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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jian Wen Xuebo Zhang Qingchen Bi Zhangchao Pan Yanghe Feng Jing Yuan Yongchun Fang Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China School of Marine Science and Technology Northwestern Polytechnical University Xi’an China Faculty of Robot Science and Engineering Northeastern University Shenyang China College of Systems Engineering National University of Defense Technology Changsha China

Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning benchmark called MRPB 1.0 is newly proposed in this paper. The benchmark facilitates both motion planning researchers who want to compare the performance of a new local planner relative to many other state-of-the-art approaches as well as end users in the mobile robotics industry who want to select a local planner that performs best on some problems of interest. We elaborately design various simulation scenarios to challenge the applicability of local planners, including large-scale, partially unknown, and dynamic complex environments. Furthermore, three types of principled evaluation metrics are carefully designed to quantitatively evaluate the performance of local planners, wherein the safety, efficiency, and smoothness of motions are comprehensively considered. We present the application of the proposed benchmark in two popular open-source local planners to show the practicality of the benchmark. In addition, some insights and guidelines about the design and selection of local planners are also provided. The benchmark website [1] contains all data of the designed simulation scenarios, detailed descriptions of these scenarios, and example code.

关键词： Measurement Industries Service robots Dynamics Benchmark testing Planning Safety

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Mitigation of cross-eye jamming using a dual-polarization array

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Journal of systems Engineering and Electronics 2018年第3期29卷 491-498页

作者： MA Jiazhi SHI Longfei XIAO Shunping WANG Xuesong State Key Laboratory of Complex Electromagnetic Environmental Effects on Electronics and Information System National University of Defense Technology Changsha 410073China School of Science National University of Defense TechnologyChangsha 410073China

This paper presents an approach for mitigating the cross-eye jamming using a dual-polarization array. By transmitting a sum beam and a difference beam in two orthogonal polarimetric channels, a synthesized transmitted beam with spatially varying polarization is produced, such that the polarization of the transmitted radar wave varies in azimuth or elevation. Thus, the phases of the signals received on the two antennas of a cross-eye jammer become unequal, and an additional phase difference is introduced to disrupt the 180？ phase shifting in the retrodirective loop of the jammer. By means of beam scanning in a small angular range,the optimal beam steering configuration can be found to maximize the phase error for the mitigation of cross-eye jamming. As a result, the jamming performance of the cross-eye jammer degrades largely. Theoretical analysis and simulation results indicate that the proposed method is valid and feasible.

关键词： cross-eye jamming monopulse radar spatially varying polarization insertion phase beam scanning

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High-Performance Object Detection for Optical Remote Sensing Images with Lightweight Convolutional Neural Networks

High-Performance Object Detection for Optical Remote Sensing...

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IEEE International Conference on High Performance Computing and Communications (HPCC)

作者： Jia Liu Renhua Liu Kaijun Ren Xiaoyong Li Jianjian Xiang Shaohua Qiu School of Computer Science China University of Geosciences Wuhan China College of Meteorology and Oceanography National University of Defense Technology Changsha China National Key Laboratory of Science and Technology on Vessel Integrated Power System Naval University of Engineering Wuhan China

ISBN: (纸本)9781728176499;9781728176505

Convolutional neural network (CNN)-based object detection for optical remote sensing images has achieved higher accuracy compared with traditional detection methods with handcrafted features. However, the deep and large CNNs make it hard to be deployed in real-time scenarios with limited computation, storage, power and bandwidth resources, for example, data processing onboard airborne, satellites and unmanned aerial vehicles for search and rescue. Therefore, in this paper we present a high-performance object detection approach for optical remote sensing images. Based on the widely used Faster R-CNN framework, we integrate state-of-the-art lightweight CNNs as backbone to extract features, slim the heavy-head architecture of two-stage detector by reducing dimensions of features, and fine-tune our models with NWPU VHR-10 optical remote sensing dataset. Besides, the multi-threading for CPU and detection in batches for GPU are deployed to enhance the throughput of detectors and utilization of multi-core CPU and many-core GPU. Experiments show that our presented detection approach can significantly reduce the model size, computation complexity and detection time, while maintaining competitive accuracy. Specifically, the one with ShuffleNet-v2 and slimmed features has achieved a highest mean average precision of 94.39%, a lowest computational complexity of 18.97 Giga floating point operations, a highest detection speed of 90.10 frames per second (fps) for GPU and 3.07 fps for CPU, corresponding to speedups of 6.94X and 13.26X compared with the baseline on the benchmarked system, with a model size of 13.6 MB. Moreover, it further improves the efficiency and achieves 4.98 fps on CPU with 4 threads, and 200.24 fps on GPU with a batch size of 32.

