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38th Conference on Neural Information Processing systems, NeurIPS 2024

作者： Yang, Dingkang Wei, Jinjie Xiao, Dongling Wang, Shunli Wu, Tong Li, Gang Li, Mingcheng Wang, Shuaibing Chen, Jiawei Jiang, Yue Xu, Qingyao Li, Ke Zhai, Peng Zhang, Lihua Academy for Engineering and Technology Fudan University Shanghai China Tencent Youtu Lab Shanghai China Cognition and Intelligent Technology Laboratory Shanghai China Engineering Research Center of AI and Robotics Ministry of Education Shanghai China AI and Unmanned Systems Engineering Research Center of Jilin Province Changchun China

Developing intelligent pediatric consultation systems offers promising prospects for improving diagnostic efficiency, especially in China, where healthcare resources are scarce. Despite recent advances in Large Language Models (LLMs) for Chinese medicine, their performance is sub-optimal in pediatric applications due to inadequate instruction data and vulnerable training procedures. To address the above issues, this paper builds PedCorpus, a high-quality dataset of over 300,000 multi-task instructions from pediatric textbooks, guidelines, and knowledge graph resources to fulfil diverse diagnostic demands. Upon well-designed PedCorpus, we propose PediatricsGPT, the first Chinese pediatric LLM assistant built on a systematic and robust training pipeline. In the continuous pre-training phase, we introduce a hybrid instruction pre-training mechanism to mitigate the internal-injected knowledge inconsistency of LLMs for medical domain adaptation. Immediately, the full-parameter Supervised Fine-Tuning (SFT) is utilized to incorporate the general medical knowledge schema into the models. After that, we devise a direct following preference optimization to enhance the generation of pediatrician-like humanistic responses. In the parameter-efficient secondary SFT phase, a mixture of universal-specific experts strategy is presented to resolve the competency conflict between medical generalist and pediatric expertise mastery. Extensive results based on the metrics, GPT-4, and doctor evaluations on distinct downstream tasks show that PediatricsGPT consistently outperforms previous Chinese medical LLMs. The project and data will be released at https://***/ydk122024/PediatricsGPT. © 2024 Neural information processing systems foundation. All rights reserved.

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Numerical study on the flow field for deep-sea hydrothermal plume tracking simulation 17

Numerical study on the flow field for deep-sea hydrothermal ...

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17th Asian Congress of Fluid Mechanics, ACFM 2023

作者： Xu, Xue-Han Liu, Jing-Cheng Hou, Hui-Rang Meng, Qing-Hao Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin300072 China Laboratory for High-speed Aerodynamics Department of Mechanics Tianjin University Tianjin300072 China

In this paper, the distribution of hydrothermal buoyancy plume in the deep-sea environment is studied numerically. Submarine hydrothermal vents are prominent manifestations of hydrothermal activities and are of great scientific and engineering importance. It is an important basis to obtain the temporal and spatial distribution information of different hydrothermal plumes for tracking and locating the source of hydrothermal plumes. Based on Reynolds-averaged Navier-Stokes equations and Realizable k-ϵ turbulence model, the plumes of hydrothermal vents at depths of 800 m, 1200 m, and 1400 m were calculated and studied to obtain the spatial distribution of variables such as velocity field, temperature field and turbulent kinetic energy. The research results of this paper provide an important basis for the simulation of deep-sea hydrothermal plume tracking based on autonomous underwater vehicles. © The Institution of engineering & Technology 2023.

关键词： Flow fields

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A Fault Detection Method Based on Bearing Dynamics with Multi-frequency Sinusoidal Signal 41

A Fault Detection Method Based on Bearing Dynamics with Mult...

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第41届中国控制会议

作者： Xiaohong Li Zhicheng Li Zaiyue Yang Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineeringand the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in UniversitiesSouthern University of Science and Technology Academy for Advanced Interdisciplinary Studies Southern University of Science and Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Bearing is a common and important component in the industry,and it is crucial to detect and diagnose its working *** to the characteristic the motion process of the bearing that is a periodic nonlinear system with sinusoidal input,a bearing fault detection method based on the nonlinear system with multi-frequency sinusoidal input is *** the dynamics modeling of the motion for the bearing,it is found that its input and output have the characteristics of almost periodic *** the periodogram-based asymptotic local fault detection method,the fault detection problem is transformed into a hypothesis test problem,and a threshold is obtained by the given confidence and the degree of freedom of a specific frequency *** method can effectively and quickly monitor the early minor faults in strong noise *** realization and performance of this bearing detection method are illustrated by the simulated vibration signal of the bearing.

关键词： Bearing dynamics model fault detection sinusoidal signal statistical methods

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Robust-Tube Model Predictive Control for Piezoelectrically Actuated Fast Mechanical Switches for Hybrid Circuit Breakers 2

Robust-Tube Model Predictive Control for Piezoelectrically A...

