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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Zihan Wang Siyang Song Cheng Luo Songhe Deng Weicheng Xie Linlin Shen Computer Vision Institute School of Computer Science & Software Engineering Shenzhen University Shenzhen Institute of Artificial Intelligence and Robotics for Society National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Universiry of Leicester Monash University

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

Human facial action units (AUs) are mutually related in a hierarchical manner, as not only they are associated with each other in both spatial and temporal domains but also AUs located in the same/close facial regions show stronger relationships than those of different facial regions. While none of existing approach thoroughly model such hi-erarchical inter-dependencies among AUs, this paper proposes to comprehensively model multi-scale AU-related dynamic and hierarchical spatiotemporal relationship among AUs for their occurrences recognition. Specifically, we first propose a novel multi-scale temporal differencing network with an adaptive weighting block to explicitly capture facial dynamics across frames at different spatial scales, which specifically considers the heterogeneity of range and mag-nitude in different AUs' activation. Then, a two-stage strategy is introduced to hierarchically model the relationship among AUs based on their spatial distribution (i.e., local and cross-region AU relationship modelling). Experimental results achieved on BP4D and DISFA show that our approach is the new state-of-the-art in the field of AU occurrence recognition. Our code is publicly available at https://***/CVI-SZU/MDHR.

关键词： Gold Adaptation models Computer vision Graphical models Codes Adaptive systems Computational modeling

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Heating Patterns and Temperature Distribution of Projectile Surface in Lunar Soil Penetration

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SSRN 2024年

作者： Chi, Cheng Jiang, Shengyuan Chi, Guanxin Tang, Junyue Xiao, Junxiao Zhu, Jiachen Chi, Runqiang Fan, Jinbiao Huang, Zexi Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China College of Mechanical Engineering Yanshan University Qinhuangdao066004 China National Key Laboratory for Electronic Measurement Technology North University of China Taiyuan030051 China

A large quantity of friction-induced heat is generated during penetration, notably increasing the projectile's surface temperature. Considering that the temperature variation depends on the physical properties of the penetrating target, this factor can be helpful for extraterrestrial object detection. This study studied the heat generation patterns and temperature distribution on the projectile surface when penetrating the lunar soil. For discrete medium penetration, large deviations appear in temperature prediction due to particle extrusion flow. Thus, we established a heat flux density model on the projectile surface by introducing a relative velocity factor for correction. The particle flow characteristics simulation and fitting model of the introduced factor were also obtained. We constructed a theoretical relationship between the resistance and stress model parameters through dynamic modeling. Experimental projectiles recording penetration acceleration and temperature at the points of interest on the projectile surface were designed and tested to obtain recorded data. The temperature field in this process was simulated in COMSOL software to calculate the projectile surface's heat flux density and temperature distribution. The results indicate that the developed model is effective. This research infers the physical characteristics of the penetrating target under given penetration conditions and provides more dimensional information for lunar soil exploration. © 2024, The Authors. All rights reserved.

关键词： Temperature distribution

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Optimized Design of a Haptic Unit for Vibrotactile Amplitude Modulation

Optimized Design of a Haptic Unit for Vibrotactile Amplitude...

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IEEE International Conference on robotics and Biomimetics

作者： Jingchen Huang Yun Fang Weichao Guo Zhijian Qiao Xinjun Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering and the Meta Robotics Institute Shanghai Jiao Tong University Shanghai China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Communicating information to users is a crucial aspect of human-machine interaction. Vibrotactile feedback encodes information into spatiotemporal vibrations, enabling users to perceive tactile sensations. It offers advantages such as lightweight, wearability, and high stability, with broad applications in sensory substitution, virtual reality, education, and healthcare. However, existing haptic unit designs lack amplitude modulation capabilities, which limits their applications. This paper proposed an optimized design of the haptic unit from the perspective of vibration amplitude modulation. A modified elastic model was developed to describe the propagation and attenuation mechanisms of vibration in the skin. Based on the model, two types of hierarchical architectural design were proposed. The design incorporated various materials arranged in multiple layers to amplify or attenuate the vibration amplitude as it traveled through the structure. An experimental platform was built to evaluate the performance of the optimized design.

关键词： Vibrations Solid modeling Virtual reality Amplitude modulation Robot sensing systems Motors Stability analysis Skin Haptic interfaces Spatiotemporal phenomena

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ExpoNAS: Using Exposure-based Candidate Exclusion to Reduce NAS Space for Heterogeneous Pipeline of CNNs 29

ExpoNAS: Using Exposure-based Candidate Exclusion to Reduce ...

