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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Chen, Haopeng Fang, Zaojun Zhong, Caiming Ningbo University Ningbo Institute of Materials & Technology Engineering Chinese & Academy of Sciences Faculty of Electrical Engineering and Computer Science Ningbo China Chinese & Academy of Sciences Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Materials & Technology Engineering Ningbo China Ningbo University College of Science & Technology Ningbo China

ISBN: (纸本)9798350312201

Aiming at the scheduling problem in the production process of hybrid flow-shop, a hybrid flow-shop scheduling model with the objective of minimizing the makespan is established, and a neighborhood search adaptive genetic algorithm (NSAGA) based on heuristic decoding strategy is proposed. An encoding strategy based on the first stage processing sequence and a decoding strategy based on a heuristic rule are used to guide the algorithm to find the optimal solution quickly. In order to speed up the convergence of the algorithm, the elitism strategy is introduced into the genetic operation, and adaptive crossover and mutation strategy based on sigmoid function is designed. In order to enhance the local search capability of the algorithm, a neighborhood search strategy is designed. Finally, the effectiveness and superiority of NSAGA for solving the hybrid flow-shop scheduling problem (HFSP) with different scales are verified by simulation experiments. © 2023 IEEE.

关键词： Genetic algorithms

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High Performance Soft Electrochemical Actuators Based on Hierarchical Conductive Polymer Ionogels

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Journal of Bionic engineering 2023年第6期20卷 2755-2763页

作者： Hongwei Hu Shengtao Zhang Yan Li Xinghao Hu Lin Xu Aixin Feng Guanggui Cheng Jianning Ding Zhejiang Provincial Key Laboratory of Laser Processing Robotics College of Mechanical and Electrical EngineeringWenzhou UniversityWenzhou325035China Institute of Intelligent Flexible Mechatronics Jiangsu UniversityZhenjiang212013China School of Mechanical Engineering Jiangsu University of Science and TechnologyZhenjiang212100China School of Mechanical Engineering Yangzhou UniversityYangzhou225127China Jiangsu Collaborative Innovation Center of Photovoltaic Science and Engineering Changzhou UniversityChangzhou213164China Ruian Graduate School of Wenzhou University Ruian325207ZhejiangChina

Electrochemical actuators based on conductive polymers are emerging as a strong competitive in the field of soft actuators because of their intrinsically conformable/elastic nature,low cost,low operating voltage and air-working *** development has shown that adding electroactive materials,such as CNT and graphene,can improve their actuation *** the complex material systems used,their output strains(one of the key factors)are generally lower than 1%,which limited further applications of them in multiple ***,we report soft electrochemical actuators based on conductive polymer ionogels by embedding polyaniline particles between the PEDOT:PSS *** show that such a hierarchical structure not only leads to a high conductivity(1250 S/cm)but also improved electrochemical *** a low operating voltage of 1 V,the maximum strain of these soft actuators reaches an exceptional value of 1.5%,with a high blocking force of 1.3 *** these high-performance electrochemical actuators,we demonstrate soft grippers for manipulating object and a bionic flower stimulated by an electrical *** work sets an important step towards enabling the enhanced performance of electrochemical actuators based on conductive polymers with designed microstructures.

关键词： Conductive polymer Soft actuator Polyaniline PEDOT:PSS Bioinspired actuator

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Machine Vision Inspection of Roughness Defects in Opaque Board Surface 12

Machine Vision Inspection of Roughness Defects in Opaque Boa...

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12th International Conference on Quality, Reliability, Risk, Maintenance, and Safety engineering, QR2MSE 2022

作者： Song, Jia-Xu Xu, Yong-Xiang Bai, Fu-Zhong Li, Ping College of Mechanical Engineering Inner Mongolia University of Technology Hohhot China Inner Mongolia Key Laboratory of Special Service Intelligent Robotics Hohhot China Beijing Polytechnic College Beijing China

