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7th IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2024

作者： Zeng, Menghao Chen, Gang Wang, Xingsong Tian, Mengqian Southeast University School of Mechanical Engineering Nanjing China Robotics and Biomechanical Electronics Technology Laboratory Jiangsu China

ISBN: (纸本)9798350339161

This paper focuses on the study of image enhanced injection system within the CT environment, and provides software and hardware solutions for CT intelligent contrast agent injection system. The structure of the device is presented in detail, and the embedded control system is developed, including software and hardware components. By integrating pressure feedback control algorithms, precise and stable dual injector motion control has been achieved, reducing pressure fluctuations during contrast agent injection for patients during CT imaging. This development enables hospitals to achieve high levels of pressure stability during contrast agent injection and improve the automatic flow rate during contrast injection. © 2024 IEEE.

关键词： Image enhancement

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AN IMPROVED AND ENHANCED DEPTH MAP APPROACH FOR OBSTACLE DETECTION IN UNKNOWN ENVIRONMENTS FOR REACTIVE AUTONOMOUS MOBILE ROBOTS

AN IMPROVED AND ENHANCED DEPTH MAP APPROACH FOR OBSTACLE DET...

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ASME 2024 International mechanical engineering Congress and Exposition, IMECE 2024

作者： Raju, Vomsheendhur Selekwa, Majura F. Mechatronics and Robotics Laboratory Department of Mechanical Engineering North Dakota State University FargoND United States

ISBN: (纸本)9780791888636

Interest in autonomous vehicles has attracted research into developing better navigation systems. Autonomous navigation systems guide unmanned vehicles to traverse any environment without human intervention;they require clear knowledge of the environment to make correct decisions. Information about the environment can be obtained from either ranging or vision sensors. Although ranging sensors such as LiDARs, radars, or sonars can detect the presence and location of obstacles, they don’t provide any information on whether the obstacles are traversable. On the other hand, vision sensors produce images similar to how human eyes perceive the environment, which can be processed to determine whether the sensed obstacle is traversable. Since vision sensors are light, less costly, and consume low power compared to LiDARs or Radars, there is an increasing interest in using them in autonomous navigation of unmanned ground vehicles. The main limitation of vision sensors for this purpose is their failure to directly identify the locations of the obstacles. Often, the location is determined by using a depth map, which is not always accurate and can be very computational. This paper proposes a new method of processing a depth map with improved accuracy. The depth of the closest objects to the stereo camera is extracted using the horizontal and vertical field of view of the sensor. It is further enhanced using morphological operations and the P-Tile segmentation technique to segment the obstacle(s) from its background and noise. This approach generates a denser map without any discontinuities, which leads to improved accuracy in locating close-by objects at less computational cost. Information from this depth map can be used as a low-cost alternative to ranging information in the navigation system for ground vehicles. Copyright © 2024 by ASME.

关键词： Stereo image processing

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Recent advances on monolithic perovskite-organic tandem solar cells

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Interdisciplinary Materials 2024年第1期3卷 113-132页

作者： Guanshui Xie Huan Li Longbin Qiu Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Department of Mechanical and Energy EngineeringSUSTech Energy Institute for Carbon NeutralitySouthern University of Science and TechnologyShenzhenChina

Perovskite-organic tandem solar cells(TSCs)have emerged as a groundbreaking technology in the realm of photovoltaics,showcasing remarkable enhancements in efficiency and significant potential for practical ***-organic TSCs also exhibit facile fabrication surpassing that of all-perovskite or all-organic TSCs,attributing to the advantageous utilization of orthogonal solvents enabling sequential solution process for each *** perovskite-organic TSCs capitalize on the complementary light absorption characteristics of perovskite and organic *** is a promising prospect of achieving further enhanced power conversion efficiencies by covering a broad range of the solar spectrum with optimized perovskite absorber,organic semiconductors as well as the interconnecting layer's optical and electrical *** review comprehensively analyzes the recent advancements in perovskite-organic TSCs,highlighting the synergistic effects of combining perovskite with a low open-circuit voltage deficit,organic materials with broader light absorption,and interconnecting layers with reduced optical and electrical ***,the underlying device architecture design,regulation strategies,and key challenges facing the high performance of the perovskite-organic TSCs are also discussed.

关键词： interconnecting layer narrow‐bandgap organic solar cells recombination layer tandem solar cells wide‐bandgap perovskite solar cells

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MM-LINS: a Multi-Map LiDAR-Inertial System for Over-Degenerate Environments

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-11页

作者： Ma, Yongxin Xu, Jie Yuan, Shenghai Zhi, Tian Yu, Wenlu Zhou, Jun Xie, Lihua school of Mechanical Engineering Shandong University Jinan China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical and Electronic Engineering Nanyang Technological University Singapore College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing Jiangsu China

