data System Computing Technology Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen China

The convolutional neural network (CNN) is vulnerable to degraded images with even very small variations (e.g. corrupted and adversarial samples). One of the possible reasons is that CNN pays more attention to the most discriminative regions, but ignores the auxiliary features when learning, leading to the lack of feature diversity for final judgment. In our method, we propose to dynamically suppress significant activation values of CNN by group-wise inhibition, but not fixedly or randomly handle them when training. The feature maps with different activation distribution are then processed separately to take the feature independence into account. CNN is finally guided to learn richer discriminative features hierarchically for robust classification according to the proposed regularization. Our method is comprehensively evaluated under multiple settings, including classification against corruptions, adversarial attacks and low data regime. Extensive experimental results show that the proposed method can achieve significant improvements in terms of both robustness and generalization performances, when compared with the state-of-the-art methods. Code is available at https://***/LinusWu/TENET_Training.

关键词： Training Computer vision Codes Heuristic algorithms Robustness Classification algorithms Convolutional neural networks

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Optimization of Simulation Parameters of Input Shaper Based on Genetic Algorithm

Optimization of Simulation Parameters of Input Shaper Based ...

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Advanced Technologies in intelligent Control, Environment, Computing & Communication engineering (ICATIECE), International Conference on

作者： Tao Yi Quanshen Pei Deying Li Shugong Wei Danping Jia Hualiang Zhang Hunan University of Information Changsha China School of Information Science and Engineering Shenyang University of Technology Shenyang China College of Physics and Electronic Engineering Guangxi Normal University for Nationalities Chongzuo China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781665493970

In the motion control system, input shaper is often used to suppress the residual oscillation of high-precision positioning system, but the selection of input shaper parameters is difficult. In view of the difficulty of selecting input shaper parameters, this paper proposes to use genetic algorithm to select the parameters of input shaper. Firstly, the input shaper is designed in the light of the three-loop mathematical model of motor; Secondly, because the genetic algorithm directly optimizes the output of the motor and the algorithm can reduce the influence of the deviation of generator parameters on the parameter selection of the input shaper to a certain extent, the parameters of the input shaper are selected by the genetic algorithm to optimize the output of the motor; In the finish, a comparative experiment between a system with input shaper and a system with simple PID control is carried out. The results show that the optimized system can obtain higher robustness and smaller tracking deviation.

关键词： Vibrations Tracking Mathematical models Robustness Decoding Rigidity Motion control

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Correction to: Polyphosphazene nanotubes/carbon fibers hierarchical hybrid reinforcement for improving interfacial adhesion of polyamide 6 composites

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Iranian Polymer Journal 2023年第8期32卷 1045-1045页

作者： Chen, Xiang Xu, Haibing Zhu, Yingdan Yan, Chun Liu, Dong Zhang, Yubin College of Digital Technology and Engineering Ningbo University of Finance & Economics Ningbo China Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Material Technology and Engineering Chinese Academy of Sciences Ningbo China

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Holographic MIMO Communications with Arbitrary Surface Placements: Near-Field LoS Channel Model and Capacity Limit

arXiv

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arXiv 2023年

作者： Gong, Tierui Wei, Li Huang, Chongwen Yang, Zhijia He, Jiguang Debbah, Mérouane Yuen, Chau School of Electrical and Electronics Engineering Nanyang Technological University Singapore639798 Singapore College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China Hangzhou310027 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Technology Innovation Institute Masdar City Abu Dhabi9639 United Arab Emirates KU 6G Research Center Khalifa University of Science and Technology P O Box 127788 Abu Dhabi United Arab Emirates CentraleSupelec University Paris-Saclay Gif-sur-Yvette91192 France