关键词： Computational modeling Graphics processing units Object detection Optical computing Detectors Optical fiber networks Optical detectors

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Design and polarization scattering characteristics of L-shape reflector

TechRxiv

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TechRxiv 2020年

作者： Bai, Xiaokai Wang, ZhanLing Huang, Jiankai Pang, Chen Li, Jianbing Li, Yongzhen State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System College of Electronic Science and Engineering National University of Defense Technology Hunan Changsha410073 China

This paper presents a new L-shape reflector to enhance the cross-polarization radar cross section (RCS). Cross-polarization component can increase the jamming effect against the polarization radars. Such L-shape reflectors can also be used as radar tags in cars, books and so on for radar target detection. By bending the structure of traditional dipole reflector to L shape, the direction of surface current is changed, which produces the cross-polarization component. We have simulated L-shape reflector with different lengths of branches in X-band. Compared with the scattering characteristics of traditional dipole reflector, the linear depolarization ratio (LDRvh ) of the L-shape reflector can be easily controlled by changing the length of two branches. © 2020, CC BY.

关键词： Radar cross section

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二维/三维异质结构的纳米级相管理以实现高效的钙钛矿太阳能电池（英文）

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science Bulletin 2024年第18期 2853-2861页

作者：顾浩朱桉楠夏俊民李旺郑嘉豪杨涛李胜文张楠梅时良蔡永青陈石梁超邢贵川 Joint Key Laboratory of the Ministry of Education Institute of Applied Physics and Materials Engineering University of Macau State Key Laboratory of Organic Electronics and Information Displays & Institute of Advanced Materials (IAM) Jiangsu National Synergetic Innovation Center for Advanced Materials (SICAM) Nanjing University of Posts & Telecommunications (NUPT) MOE Key Laboratory for Nonequilibrium Synthesis and Modulation of Condensed Matter School of Physics National Innovation Platform (Center) for Industry-Education Integration of Energy Storage Technology Xi'an Jiaotong University Ministry of Industry and Information Technology Key Lab of Micro-Nano Optoelectronic Information System Guangdong Provincial Key Laboratory of Semiconductor Optoelectronic Materials and Intelligent Photonic Systems Harbin Institute of Technology Institute for Electric Light Sources School of Information Science and Technology Fudan University

The stabilization of the formamidinium lead iodide （FAPbⅠ3） structure is pivotal for the development of efficient photovoltaic *** two-dimensional （2D） layers to passivate the threedimensional （3D） perovskite is essential for maintaining the a-phase of FAPb Ⅰ3and enhancing the power conversion efficiency （PCE） of perovskite solar cells （PSCs）.However,the role of bulky ligands in the phase management of 2D perovskites,crucial for the stabilization of FAPbⅠ3,has not yet been *** this study,we synthesized nanoscale 2D perovskite capping crusts with

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The impact of rain to observed signal from Chinese Gaofen-3 synthetic aperture radar in typhoons

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Acta Oceanologica Sinica 2019年第11期38卷 121-133页

作者： Jian Shi Jiachen Hu Weizeng Shao Xiaoqing Wang Xinzhe Yuan Liangbo Zhao Xiaofeng Li College of Meteorology and Oceanography National University of Defense TechnologyNanjing 211101China Marine Science and Technology College Zhejiang Ocean UniversityZhoushan 316022China School of Electronics and Communication Engineering Sun Yat-sen UniversityGuangzhou 510275China Key Laboratory of Space Ocean Remote Sensing and Application National Satellite Ocean Application ServiceBeijing 100081China Institute of Spacecraft System Engineering China Academy of Space TechnologyBeijing 100094China