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29th IEEE International Conference on Parallel and Distributed systems, ICPADS 2023

作者： Duan, Huijuan Wang, Danghui Zhao, Xingting Mei, Kuizhi Wang, Jihe Polytechnical University School of Computer Science Northwestern Xi'an China Northwestern Polytechnical University Engineering Research Center of Embedded System Integration Ministry of Education Xi'an China Xi'An Jiaotong University Institute of Artificial Intelligence and Robotics Xi'an China Northwestern Polytechnical University Natl. Engineering Laboratory for Integrated Aero-Space-Ground-Ocean Big Data Application Technology Xi'an China

ISBN: (纸本)9798350330717

Efficiently deploying neural network models on heterogeneous edge systems faces unique challenges. Two major issues are underutilized pipelines caused by hardware heterogeneity and explosive growth of architecture search space. To address these challenges, we propose ExpoNAS, a framework enabling fast deployment-oriented neural architecture search on heterogeneous platforms. ExpoNAS evaluates model partitioning and deployability before search to meet accuracy and latency constraints. However, repeated partitioning leads to exponential growth in architecture search space. We first observe a strong correlation between operational exposure and accuracy improvement, and then we propose an exposure-based reduction technique that excludes the operations of low exposure. By removing these non-critical operations, the exposure-based pruning successfully reduces architecture search time. Our experiments on popular datasets show that the ExpoNAS pipelined design improves execution efficiency by a factor of 2 compared to traditional batch processing. Without compromising accuracy, ExpoNAS is able to reduce the architecture search time by 47.5% for discovering high-accuracy networks, compared to the SOTA NAS strategies. © 2023 IEEE.

关键词： heterogeneous systems NAS pipeline mapping search space reduction

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Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces

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IEEE/CAA Journal of Automatica Sinica 2021年第11期8卷 1817-1826页

作者： Gaofeng Li Dezhen Song Lei Sun Shan Xu Hongpeng Wang Jingtai Liu Nankai University Tianjin 300350China Humanoids and Human Centered Mechatronics Research Line Italian Institute of Technology16163 GenovaItaly Department of Computer Science and Engineering Texas A&M UniversityCollege StationTexas 77843 USA Institute of Robotics and Automatic Information System Nankai UniversityTianjin 300350China Tianjin Key Laboratory of Intelligent Robotics Nankai UniversityTianjin 300350China

To balance the contradiction between higher flexibility and heavier load bearing capacity,we present a novel deformable manipulator which is composed of active rigid joints and deformable *** deformable link is composed of passive spherical joints with preload forces between socket-ball *** estimate the load bearing capacity of a deformable link,we present a static force-based model of spherical joint with preload force and analyze the static force propagation in the deformable *** yields an important result that the load bearing capacity of a spherical joint only depends on its radius,preload force,and static friction *** further develop a parameter estimation method to estimate the product of preload force and static friction *** experimental results validate our model.80.4%of percentage errors on the maximum payload mass prediction are below 15%.

关键词： Deformable link parameters identification spherical joint with preload force static force-based model

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Comprehensive Study of Plastic Deformation Mechanism of Polycrystalline Copper Using Crystal Plasticity Finite Element

SSRN

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SSRN 2024年

作者： Zhou, Xingying Zan, Shusong Zeng, Yifei Guo, Ruiyang Wang, Guangzhou Wang, Tingzhang Zhao, Linjie Chen, Mingjun State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Machining and Condition Monitoring Group Faculty of Engineering University of Nottingham NG81BB United Kingdom

Graded polycrystalline copper materials have been expected in the field of scientific research and engineering in recent years because the core of the material has enough toughness and a sufficient surface strength. However, the plastic deformation mechanism, gradient grain generation mechanism and material strengthening principle of polycrystalline copper are still not well understood. Therefore, it is urgent to further analyze the plastic deformation of polycrystalline copper. In this study, the micron scale plastic deformation behavior of polycrystalline copper is simulated based on the crystal plasticity finite element method. The simulation analysis is carried out from the aspects of grain size, grain shape, crystal orientation type and quantity, loading mode and so on. The effects of the above parameters on the Mises stress nephogram and stress-strain curve of polycrystalline copper were analyzed. At the end of the article, the EBSD orientation distribution information of graded polycrystalline copper grains obtained in the cutting process is analyzed comprehensively and the formation mechanism of graded polycrystalline copper is explained by combining the simulation results. © 2024, The Authors. All rights reserved.

关键词： Crystal orientation

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Simulation study of a spider-like robot based on leg reorganization

Simulation study of a spider-like robot based on leg reorgan...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Wang, Shu Qi Fan, Ji Zhuang Zhang, Kuan Zhang, Wei Liu, Gang Feng Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Harbin University of Science and Technology College of Mechanical and Power Engineering Harbin China

ISBN: (纸本)9781665436786

This paper presents a four-legged bionic robot based on leg reorganization with the hunter spider as the bionic research object. By studying the biological structure of the hunter spider, its movement mode, and the characteristics of limb movement during the conversion process is analyzed and the principle of wheel and foot conversion of the robot is obtained. The three-dimensional model of the bionic robot is designed, and the overall assembly of the bionic structure model is completed. The rationality of the design of the bionic structure is initially verified by the leg reorganization. The virtual prototype is built by adding constraints to realize the bionic motion simulation, including in-situ rotary motion, foot-wheel conversion motion, wheel motion, wheel-foot conversion motion, foot motion, which provides a theoretical basis for the development of the physical prototype and the selection of hardware. © 2021 IEEE.