Envisioned as one of the most promising technologies, holographic multiple-input multiple-output (H-MIMO) recently attracts notable research interests for its great potential in expanding wireless possibilities and achieving fundamental wireless limits. Empowered by the nearly continuous, large and energy-efficient surfaces with powerful electromagnetic (EM) wave control capabilities, H-MIMO opens up the opportunity for signal processing in a more fundamental EM-domain, paving the way for realizing holographic imaging level communications in supporting the extremely high spectral efficiency and energy efficiency in future networks. In this article, we propose a generalized EM-domain near-field channel modeling and study its capacity limit of point-to-point H-MIMO systems that equips arbitrarily placed surfaces in a line-of-sight (LoS) environment. Two effective and computational-efficient channel models are established from their integral counterpart, where one is with a sophisticated formula but showcases more accurate, and another is concise with a slight precision sacrifice. Furthermore, we unveil the capacity limit using our channel model, and derive a tight upper bound based upon an elaborately built analytical framework. Our result reveals that the capacity limit grows logarithmically with the product of transmit element area, receive element area, and the combined effects of 1/d2mn, 1/d4mn, and 1/d6mn over all transmit and receive antenna elements, where dmn indicates the distance between each transmit element n and receive element m. Particularly, 1/d6mn dominates in the near-field region whereas 1/d2mn dominates in the far-field region. Numerical evaluations validate the effectiveness of our channel models, and showcase the slight disparity between the upper bound and the exact capacity, which is beneficial for predicting practical system performance. Copyright © 2023, The Authors. All rights reserved.

关键词： MIMO systems

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MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile Robot Local Planning Approaches

MRPB 1.0: A Unified Benchmark for the Evaluation of Mobile R...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jian Wen Xuebo Zhang Qingchen Bi Zhangchao Pan Yanghe Feng Jing Yuan Yongchun Fang Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China School of Marine Science and Technology Northwestern Polytechnical University Xi’an China Faculty of Robot Science and Engineering Northeastern University Shenyang China College of Systems Engineering National University of Defense Technology Changsha China

Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning benchmark called MRPB 1.0 is newly proposed in this paper. The benchmark facilitates both motion planning researchers who want to compare the performance of a new local planner relative to many other state-of-the-art approaches as well as end users in the mobile robotics industry who want to select a local planner that performs best on some problems of interest. We elaborately design various simulation scenarios to challenge the applicability of local planners, including large-scale, partially unknown, and dynamic complex environments. Furthermore, three types of principled evaluation metrics are carefully designed to quantitatively evaluate the performance of local planners, wherein the safety, efficiency, and smoothness of motions are comprehensively considered. We present the application of the proposed benchmark in two popular open-source local planners to show the practicality of the benchmark. In addition, some insights and guidelines about the design and selection of local planners are also provided. The benchmark website [1] contains all data of the designed simulation scenarios, detailed descriptions of these scenarios, and example code.

关键词： Measurement Industries Service robots Dynamics Benchmark testing Planning Safety

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Fabrication of Translucent Graded Dental Crown Using Zirconia-Yttrium Multi-Slurry Tape Casting 3d Printer

SSRN

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SSRN 2024年

作者： Romario, Yulius Shan Bhat, Chinmai Ramezani, Maziar Pasang, Tim Chen, Zhangwei Jiang, Cho-Pei Graduate Institute of Manufacturing Technology National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan High-value Biomaterials Research and Commercialization Center National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan Department of Mechanical Engineering Auckland University of Technology Auckland1010 New Zealand Department of Engineering Design Manufacturing and Management Systems Western Michigan University KalamazooMI4900-5200 United States Additive Manufacturing Institute Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China Department of Mechanical Engineering National Taipei University of Technology Taiwan 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan

This paper aims to fabricate functionally graded dental crown using a multi-slurry tape casting additive manufacturing technology. The different luminescence of the dental crown was obtained with different composition of zirconia and yttria. Zirconia with tunable mechanical properties and translucency are obtained by adding 3, 3.5, 4, 4.5, and 5 mol% of yttrium oxide to zirconia powder. After obtaining the printable slurry with maximum solid loading, the green bodies are prepared using the in-house built high speed multi-ceramic tape casting technology. They are later sintered with two-stage sintering method. After the successful fabrication, the mechanical properties and translucency of the specimens were evaluated with Vickers hardness, three-point bending and translucency parameter tests. Finally, an FGM tooth crown with five photocurable slurries is proposed to demonstrate the translucent gradient effect of sintered part. The solid loading of 80% zirconia and 20% resin delivered samples without any surface cracks. The shrinkage ratio analysis showed that the sintered sample dimension was reduced by 20%, 20%, and 23% along X, Y, and Z directions. The samples fabricated with 3% yttrium oxide to zirconia delivered excellent hardness (1687 HV) and flexural strength (650.6 MPa). However, the relative luminescence increased with increasing the yttrium oxide for 3 – 5 mol%. With the optimized process parameters, the proposed dental crown is fabricated and analyzed for their shrinkage ratio, mechanical, and translucency properties. The study proposes the potential of fabricating customized dental crown with gradient translucent appearance. © 2024, The Authors. All rights reserved.