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2nd International Conference on Artificial Intelligence and Automation Control, AIAC 2024

作者： Chai, Yu Yang, Chen Dong, Huijuan Zhao, Jie Shardt, Yuri A. W. Ju, Bingfeng ZJU-Hangzhou Global Scientific and Technological Innovation Center Hangzhou China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China Technical University of Ilmenau Department of Automation Engineering Ilmenau Germany School of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9798331529147

Safeguarding high voltage direct current (HVDC) systems against direct current faults is an inherently demanding task. A promising solution to tackle this challenge is the application of piezoelectrically actuated fast mechanical switches (PA-FMS). However, mechanical resonance and random vibrations in the travel curves of P A-FMS have a substantial impact on their control accuracy. To tackle this challenge, a robust-tube model predictive control (RTMPC) strategy is developed. RTMPC drives the disturbed system state into the minimal robustly positively invariant (mRPI) set centered on the target and ensures that constraints are satisfied. The error feedback gain is calculated using the proposed linear matrix inequality (LMI) based method to minimize the effect of disturbances on the trajectory. An efficient outer approximation method is used to compute the mRPI set. Simulation results show that the critically damped travel curves have been achieved, along with a reduction of the external disturbances by 98%. © 2024 IEEE.

关键词： Predictive control systems

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Online Optimization of Heat Pump systems for Building Heating based on Lyapunov Method

Online Optimization of Heat Pump Systems for Building Heatin...

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2022 IEEE Power and Energy Society Innovative Smart Grid Technologies Conference, ISGT 2022

作者： Cao, Mengfan Chen, Shibo Yang, Zaiyue Miao, Haoyu Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems The Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Shenzhen518055 China

ISBN: (纸本)9781665437752

Improving the energy efficiency of heating systems is of great significance in building energy saving. This paper investigates a time-average total cost minimization problem of heat pump systems. Firstly, heat pump systems and thermal dynamic building model are built considering thermal inertia. To solve temporally coupled constraints and uncertainties of the outdoor temperature and real-time electricity price in the formulated problem, the paper proposes an online optimization algorithm for building heating based on Lyapunov method. Extensive simulation results show that this method could achieve user comfort and reduce energy cost effectively. © 2022 IEEE.

关键词： Energy efficiency

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Navigating Problematic Bauhaus Inheritances: Critiques, Implications, and Questions from the Bauhaus of the Seas NEB Lighthouse

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DESIGN ISSUES 2024年第3期40卷 105-117页

作者： Torretta, Nicholas B. Pestana, Mariana Duarte, Frederico Predroso-Roussado, Cristiano Seixas, Luisa Metelo Nisi, Valentina Nunes, Nuno Jardim Interactive Technologies Institute Lisbon University Instituto Superior Técnico University Faculdade de Belas-Artes da Universidade de Lisboa (FBAUL) Interactive Technologies Institute - Laboratory of Robotics and Engineering Systems (ITI/LARSyS) Instituto Superior Técnico University NOVA FCSH Instituto Superior Técnico University Malmö University

In 2020, Europe announced the New European Bauhaus (NEB). While the initiative intends to achieve EU sustainability goals, framing it under the name of the Bauhaus brings various challenges and issues to the fore. In this article, we analyze the critiques of the original Bauhaus and the NEB to understand the challenges that the NEB lighthouse project Bauhaus of the Seas Sails (BoSS) inherits by adhering to the Bauhaus vision and name. We unveil the problematic dynamics of Eurocentric modernity's myths of universalism and better living through technology and on the Bauhaus's and NEB's position in global power structures. Instead of assuming a tabula rasa approach and replicating problematic structures unknowingly, we bring these three aspects to BoSS to find questions as orientation points to help steer away from problematic aspects inherited by reanimating the Bauhaus name and its legacy.

关键词： Bauhaus New European Bauhaus decolonial criticality regenerative design

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SWhegPro: A Novel Robust Wheel-Leg Transformable Robot

SWhegPro: A Novel Robust Wheel-Leg Transformable Robot

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Dai, Cunxi Liu, Xiaohan Zhou, Jianxiang Liu, Zhengtao Zhu, Zheng Jia, Zhenzhong The Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China SUSTech Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen518055 China

ISBN: (纸本)9781665481090

This paper reports the design, implementation, and performance evaluation of SWhegPro, a swift and robust wheel-leg transformable robot that can operate under heavy payload. SWhegPro can shift wheel morphology between the wheel, e-shape leg, and S-shape leg, the corresponding gaits were developed and compared in simulation. The wheel/leg operation is driven by the same motor, so the actuation system and power can be utilized efficiently. Different from its predecessor which uses tendon-driven transformation mechanisms, SWhegPro utilizes self-locking electric push rods as transformation actuators. This makes it possible for SWhegPro to operate under heavy loads and is easier to repair. The robot was empirically built, and the design process, mechatronics infrastructure, and gait behavioral development were discussed. The performance of the robot was evaluated in various sce-narios, including driving and turning in wheeled mode, step crossing, and irregular terrain passing in legged mode. © 2022 IEEE.