关键词： Wheels

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Acoustically Activated Nozzle for Microdroplet Generation and Dispensing

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Physical Review Applied 2023年第2期20卷 024067-024067页

作者： Qiu Yin Xiuyuan Li Zhichao Ma Wenming Zhang State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China Institute of Medical Robotics School of Biomedical Engineering Shanghai Jiao Tong University No. 800 Dongchuan Road Shanghai 200240 China

Droplet-based microfluidic has emerged as a versatile tool for widespread applications, such as biochemical analysis and synthesis, for which the generation and manipulation of the microdroplets are fundamental. Acoustic based droplet control has shown advantages of good biocompatibility and widescale tunability. Here, we demonstrate an acoustic controlled nozzle that is integrated with both generation and directed dispensing of microdroplets. The system can generate monodisperse microdroplets with tunable sizes (50–641 µm) at a highest throughput of 2000 droplets per second. Besides, by tuning the acoustic frequency, the droplets can be steered to different directions after their formation, realizing on-demand dispensing of the microdroplets. The controlled microdroplet generation and dispensing are both attributed to the acoustic streaming effect induced by the nozzle vibration. Two basic mechanisms for the droplet control were studied: (1) the correlation between the droplet size and the acoustic actuation time, (2) the dependence of the droplet dispensing direction on the acoustic frequency. This work paves the way towards programmable control over acoustic generation and dispensing of microdroplets, which has great potential in the applications of bio-chemical analysis and synthesis.

关键词： Drops

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A Novel Multi-layered Minutiae Extractor Based on OCT Fingerprints 16th

A Novel Multi-layered Minutiae Extractor Based on OCT Finge...

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16th Chinese Conference on Biometric Recognition, CCBR 2022

作者： Zeng, Wenfeng Zhang, Wentian Liu, Feng Tan, Xu Li, Qin College of Computer Science and Software Engineering Shenzhen University Shenzhen China SZU Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Senzhen China The National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China School of Software Engineering Shenzhen Institute of Information Technology Shenzhen China

ISBN: (纸本)9783031202322

Fingerprints of Optical Coherence Tomography (OCT) imaging provide 3D volume data which have the nature property of multi-layered tissue structure. This paper, for the first time, attempts to extract minutiae for OCT-based fingerprint by making full use of the merits multi-layered structure of OCT imaging and powerful convolution al neural network (CNN). In particular, a novel multi-layered feature fusion minutiae extraction network is proposed, involving a multi-layered feature extractor to integrate the rich information of multiple subsurface fingerprints, and a two-stage object detection framework using reweighted concatenation feature to detect minutiae points. Compared with the results achieved by typical traditional and learning-based methods, our method outperforms the best one by about 2% of F1-score in minutiae extraction, and achieves the improvement of 0.09% than the best one in matching performance, which further demonstrate the effectiveness and robustness of our proposed method. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Optical tomography

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Aeroengine remaining useful life prediction via integrating enhanced inverted transformer and spatiotemporal graph learning

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ISA Transactions 2025年

作者： Sun, Shilong Ding, Hao Zhao, Zida Zhou, Yu Wang, Dong Xu, Wenfu School of Robotics and Advanced Manufacturing College of Artificial Intelligence Harbin Institute of Technology Shenzhen China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen China College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China

Accurate prediction of aeroengine Remaining Useful Life (RUL) is critical for ensuring flight safety, minimizing maintenance costs, and improving operational efficiency. This study proposes a novel model, the Fourier-Enhanced Inverted Transformer with Graph-Augmented Spatiotemporal Modeling (FIT-GSTM), to enhance RUL prediction performance. FIT-GSTM combines an inverted Transformer with a Spatiotemporal Graph Convolutional Network (STGCN) to effectively capture global spatiotemporal dependencies across multi-sensor data. To further enrich feature representation, the model incorporates Fast Fourier Transform (FFT) to extract frequency-domain information and fuses it with time-domain features, enhancing robustness to noise. Additionally, the integration of Memory Tokens and Reversible Instance Normalization (RevIN) strengthens the model's ability to retain long-term dependencies and adapt to heterogeneous data distributions. Experimental evaluations on the C-MAPSS dataset demonstrate that FIT-GSTM achieves superior RUL prediction accuracy and generalization compared to existing methods, highlighting its potential for real-world deployment in aeroengine health management. © 2025 ISA

关键词： Fast Fourier transforms

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