关键词： Zirconia

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Battery thermal management systems on the integration of multi-layer phase change materials and liquid cooling energy-saving strategies

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Applied Thermal engineering 2025年 278卷

作者： Yupeng Sun Hao Zhang Fei Qi Yuan Li Hao Guo Chunju Wang Yao Chen School of Mechanical and Electric Engineering Soochow University Suzhou 215137 China Zhejiang Zeekr Intelligent Technology Co. Ltd. Ningbo 315336 China College of Energy and Power Engineering Inner Mongolia University of Technology Hohhot 010050 China Jiangsu Provincial Key Laboratory of Advanced Robotics & Robotics and Microsystems Center Soochow University Suzhou 215137 China

The performance and life of lithium-ion batteries are very sensitive to temperature, therefore, maintaining the proper temperature range is important for battery applications. However, localized high temperature regions within the battery are the main cause of temperature non-uniformity or even thermal runaway of the battery, so it is necessary to implement thermal management for these critical regions. In this paper, a thermal management cooling system utilizing liquid cooling and multilayer composite phase change materials (CPCM) is introduced. This article explored the effectiveness of different material in thermal management and designed a multi-layer phase change material structure to increase the thermal conductivity of the high heat region, in order to further reduce the temperature difference within the battery pack. By combining liquid cooling with CPCM cooling, this article proposes a composite thermal management system (BTMS) that places greater emphasis on thermal management efficiency. The results showed that the combined BTMS successfully reduced the maximum internal temperature of the battery pack to 29.18 ℃, with a maximum temperature difference of only 1.82 ℃, thereby improving the performance of the system. The combination of liquid and phase change cooling in BTMS can provide new technical support for improving the lifespan and safety of battery packs.

关键词： Battery thermal management system Multi-layer composite phase change materials Compound cooling system Energy-saving strategies

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Progressive Inertial Poser: Progressive Real-Time Kinematic Chain Estimation for 3D Full-Body Pose from Three IMU Sensors

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Zhu, Zunjie Zhao, Yan Hu, Yihan Wang, Guoxiang Qiu, Hai Zheng, Bolun Yan, Chenggang Xu, Feng Hangzhou Dianzi University School of Communication Engineering Hangzhou 323000 China Wenzhou Institute of Hangzhou Dianzi University Key Laboratory of Micro-nano Sensing and IoT of Wenzhou Wenzhou 325038 China Tiangong University School of Control Science and Engineering Tianjin 300387 China Lishui University College of Business Lishui 310018 China Costar Intelligent Optoelectronics Technology Co. Ltd China Hangzhou Dianzi University School of Automation Hangzhou 323000 China Macao Polytechnic University Faculty of Applied Sciences 999078 Macao Tsinghua University School of software and BNRist Beijing 100084 China

The motion capture system that supports full-body virtual representation is of key significance for virtual reality. Compared to vision-based systems, full-body pose estimation from sparse tracking signals is not limited by environmental conditions or recording range. However, previous works either face the challenge of wearing additional sensors on the pelvis and lower-body or rely on external visual sensors to obtain global positions of key joints. To improve the practicality of the technology for virtual reality applications, we estimate full-body poses using only inertial data obtained from three Inertial Measurement Unit (IMU) sensors worn on the head and wrists, thereby reducing the complexity of the hardware system. In this work, we propose a method called Progressive Inertial Poser (ProgIP) for human pose estimation, which combines neural network estimation with a human dynamics model, considers the hierarchical structure of the kinematic chain, and employs a multi-stage progressive network estimation with increased depth to reconstruct full-body motion in real time. The encoder combines Transformer Encoder and bidirectional LSTM (TE-biLSTM) to flexibly capture the temporal dependencies of the inertial sequence, while the decoder based on multi-layer perceptrons (MLPs) transforms high-dimensional features and accurately projects them onto Skinned Multi-Person Linear (SMPL) model parameters. Quantitative and qualitative experimental results on multiple public datasets show that our method outperforms state-of-the-art methods with the same inputs, and is comparable to recent works using six IMU sensors. © 1963-2012 IEEE.

关键词： Full-body virtual representation inertial measurement unit (IMU) sensors kinematic chain motion capture neural network progressive estimation virtual reality

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