检索结果-内蒙古大学图书馆

SSRN 2025年

作者： Li, Junqiang Fang, Jiongchong Liang, Huiqiang Wei, Zhenghao Fang, Jun Qiu, Longbin Lu, Xinxin Yang, Fuyuan Zeng, Guosong Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen518055 China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China PetroChina Shenzhen New Energy Research Institute Co. Ltd. Shenzhen518055 China School of Vehicle and Mobility Tsinghua University Beijing100084 China SUSTech Energy Institute for Carbon Neutrality Southern University of Science and Technology Shenzhen518055 China

Photocatalytic water splitting using semiconductor catalysts for green hydrogen production is a critical step toward global carbon neutrality. However, the rapid decline in catalytic activity due to unstable molecular structure and photo-corrosion limits the practical application of many organic semiconductors. In this study, two titanium-coordinated perylene diimide catalysts (TiF-PDI and TiC-PDI) were synthesized via a wet chemical approach, demonstrating impressive hydrogen evolution reaction (HER) activities of 584 and 510 μmol·g−1·h−1 under near-atmospheric conditions,respectively, representing a 7-8-fold enhancement compared to H2PDI. Particularly, TiF-PDI retained ~80% of its initial catalytic activity after 500 hours of continuous illumination under room temperature and near atmospheric pressure, demonstrating the highest HER long-term stability of perylene-based semiconductors to date. The introduction of Ti4+ ions facilitated charge separation and transfer, while F- ions played a vital role in further enhancing system polarization, stabilizing photogenerated excitons, and mitigating Ti4+ ions leaching by intercalating into the molecular lattice. This cooperative regulation of dual ions improved both photocatalytic performance and durability. This work provides valuable insights into structural modification and charge stabilization in designing high-performance and long-lived photocatalysts for sustainable energy applications. © 2025, The Authors. All rights reserved.

关键词： Atmospheric corrosion

来源：评论

学校读者我要写书评

暂无评论

ST-Booster: An Iterative SpatioTemporal Perception Booster for Vision-and-Language Navigation in Continuous Environments

arXiv

引用

arXiv 2025年

作者： Yue, Lu Zhou, Dongliang Xie, Liang Yin, Erwei Zhang, Feitian Department of Advanced Manufacturing and Robotics the State Key Laboratory of Turbulence and Complex Systems College of Engineering Peking University Beijing100871 China Defense Innovation Institute Academy of Military Sciences Beijing100071 China Tianjin Artificial Intelligence Innovation Center Tianjin300450 China Department of Computer Science Harbin Institute of Technology Shenzhen Xili University Town Shenzhen518055 China

Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires agents to navigate unknown, continuous spaces based on natural language instructions. Compared to discrete settings, VLN-CE poses two core perception challenges. First, the absence of predefined observation points leads to heterogeneous visual memories and weakened global spatial correlations. Second, cumulative reconstruction errors in three-dimensional scenes introduce structural noise, impairing local feature perception. To address these challenges, this paper proposes ST-Booster, an iterative spatiotemporal booster that enhances navigation performance through multi-granularity perception and instruction-aware reasoning. ST-Booster consists of three key modules — Hierarchical SpatioTemporal Encoding (HSTE), Multi-Granularity Aligned Fusion (MGAF), and Value-Guided Waypoint Generation (VGWG). HSTE encodes long-term global memory using topological graphs and captures short-term local details via grid maps. MGAF aligns these dual-map representations with instructions through geometry-aware knowledge fusion. The resulting representations are iteratively refined through pretraining tasks. During reasoning, VGWG generates Guided Attention Heatmaps (GAHs) to explicitly model environment-instruction relevance and optimize waypoint selection. Extensive comparative experiments and performance analyses are conducted, demonstrating that ST-Booster outperforms existing state-of-the-art methods, particularly in complex, disturbance-prone environments. Copyright © 2025, The Authors. All rights reserved.

关键词： Topology

来源：评论

学校读者我要写书评

暂无评论

Adaptive-LIO: Enhancing Robustness and Precision through Environmental Adaptation in LiDAR Inertial Odometry

arXiv

引用

arXiv 2025年

作者： Zhao, Chengwei Hu, Kun Xu, Jie Zhao, Lijun Han, Baiwen Wu, Kaidi Tian, Maoshan Yuan, Shenghai The State Key Laboratory of Robotics and Systems Harbin Institute of Technology HeiLongJiang Harbin150001 China Hangzhou Qisheng Intelligent Techology Co. Ltd. 4083 Jianshe Fourth Road Zhejiang Hangzhou311217 China The School of Mechatronic Engineering China University of Mining and Technology JiangSu Xuzhou221116 China The School of Mechanical and Electrical Engineering University of Electronic Science And Technology Sichuan Chengdu611731 China The School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore

The emerging Internet of Things (IoT) applications, such as driverless cars, have a growing demand for high-precision positioning and navigation. Nowadays, LiDAR inertial odometry becomes increasingly prevalent in robotics and autonomous driving. However, many current SLAM systems lack sufficient adaptability to various scenarios. Challenges include decreased point cloud accuracy with longer frame intervals under the constant velocity assumption, coupling of erroneous IMU information when IMU saturation occurs, and decreased localization accuracy due to the use of fixed-resolution maps during indoor-outdoor scene transitions. To address these issues, we propose a loosely coupled adaptive LiDAR-Inertial-Odometry named Adaptive-LIO, which incorporates adaptive segmentation to enhance mapping accuracy, adapts motion modality through IMU saturation and fault detection, and adjusts map resolution adaptively using multi-resolution voxel maps based on the distance from the LiDAR center. Our proposed method has been tested in various challenging scenarios, demonstrating the effectiveness of the improvements we introduce. The code is open-source on GitHub: Adaptive-LIO. © 2025, CC BY.

关键词： SLAM robotics

来源：评论

学校读者我要写书评

暂无评论

A Simple Manufactured Hardness Sensor Based on Multi-Layer Liquid Metal Sensing for Surgical robotics

引用

Advanced Electronic Materials 2025年

作者： Yue, Tao Zhang, Yuyin Gan, Yuanjie Hu, Chengzhi Wang, Yue School of Mechatronics Engineering and Automation Shanghai University Shangda Road 99 Shanghai 200436 China Shanghai Institute of Intelligent Science and Technology Tongji University Siping Road 1239 Shanghai 200092 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518055 China School of Future Technology Shanghai University Shangda Road 99 Shanghai 200436 China

Tactile information, serving as the most intricate form of data humans gather from the external environment, has long been a significant area of focus for wearable flexible sensors. The advancement of wearable technology and robotics in healthcare has spurred research into integrating thin, compact flexible sensors into robotic systems for mimicking human tactile tissue manipulation during surgery and data collection. Here, a continuous injection method is used to fabricate a multi-layer liquid metal sensor. By laminating multiple PDMS microfluidic layers, the two parameters of pressure and deformation are simultaneously measured in a decoupled manner. The compact and thin design of the sensor facilitates its integration into fingers or robotic digits, enabling assistance by deforming upon contact with materials and identifying their hardness through applied pressure. Separate performance tests of the two sensors show that the strain and pressure functions are decoupled from each other, and their ratios can identify and classify the hardness of different contact materials (glass, PDMS, and silicone). The hardness sensor can assist robots in operating human tissues during medical surgeries. The demonstrated fabrication and integration approaches provide a path toward tactile sensor applications in medical treatment, rehabilitation, services, and other processes. © 2025 The Author(s). Advanced Electronic Materials published by Wiley-VCH GmbH.

关键词： flexible sensor hardness sensor liquid metal

来源：评论

学校读者我要写书评

暂无评论

A colorimetric-bionic sensor for multimodal molecular sensing using hierarchical metamaterials

引用

Device 2025年第5期3卷

作者： Geng, Wenhui Zhou, Ying Huang, Kang Ying, Yibin Xie, Lijuan College of Biosystems Engineering and Food Science Zhejiang University 866 Yuhangtang Road Hangzhou 310058 China The National Key Laboratory of Agricultural Equipment Technology Beijing 100083 China Zhejiang Key Laboratory of Intelligent Sensing and Robotics for Agriculture Hangzhou 310058 China Hangzhou Customs Technology Center 398 Jianshe San Road Xiaoshan District Hangzhou City China Department of Biological Systems Engineering Washington State University Pullman 99164 WA United States

Metamaterials can enhance a local electric field for molecular sensing. However, the difficulty in specifically recognizing target molecules and integrating multiple functionalities restricts their development. Here, we present a hierarchical metamaterial-based colorimetric-bionic sensor (HMm-CBs) using a layer-by-layer assembly method for multimodal molecular sensing. The CBs layers offer molecular recognition ability by enabling the specific perception of analytes, and the HMm layers provide coupling of vibrations between analyte molecules at the terahertz (THz) frequency. The HMm-CBs have broadband adaptability in controlling electromagnetic waves from optical to THz frequency. As a proof of principle, we designed a sensor for analyzing tetracycline hydrochlorides (TCHs). The sensor, in conjunction with a back propagation neural network (BPNN), identifies four types of TCHs. As a demonstration, a multichannel indicator is created for real-time monitoring of shrimp freshness and volatile metabolites. © 2025 The Author(s)