ISBN: (纸本)9781839538360

A machine visual method is introduced to inspect roughness defects from the opaque board surface. The new method uses the line-structured light technology with direct triangulation structure to obtain three-dimensional (3D) information. The captured light stripe image modulated by the board surface is processed firstly with the Steger algorithm to extract the center line of the light strip with sub-pixel level. The key parameter used in the Steger algorithm is obtained by estimating the width of light strip. Furthermore, the Zhang Zhengyou's method is used to calibrate the camera parameters, and the 3D depth information is calibrated through the light plane fitting method combining with the principal component analysis (PCA). As a result, the 3D coordinate information corresponding to the center line of the light stripe on the measured surface can be obtained. Finally, the average deviation of profile arithmetic (Rα index) is employed to evaluate the roughness defect of board surface. The experimental results indicate that the method proposed in the paper can achieve a detecting accuracy of 0.02mm (Rα), which can meet the needs of high-quality wooden board for roughness defect inspection. Compared with the traditional contact detecting method and manual method, the proposed method has high detecting efficiency, low cost, reliable detecting result, and holds a good engineering application prospect. © 2022 IEEE.

关键词： Surface roughness

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Development and Optimization of a WebGL-Based Mechanical Model Simulation Platform 4th

Development and Optimization of a WebGL-Based Mechanical Mod...

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4th International Conference on Mechanical Design and Simulation, MDS 2024

作者： Wang, Xintong Tian, Hao Fang, Jingzhe Zhang, Hualiang Zhang, Tao Software College Shenyang University of Technology Liaoning Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China School of Electrical Engineering Shenyang University of Technology Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9789819778867

The need for mechanical model simulation platforms is growing as a result of the ongoing advancements in digital technology and the mechanical manufacturing sector. The application scope and efficacy of simulation platforms are severely limited by the issue of sluggish rendering performance, which frequently arises when obtaining high-quality rendering. When drawing high demand mechanical models, a lot of processing power is frequently needed, which makes real-time rendering speed unsatisfactory for practical purposes. In order to achieve real-time rendering and simulation of 3D robots, this experiment built and implemented a WebGL-based 3D simulation platform. Additionally, the simulation platform can be optimized by increasing frame rate and rendering speed without sacrificing rendering effect by building a mixed bounding box. © The Author(s) 2025.

关键词： Digital elevation model

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3D Path Planning of the Solar Powered UAV in the Urban-Mountainous Environment with Multi-Objective and Multi-Constraint Based on the Enhanced Sparrow Search Algorithm Incorporating the Levy Flight Strategy

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Guidance, Navigation and Control 2024年第1期4卷 149-175页

作者： Pengyang Xie Ben Ma Bingbing Wang Jian Chen Gang Xiao College of Engineering China Agricultural UniversityBeijing 100083P.R.China State Key Laboratory of Clean Energy Utilization Zhejiang UniversityHangzhou 310027P.R.China Key Laboratory of Intelligent Equipment and Robotics for Agriculture of Zhejiang Province College of Biosystems Engineering and Food ScienceZhejiang UniversityHangzhou 310058P.R.China Key Laboratory of Smart Agricultural Technology(Yangtze River Delta) Ministry of Agriculture and Rural AffairsNanjing 210044P.R.China Key Laboratory of Smart Agricultural Technology in Tropical South China Ministry of Agriculture and Rural AffairsGuangzhou 510642P.R.China State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191P.R.China

In response to practical application challenges in utilizing solar-powered unmanned aerial vehicle(UAV)for remote sensing,this study presents a three-dimensional path planning method tailored for urban-mountainous *** into account constraints related to the solar-powered UAV,terrain,and mission objectives,a multi-objective trajectory optimization model is transferred into a single-objective optimization problem with weight factors and multiconstraint and is developed with a focus on three key indicators:minimizing trajectory length,maximizing energy flow efficiency,and minimizing regional risk ***,an enhanced sparrow search algorithm incorporating the Levy flight strategy(SSA-Levy)is introduced to address trajectory planning challenges in such complex *** simulation,the proposed algorithm is compared with particle swarm optimization(PSO)and the regular sparrow search algorithm(SSA)across 17 standard test functions and a simplified simulation of urban-mountainous *** results of the simulation demonstrate the superior effectiveness of the designed improved SSA based on the Levy flight strategy for solving the established single-objective trajectory optimization model.