SLAM plays a crucial role in automation tasks, such as warehouse logistics, healthcare robotics, and restaurant delivery. These scenes come with various challenges, including navigating around crowds of people, dealing with flying plastic bags that can temporarily blind sensors, and addressing reduced LiDAR density caused by cooking smoke. Such scenarios can result in over-degeneracy, causing the map to drift. To address this issue, this paper presents a multi-map LiDAR-inertial system (MM-LINS) for the first time. The front-end employs an iterated error state Kalman filter for state estimation and introduces a reliable evaluation strategy for degeneracy detection. If over-degeneracy is detected, the active map will be stored into sleeping maps. Subsequently, the system continuously attempts to construct new maps using a dynamic initialization method to ensure successful initialization upon leaving the over-degeneracy. Regarding the back-end, the Scan Context descriptor is utilized to detect inter-map similarity. Upon successful recognition of a sleeping map that shares a common region with the active map, the overlapping trajectory region is utilized to constrain the positional transformation near the edge of the prior map. In response to this, a constraint-enhanced map fusion strategy is proposed to achieve high-precision positional and mapping results. Experiments have been conducted separately on both public datasets that exhibited over-degenerate conditions and in real-world environments. These tests demonstrated the effectiveness of MM-LINS in over-degeneracy environment. Our codes are open-sourced on Github. IEEE

关键词： Optical radar

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Reinforcement Learning Navigation for Robots Based on Hippocampus Episode Cognition

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Journal of Bionic engineering 2024年第1期21卷 288-302页

作者： Jinsheng Yuan Wei Guo Zhiyuan Hou Fusheng Zha Mantian Li Pengfei Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin 150001China Shenzhen Academy of Aerospace Technology Shenzhen 518057China School of Mechanical and Electrical Engineering Lanzhou University of TechnologyLanzhou 730050China

Artificial intelligence is currently achieving impressive success in all ***,autonomous navigation remains a major challenge for *** learning is used for target navigation to simulate the interaction between the brain and the environment at the behavioral level,but the Artificial Neural Network trained by reinforcement learning cannot match the autonomous mobility of humans and *** hippocampus–striatum circuits are considered as key circuits for target navigation planning and *** paper aims to construct a bionic navigation model of reinforcement learning corresponding to the nervous system to improve the autonomous navigation performance of the *** ventral striatum is considered to be the behavioral evaluation region,and the hippocampal–striatum circuit constitutes the position–reward *** this paper,a set of episode cognition and reinforcement learning system simulating the mechanism of hippocampus and ventral striatum is constructed,which is used to provide target guidance for the robot to perform autonomous *** with traditional methods,this system reflects the high efficiency of learning and better Environmental *** research is an exploration of the intersection and fusion of artificial intelligence and neuroscience,which is conducive to the development of artificial intelligence and the understanding of the nervous system.

关键词： Episode cognition Reinforcement learning Hippocampus Robot navigation

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Bending results of graphene origami reinforced doubly curved shell

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Defence Technology（防务技术） 2024年第5期35卷 198-210页

作者： Nan Yang Yunhe Zou Mohammad Arefi School of Architecture and Civil Engineering Qiqihar UniversityQiqihar 161006HeilongjiangChina School of Mechanical Engineering Inner Mongolia University of TechnologyHohhot 010051Inner MongoliaChina Inner Mongolia Key Laboratory of Special Service Intelligent Robotics Hohhot 010051Inner MongoliaChina Faculty of Mechanical Engineering Department of Solid MechanicsUniversity of KashanKashan87317-51167Iran

The present work investigates higher order stress,strain and deformation analyses of a shear deformable doubly curved shell manufactures by a Copper(Cu)core reinforced with graphene origami auxetic metamaterial subjected to mechanical and thermal *** effective material properties of the graphene origami auxetic reinforced Cu matrix are developed using micromechanical models cooperate both material properties of graphene and Cu in terms of temperature,volume fraction and folding *** principle of virtual work is used to derive governing equations with accounting thermal *** numerical results are analytically obtained using Navier's technique to investigate impact of significant parameters such as thermal loading,graphene amount,folding degree and directional coordinate on the stress,strain and deformation responses of the *** graphene origami materials may be used in aerospace vehicles and structures and defence technology because of their low weight and high stiffness.A verification study is presented for approving the formulation,solution methodology and numerical results.

关键词： Graphene origami Copper matrix Doubly curved Shear deformable Auxetic metamaterial

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Cooperative output regulation of heterogeneous directed multi-agent systems:a fully distributed model-free reinforcement learning framework

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Science China(Information Sciences) 2025年第2期68卷 170-185页

作者： Xiongtao SHI Yanjie LI Chenglong DU Huiping LI Chaoyang CHEN Weihua GUI Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics School of Mechanical Engineering and AutomationHarbin Institute of Technology (Shenzhen) School of Automation Central South University School of Marine Science and Technology Northwestern Polytechnical University School of Information and Electrical Engineering Hunan University of Science and Technology

In this paper, the cooperative output regulation(COR) problem of a class of unknown heterogeneous multi-agent systems(MASs) with directed graphs is studied via a model-free reinforcement learning(RL) based fully distributed eventtriggered control(ETC) strategy. First, we consider the scenario that the exosystem is accessible globally to all agents, an internal model-based augmented algebraic Riccati equation(AARE) is constructed, and its solution is learned by the proposed model-free RL algorithm via online input-output data. Further, for the scenario that the exosystem is accessible only to its adjacent followers, the distributed observers are designed for each agent to get the state of the exosystem, and an internal modelbased fully distributed adaptive ETC protocol is then synthesized to construct the corresponding AARE, and the feedback gain matrix is learned in a model-free fashion. The model-free RL-based control protocol proposed in this paper can not only remove the prior knowledge of agents' dynamics, but also release the dependence on global information by the adaptive event-triggered mechanism(ETM) and the new graph-based Lyapunov function. Finally, simulation results are illustrated to show the feasibility and effectiveness of the proposed control scheme.