关键词： antibiotics carbon nanotubes chemometric algorithms colorimetric sensor array DTI-3: Develop metamaterials

来源：评论

学校读者我要写书评

暂无评论

Cooperative Motion Control Using Hybrid Acoustic-Optical Communication Networks ⁎

引用

IFAC-PapersOnLine 2021年第16期54卷 232-237页

作者： Rodrigo Rego Nguyen Hung Antonio Pascoal Laboratory of Robotics and Systems in Engineering and Science(LARSyS) ISR/IST University of Lisbon Lisbon Portugal

There is currently widespread interest in the development of groups of autonomous underwater vehicles for ocean exploration. This calls for the deployment of robots that can act in cooperation by exchanging data over communication networks. For this purpose, acoustic networks have been so far the choice par excellence. However, for operations involving vehicles operating at close range, there is currently a flurry of activity on the use of optical-based communication systems, capable of higher transmission rates. As a result, the goal of this work is to make optical communications viable and to use both communication technologies during underwater cooperative missions. Motivated by this goal, the first part of this work is dedicated to design a coordination controller with an event-based communication strategy for the coordination of the vehicles over the acoustic network. The second part of this work proposes an algorithm to make optical communications viable, which ultimately boils down to achieving optical beam alignment between a pair of cooperative agents. The proposed algorithm is illustrated by simulation results that show optical beam alignment being reached for a pair of vehicles in a cooperative formation.

关键词： Motion Control Cooperative Path Following Autonomous Underwater Vehicles Acoustic Optical Communication Event-Triggered Communications

来源：评论

学校读者我要写书评

暂无评论

Cooperative formation control in the scope of the EC MORPH project: Theory and experiments

Cooperative formation control in the scope of the EC MORPH p...

引用

OCEANS - Europe

作者： Pedro Caldeira Abreu Mohammadreza Bayat João Botelho Pedro Góis João Gomes António Pascoal Jorge Ribeiro Miguel Ribeiro Manuel Rufino Luís Sebastião Henrique Silva Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Universidade de Lisboa Lisboa Lisboa PT Laboratory of Robotics and Systems in Engineering and Science (LARSyS) University of Lisbon Lisbon Portugal

The EC MORPH project, described in [1], proposes a novel concept of an underwater robotic system that emerges from the integration, albeit in a non-physical manner, of several different mobile robot-modules with distinct and complementary resources. This approach aims to afford end-users efficient tools to map the underwater environment with great accuracy in situations that defy existing technology: namely, underwater surveys over rugged terrain and structures with full 3D complexity. The paper gives a brief presentation of theoretical and practical implementation issues on cooperative navigation and formation control, followed by a description of the results of tests carried out at sea with vehicles from different partners, in June and September 2014. The theoretical set-up builds on leader-follower formation control algorithms, whereby formation control is achieved in both relative position (using USBL units) and range-only measurement (using range measuring devices) scenarios. We conclude with the improvements introduced for the recent trials in Girona, March 2015, that will be the focus of work in the immediate future.

关键词： Vehicles Target tracking Acoustics Trajectory Sea measurements Oceans Robots

来源：评论

学校读者我要写书评

暂无评论

Close range ship noise cross correlations with a vector sensor in view of geoacoustic inversion

Close range ship noise cross correlations with a vector sens...

引用

IEEE/OES China Ocean Acoustics (COA)

作者： Yanqun Wu Ana Bela Santos Paulo Felisberto Sergio M. Jesus Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Universidade do Algarve Faro Faro PT Laboratory of Robotics and Systems in Engineering and Science (LARSyS) University of Algarve Faro Portugal

ISBN: (纸本)9781467399791

Distant ship noise has been utilized for geoacoustic inversion and ocean monitoring for many years. In a shallow water experiment, Makai 2005, a 4-element acoustic vector sensor array was deployed at the stern of the research vessel R/V Kilo Moana. The recorded engine noise of R/V Kilo Moana during its dynamic positioning was analyzed by the DEMON (Detection of Envelope Modulation on Noise) method. The strongest modulation frequency band of the ship noise was found by a group of band-pass filters for further data processing. Multipath arrivals in the vertical particle velocity have higher signal-to-noise ratios than those in the horizontal particle velocities because of steep arrival directions. By exploiting this advantage, the cross-correlation of broadband ship noise between the pressure and the vertical particle velocity can be used for multipath information exploration. Since ship noise is often characterized as continuous broadband noise plus strong tonal noise, the cross-correlation of tonal noise would dominate that of broadband noise, and consequently cover the multipath arrival pattern. Therefore, spectral weighting functions are applied in order to reduce the noise contamination and ensure sharp multipath peaks in the cross-correlation. For engine noise emitted by the dynamically positioned ship, a short correlation time of 0.4s was used in order to keep the time delay fluctuation details of multipath arrivals. Clear multiple arrivals are seen in the cross-correlation of different arrivals, and verified by the ray tracing program TRACEO. The results demonstrate the potential of only one acoustic vector sensor in applications of source localization and geoacoustic inversion.