关键词： Solar powered UAV multi-objective optimization problem single-objective optimization problem multi-constraint sparrow search algorithm Levy flight strategy

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Design and Control for WLR-3P:A Hydraulic Wheel-Legged Robot

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Cyborg and Bionic Systems 2023年第1期4卷 243-259页

作者： Xu Li Haoyang Yu Haibo Feng Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System College of Mechatronics EngineeringHarbin Institute of TechnologyHarbin 150001China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China Intelligent Robot Research Center Zhejiang LaboratoryHangzhou 311100China

The robot used for disaster rescue or field exploration requires the ability of fast moving on flat road and adaptability on complex *** hybrid wheel-legged robot(WLR-3P,prototype of the third-generation hydraulic wheel-legged robot)has the characteristics of fast and efficient mobility on flat surfaces and high environmental adaptability on rough *** this paper,3 design requirements are proposed to improve the mobility and environmental adaptability of the *** meet these 3 requirements,2 design principles for each requirement are put ***,for light weight and low inertia with high stiffness,3-dimensional printing technology and lightweight material are ***,the integrated hydraulically driven unit is used for high power density and fast response ***,the microhydraulic power unit achieves power autonomy,adopting the hoseless design to strengthen the reliability of the hydraulic *** is more,the control system including hierarchical distributed electrical system and control strategy is *** mobility and adaptability of WLR-3P are demonstrated with a series of ***,the robot can achieve a speed of 13.6 km/h and a jumping height of 0.2 m.

关键词： robot Robot terrain

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Domain-Adaptive Power Profiling Analysis Strategy for the Metaverse

Domain-Adaptive Power Profiling Analysis Strategy for the Me...

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作者： Li, Xiang Yang, Ning Liu, Weifeng Chen, Aidong Zhang, Yanlong Wang, Shuo Zhou, Jing Beijing Key Laboratory of Information Service Engineering Beijing Union University Beijing China Institute of Semiconductors Chinese Academy of Sciences Beijing China College of Robotics Beijing Union University Beijing China Research Center for Multi-Intelligent Systems Beijing Union University Beijing China Information System Laboratory Beijing Microelectronics Technology Institution Beijing China

In the surge of the digital era, the metaverse, as a groundbreaking concept, has become a focal point in the technology sector. It is reshaping human work and life patterns, carving out a new realm of virtual and real interaction. However, the rapid development of the metaverse brings along novel challenges in security and privacy. In this multifaceted and complex technological environment, data protection is of paramount importance. The innovative capabilities of high-end devices and functions in the metaverse, owing to advanced integrated circuit technology, face unique threats from side-channel analysis (SCA), potentially leading to breaches in user privacy. Addressing the issue of domain differences caused by different hardware devices, which impact the generalizability of the analysis model and the accuracy of analysis, this paper proposes a strategy of portability power profiling analysis (PPPA). Combining domain adaptation and deep learning techniques, it models and calibrates the domain differences between the profiling and target devices, enhancing the model's adaptability in different device environments. Experiments show that our method can recover the correct key with as few as 389 power traces, effectively recovering keys across different devices. This paper underscores the effectiveness of cross-device SCA, focusing on the adaptability and robustness of analysis models in different hardware environments, thereby enhancing the security of user data privacy in the metaverse environment. © 2024 John Wiley & Sons Ltd.

关键词： Data privacy

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A Deep Ship Recognition Model Based on Multi-category Fusion of General Datasets 6

A Deep Ship Recognition Model Based on Multi-category Fusion...

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6th IEEE International Conference on Civil Aviation Safety and Information technology, ICCASIT 2024

作者： Su, Hang Qiu, Guoping Dongguan University of Technology School of Telecommunications Engineering and Intelligentization Guangdong Dongguan523808 China College of Electronic and Information Engineering Shenzhen University Guangdong Shenzhen518060 China Shenzhen University Guangdong Key Laboratory of Intelligent Information Processing Guangdong Shenzhen518060 China Shenzhen University Branch Shenzhen Institute of Artificial Intelligence and Robotics Guangdong Shenzhen518060 China Shenzhen University Shenzhen Key Laboratory of Digital Creative Technology Guangdong Shenzhen518060 China