关键词： Wheels

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Multiple People Continuous Tracking and Identification Using Millimeter-wave Radar 8

Multiple People Continuous Tracking and Identification Using...

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8th International Symposium on Advances in Electrical, Electronics, and Computer engineering, ISAEECE 2023

作者： Wang, Chunyu Zhang, Jun Liu, Yang Zhang, Lihua Academy for Engineering and Technology Fudan University Shanghai China Ji Hua Laboratory Foshan China Engineering Research Center of AI and Robotics Ministry of Education China Engineering Research Center of AI and Unmanned Vehicle Systems of Jilin Province Changchun China

ISBN: (纸本)9781510666290

Automatic people tracking and identification have a lot of application prospects in access control, intelligent monitoring, personalized service, etc. Although the primary sensors used now are cameras, they are challenging to cope with low light conditions, adverse weather conditions, and clothing changes. The privacy risks brought by cameras cannot be ignored with people's increasing awareness of privacy. In this paper, we use a commercial millimeter-wave radar to track and identify multiple people indoors. The mmWave radar can "see" objects even in the dark and protects people's private information. We propose PPMM mechanism to solve the problem of tracking multiple people walking at close distances. What's more, we design transformer for mmWave radar pointclouds (TMP) based on transformer architecture. Finally, we evaluate our model and demonstrate the results on our dataset, which involved 6 people. Our method can track up to 3 people simultaneously. We achieve the best identification accuracy of 86.34% overall different numbers of people scenarios, and the accuracy of single, two, and three people scenarios are 87.93%, 87.00%, and 64.98%. © 2023 SPIE. All rights reserved.

关键词： Cameras

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Multiple Jumping and Perching of a Miniature Mobile Robot

Multiple Jumping and Perching of a Miniature Mobile Robot

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Hu, Longlong Tang, Lingqi Chen, Hao Li, Yao Li, Bing Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China Machine Theory and Intelligent Unmanned Systems of Guangdong Key University Laboratory of Mechanism Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

ISBN: (纸本)9781665481090

Many insects and miniature robots can traverse through narrow spaces via jumping motion;however, successful jumping and landing remains challenging in small-scale. No jumping robot within 90 g have yet demonstrated multiple jumping and perching successfully. Here, we demonstrate continuous jumping and perching of a miniature robot. The origami-inspired structure was manufactured by smart composite microstructure technology. A novel jumping mechanism was designed to load adjustable jump energy actuated by only one motor. A perching mechanism with two adhesive pads was designed to passively couple with the jumping mechanism, achieving perching on the ground and automatically detaching before the next jump. The jumping mechanism achieved adjustable jumping energy, corresponding to jumping height from 0.7 cm to 36.4 cm. The perching mechanism provided successful landing within a wide range (when velocity angle according to vertical direction =18, the velocity magnitude 3.4m/s, the body angle 30). Unlike typical jumping robots performing uncontrollable landing and free-rolling, our robot kept its body up-righted during the whole movement and avoided free-rolling after landing. The self-contained prototype had 18 g of mass, 6.5 cm of body height, and 36.4 cm of maximum jumping height. Finally, an eccentric motor was integrated to perform multiple omnidirectional jumping and perching movements;this represents significant improvement of motion ability for small-scale mobile robots. © 2024 IEEE.

关键词： Landing

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Scalable and eco-friendly flexible loudspeakers for distributed human-machine interactions

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npj Flexible Electronics 2023年第1期7卷 89-98页

作者： Yucong Pi Qiutong Liu Zhaoyang Li Dazhe Zhao Kaijun Zhang Zhirui Liu Bingpu Zhou Iek Man Lei Yuan Ma Junwen Zhong Department of Electromechanical Engineering and Centre for Artificial Intelligence and Robotics University of MacaoMacao SAR 999078China Department of Mechanical Engineering and Research Institute for Intelligent Wearable Systems The Hong Kong Polytechnic UniversityHong KongChina Joint Key Laboratory of the Ministry of Education Institute of Applied Physics and Materials EngineeringUniversity of MacaoAvenida da UniversidadeTaipaMacao 999078China

Flexible loudspeakers that can be easily distributed in the surrounding environment are essential for creating immersive experiences in human-machine interactions,as these devices can transmit acoustic information *** this paper,we present a flexible electret loudspeaker that offers numerous benefits,such as eco-friendly,easy fabrication,flexible customization,strong durability,and excellent *** output sound pressure level(SPL)and frequency response characteristic are optimized according to the simulation and experiment *** a distance of 50 meters,a large-size loudspeaker(50×40 cm^(2))can produce an average SPL of 60 dB(normal SPL range of human voices is between 40 to 70 dB).The frequency response of our loudspeaker is high and relatively consistent up to 15 kHz,which covers the normal frequency range of human voices(<8 kHz).As demonstrated in this work,our loudspeakers can be used for scalable applications,such as being integrated with curtains or hung up like posters,offering a promising and practical solution for creating better human-machine interaction experiences.

关键词： speakers durability offering

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