关键词： Frequency measurement Marine vehicles Government Environmental management Europe

来源：评论

学校读者我要写书评

暂无评论

Bifunctional nanoprobe for simultaneous detection of intracellular reactive oxygen species and temperature in single cells

引用

Microsystems & Nanoengineering 2024年第6期10卷 161-172页

作者： Yanmei Ma Weikang Hu Jian Hu Muyang Ruan Jie Hu Ming Yang Yi Zhang Hanhan Xie Chengzhi Hu Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518000China Department of Electrical and Electronic Engineering Southern University of Science and TechnologyShenzhen 518000China

Living cells can rapidly adjust their metabolic activities in response to external stimuli,leading to fluctuations in intracellular temperature and reactive oxygen species(ROS)*** these parameters is essential for understanding cellular metabolism,particularly during dynamic biological *** this study,we present a bifunctional nanoprobe capable of simultaneous measurement of ROS levels and temperature within single *** nanoprobe features two individually addressable nanoelectrodes,with platinum(Pt)and nickel(Ni)coatings on both *** the tip,these two metal layers form a nano-thermocouple,enabling precise intracellular temperature measurements,while the Pt layer facilitates selective ROS *** dual functionality allows for real-time monitoring of cellular responses during synergistic chemo-photothermal therapy of cancer cells and zebrafish embryos subjected to mitochondrial toxic *** results demonstrate that the nanoprobe effectively measures increases in temperature and ROS levels in HeLa cells undergoing chemo-photothermal therapy,as well as in chemically stimulated zebrafish *** providing detailed analysis of submicrometer-scale temperature and ROS variations within living cells,this nanoprobe offers valuable insights into cellular processes and holds promise for early disease detection and drug development.

关键词： metabolism simultaneous holds

来源：评论

学校读者我要写书评

暂无评论

Compressive and energy absorption properties of titanium hybrid lattice structures for bioimplant applications fabricated via LPBF

引用

Materials and Design 2025年 254卷

作者： Karmiris-Obratański, Panagiotis Georgakopoulos-Soares, Ilias Cichocki, Kamil Lisiecka-Graca, Paulina Papazoglou, Emmanouil L. Advanced Manufacturing Laboratory Department of Manufacturing Systems Faculty of Mechanical Engineering and Robotics AGH University of Krakow Krakow Poland School of Chemical Engineering Department of Materials Science and Engineering National Technical University of Athens Heroon Polytechniou 9 Athens15780 Greece Institute for Personalized Medicine Department of Biochemistry and Molecular Biology The Pennsylvania State University College of Medicine HersheyPA United States Faculty of Metals Engineering and Computer Science AGH University of Krakow Adama Mickiewicza Ave. 30 Kraków30-059 Poland School of Mechanical Engineering Section of Manufacturing Technology National Technical University of Athens Heroon Polytechniou 9 Athens15780 Greece

The compressive properties of lattice structures are strongly influenced by lattice design, density, material, and manufacturing method. Recent advancements in manufacturing, particularly Additive Manufacturing, have enabled the fabrication of complex lattice structures from advanced materials. Building on this progress, the present study investigates the compressive properties and energy absorption capabilities of four distinct lattice structures at three relative densities (20 %, 30 %, and 40 %), specifically tailored for implant applications. The lattices, fabricated from Ti6Al4V ELI alloy using the Laser Powder Bed Fusion (LPBF) method, include a hybrid Fluorite-BCC lattice, a SplitP TPMS skeletal lattice, a stochastic Voronoi lattice, and a hybrid Voronoi-TPMS Gyroid lattice. Compressive properties, including the Elastic Modulus of Compression (EMC), Compressive Yield Strength, and Ultimate Compressive Strength, were systematically analyzed alongside energy absorption capabilities. The Gibson-Ashby model was employed to quantify the relationship between compressive properties and relative density. Additionally, Digital Image Correlation and high-resolution imaging during compression tests provided detailed insights into deformation mechanisms and collapse behavior. The findings offer valuable insights into the compressive performance of these novel hybrid lattices, highlighting their potential applicability in bioimplant applications, with the Fluorite-BCC lattice exhibits the highest EMC and the Fluorite-BCC and SplitP lattices exhibit higher energy absorption capabilities. © 2025 The Author(s)

关键词： Machinability

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：