ISBN: (纸本)9798350389418

To meet the demand for accurate and rapid recognition of ship targets in existing ship image recognition methods, this study applies the DCNN model, known for its powerful feature extraction capabilities, to the task of ship image recognition. To enhance the model's performance, a novel dataset fusion training method is utilized. The DCNN model requires large-scale labeled training datasets;however, there is currently a lack of diverse and large-scale labeled ship image datasets in the public domain. Additionally, manually collecting and labeling large-scale ship recognition data is labor-intensive. Therefore, this paper proposes a new approach by creating a ship target recognition dataset that fuses existing general datasets for training the ship recognition model. Furthermore, a model training method that integrates multi-category image recognition is proposed. In this method, a focal loss-based optimization training approach is specifically employed to handle imbalanced data classification, thereby improving the recognition performance of ship images within multi-category datasets. Performance tests on the trained model show that the mean Average Precision (mAP) of the model trained with multi-category fusion is relatively improved by 9.45 % compared to the 3 8. 1 9 % mAP of the model trained without focal loss on a single category. Experimental results demonstrate that the proposed multi-category image training method can effectively enhance the performance of ship image recognition tasks in training using existing general image recognition datasets. © 2024 IEEE.

关键词： Convolutional neural networks

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A Mixed Method for Estimating Parameters of Three-Parameter Weibull Distribution 9

A Mixed Method for Estimating Parameters of Three-Parameter ...

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9th International Symposium on System Security, Safety, and Reliability, ISSSR 2023

作者： Jiang, Renyan Li, Fengping Xue, Wei Li, Xiao Zhang, Kunpeng Institute of Laser and Optoelectronic Intelligent Manufacturing Wenzhou University Wenzhou325035 China Wenzhou University China International Science & Technology Cooperation Base for Laser Processing Robotics Wenzhou325035 China Wenzhou University Provincial Key Laboratory of Laser Processing Robotics College of Mechanical and Electrical Engineering Wenzhou325035 China

ISBN: (纸本)9798350302479

The three-parameter Weibull distribution has been widely used for modeling component lifetime and material strength. The parameter estimates obtained from the maximum likelihood estimation method (MLE) and maximum product of spacing (MPS) method can be biased or inexistent. Though many other approaches have been developed, none is always efficient. Therefore, it is still a challenging issue to develop more efficient estimation methods. This paper aims to address this issue by proposing a mixed approach. The proposed approach is based on a modified Weibull transformations and involves three main steps. The first step determines two reference points from the empirical distribution function. In the second step, the location parameter is estimated based on the ratios of the difference between the reference point and data points on the modified Weibull probability paper (MWPP) plot. The third step estimates the shape and scale parameters based on the linear relation of the MWPP plot. The accuracy and robustness of the proposed approach is illustrated by a numerical experiment and its usefulness is illustrated by a real-world example. The results shows that the proposed approach provides more accurate and robust estimates than the MLE and MPS. © 2023 IEEE.

关键词： Parameter estimation

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Zero-Shot Kidney Stone Segmentation Based on Segmentation Anything Model for Robotic-Assisted Endoscope Navigation 16th

Zero-Shot Kidney Stone Segmentation Based on Segmentation A...

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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Meng, Hui Chen, Lingkai Zhu, Shiqiang Fei, Chentao Zhang, Yong Zheng, Miaojuan Han, Jianda Song, Wei School of Intelligent Science and Technology Hangzhou Institute for Advanced Study University of Chinese Academy of Sciences 1 Sub-lane Xiangshan Hangzhou310024 China Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Hangzhou ElephantChain Network Technology Co. Ltd. Hangzhou China Faculty of Mechanical Engineering and Automation Zhejiang Sci-Tech University Hangzhou310018 China College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information Systems Nankai University Tianjin300350 China

ISBN: (纸本)9789819964888

Biomedical robotics has had a significant impact on flexible ureteroscopy (FURS) for the management of nephrolithiasis. The biomedical robots provide a suitable and safe platform for FURS. However, operating the robots expertly still represents a challenge for surgeons. Vision-based navigation is an effective means to simplify the operations of robots by surgeons, which has great potential to improve surgical efficiency. To achieve vision-based navigation, the localization of kidney stones in endoscopic images is the first step. In this paper, we propose a stone segmentation method (SSM) based on zero-shot learning, which consists of segmentation anything model (SAM), an image preprocessing module, and a mask postprocessing module. The SAM segments all objects in endoscopic images, which lack semantic information. The preprocessing module is designed to suppress interference of reflective area in endoscopic images, and the mask postprocessing module is used to filter noise masks. The experimental results on our collected endoscopic images indicate that our method achieves close accuracy on stone segmentation compared with supervised U-Net and VGG_U-Net, which significantly outperforms the Ostu and the SAM. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Endoscopy

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