关键词： model-free reinforcement learning unknown heterogeneous multi-agent systems fully distributed event-triggered control directed graph

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Gravity Search Algorithm-Based Path Planning of Single Humanoid Based on the Study of Different Artificial Intelligence Techniques 3rd

Gravity Search Algorithm-Based Path Planning of Single Human...

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3rd Innovative Product Design and Intelligent Manufacturing System, IPDIMS 2021

作者： Vikas Parhi, Dayal R. Kashyap, Abhishek K. Deepak, B.B.V.L. Robotics Laboratory Mechanical Engineering Department NIT Rourkela Odisha Rourkela769008 India

ISBN: (纸本)9789811946059

The paper presents a rigorous study of the different path planning approaches for humanoid navigation in an unknown space. Different reactive techniques along with classical techniques are discussed in the paper for navigation of the humanoid robot in different terrain. The paper deals with a comprehensive discussion of the above methods to identify the best intelligent technique for the navigation-based planning of humanoids. It was found that the convergence of the classical method is dependent upon the navigation environment and the level of selection of parameters. The paper introduces a new controller (based on the gravity search algorithm, GSO) to model humanoid navigation in cluttered terrain. The controller was tested in both simulation and experimental environments. It was found that the designed controller was effective in achieving optimized path navigation and the percentage error was within the acceptable limits. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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Hierarchical Sponge-Hydrogel Hybrid Structures with Robust Interfaces

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Chinese Journal of Chemistry 2023年第20期41卷 2635-2640页

作者： Pei Zhang Guangda Chen Xingmei Chen Junfei Xing Yue Tao Ji Liu Department of Mechanical and Energy Engineering Southern University of Science and TechnologyShenzhenGuangdong518055 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhenGuangdong518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhenGuangdong518055 China

Soft materials including elastomers and hydrogels are playing critical roles in a variety of fields,including bioelectrodes,batteries,supercapacitors,biomedical scaffolds,and solar vapor *** hydrophobic sponges(i.e.,mechanical robustness,elasticity and macroscopic porous structure)and hydrophilic hydrogels(i.e.,autonomous water absorption and transportation,biocompatibility)within one unit could readily combine the complementary characters from each component,making a number of future research directions and applications *** propose a simple yet effective strategy to construct sponge-hydrogel hybrid structures with robust hydrophobic-hydrophilic *** sponge scaffold imparts the sponges-hydrogel hybrids with desirable mechanical robustness,elasticity and macroscopic *** the other hand,the incorporated hydrogel component endows the hybrids with high water content(98 wt%hydrogel and 2 wt%sponge),superior compatibility,and nanoscale pores allowing for storage and transportation of various chemical and biological *** further demonstrate that the introduction of hydrophilic hydrogel components could effectively improve the liquid absorption capability,blood coagulation rate,hemostatic capacity and hemocompatibility,thus promising as hemostatic agents.

关键词： Sponge-hydrogel hybrid Interface Hierarchical Robustness Liquid absorption Gels Polymer Composites Materials Science

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Investigating the Response of Ferrofluid Droplets in a Uniform Rotating Magnetic Field: Towards Splitting and Merging 6

Investigating the Response of Ferrofluid Droplets in a Unifo...

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6th International Conference on Manipulation, Automation, and robotics at Small Scales, MARSS 2023

作者： Youesfi, Masoud Sarkhosh, Mohammad Hosein Bijarchi, Mohamad Ali Pishkenari, Hossein Nejat Sharif University of Technology Nano-robotics Laboratory Mechanical Engineering Department Tehran Iran

ISBN: (纸本)9798350330397

Ferrofluid droplets are of great importance due to their ability to be manipulated by magnetic actuation, enabling progress in various areas, such as nanotechnology, robotics, and optics. Moving, splitting, and merging the ferrofluid droplets need a comprehensive analysis of the behavior of the ferrofluid droplets in a magnetic field. Here, we analyze the response of ferrofluid droplets when they are under the effect of a uniform rotating magnetic field. A water-based ferrofluid droplet is immersed in a high-viscosity fluid, and the frequency of the applied field is changed from 0.01 to 0.30 Hz for performing experiments. Three distinct types of motion are observed during experiments: pure rotation at a low-frequency magnetic field, splitting the droplet at medium frequency field, and merging the small droplets into one droplet at high frequency. The responses of ferrofluid droplets are explained through the interaction of surface tension, drag, and magnetic force. © 2023 IEEE.

关键词： Drops

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