Gaofen-3(GF-3),a Chinese civil synthetic aperture radar(SAR)at C-band,has operated since August ***,several typhoons have been captured by GF-3 around the China Seas over its last two-year *** this study,six images acquired in Global Observation(GLO)and Wide ScanSAR(WSC)modes at verticalvertical(VV)polarization channel are *** work focuses on investigating the observation of rainfall using GF-3 *** images were collocated with winds from the European Centre for Medium-Range Weather Forecasts(ECMWF),significant wave height simulated from the WAVEWATCH-III(WW3)model,sea surface currents from climate forecast system version 2(CFSv2)of the national Centers for Environmental Prediction(NCEP)and rain rate data from the Tropical Rainfall Measuring Mission(TRMM)*** surface roughness,was compared with the normalized radar cross section(NRCS)from SAR observations,and indicated a 0.8 correlation(COR).We analyzed the dependences of the difference between model-simulated NRCS and SARmeasured NRCS on the TRMM rain rate and WW3-simulated significant wave *** was found that the effects of rain on SAR damps the radar signal at incidence angles ranging from 15°to 30°,while it enhances the radar signal at incidence angles ranging from 30°to 45°and incidence angles smaller than 10°.This behavior is consistent with previous studies and an algorithm for rain rate retrieval is anticipated for GF-3 SAR.

关键词： Gaofen-3 synthetic aperture radar typhoon

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A Human-Robot Skill Transfer Framework of Mobile Medical Robots for Autonomous Motion with Teaching by Demonstration

A Human-Robot Skill Transfer Framework of Mobile Medical Rob...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Jiehao Li Junzheng Wang Shoukun Wang Hui Peng Qi Wen Longbin Zhang Meina Lin Politecnico di Milano Milan Italy State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China College of Intelligence Science and Technology National University of Defense Technology Changsha China BioMEx Center KTH Mechanics KTH Royal Institute of Technology Stockholm Sweden Guangdong Key Laboratory of IoT Information Technology Guangdong University of Technology Guangzhou China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

The accuracy of autonomous motion is the main challenge for mobile medical robots, especially running in narrow space conditions to transport the casualties in the hospital. This article mainly centers on the human-robot transmission of the mobile medical robot for narrow space autonomous motion. In order to enable mobile medical robots to autonomously and smoothly transport hospital casualties through narrow aisles, in this paper, we present a robot skill transfer technology, namely a human-robot skill transfer framework of mobile medical robots for autonomous motion with teaching by demonstration, which is that a smooth optimal path is planned through the human motion, and then the Kinect sensor is used to detect human bone movement to learn its motion trajectory so as to achieve trajectory tracking control. Meanwhile, using the Remote Center of Motion (RCM) constraint to minimize the error between the actual trajectory of the medical robot and the tracking reference path to control the motion trajectory accurately, human-computer interactive mobile medical robots can smoothly pass through narrow channels. Through research and analysis, it is demonstrated that the mobile medical robot proposed in this paper has great feasibility, which is of great reference value in the field of medical rescue.

关键词： Medical robotics Education Trajectory Mobile robots Tracking Hospitals

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Ray-Tracing Calibration Based on Improved Particle Swarm Optimization in 5.9 GHz Outdoor Scenario

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IEEE Antennas and Wireless Propagation Letters 2025年

作者： Li, Zhuoyin He, Ruisi Yang, Mi Qi, Ziyi Zhang, Zhong Ai, Bo Zhang, Haoxiang Han, Jiahui Fan, Jianhua Beijing Jiaotong University State Key Laboratory of Advanced Rail Autonomous Operation the School of Electronics and Information Engineering the Frontiers Science Center for Smart High-speed Railway System Beijing100044 China Master Planning Institute of China Academy of Industrial Internet Ministry of Industry and Information Technology of the People's Republic of China Beijing100804 China National University of Defense Technology Sixty-third Research Institute Nanjing210007 China

Ray-tracing (RT) channel simulation has been widely used for simulating and analyzing propagation of electromagnetic waves in complex environments. The electrical properties of materials play a critical role in RT simulation accuracy and calibration of material is usually required. However, the traditional calibration methods for electrical parameters, such as the genetic algorithm and simulated annealing algorithm, suffer from slow convergence and limited parallelism, making them less suitable for complex scenarios with diverse material categories. This article presents a novel approach for automatic parameter optimization based on particle swarm optimization (PSO) algorithm. The proposed method leverages fast convergence advantage of the PSO algorithm. It incorporates a linearly-varying strategy to gradually reduce inertia weight, and enhances algorithm local search capability. Additionally, random perturbation factors are employed to reassign particles exceeding boundaries, preventing them from being trapped in local optima. Measurements and calibration of 5.9 GHz outdoor channels demonstrate the method, which achieves fairly high accuracy. © 2002-2011 IEEE.

关键词： Channel simulation electromagnetic parameter calibration particle swarm optimization ray-tracing simulation

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Orthogonality derivation of polarization state based on Poincaré sphere

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Journal of Physics: Conference Series 2021年第1期1978卷

作者： Zhanling Wang Jiankai Huang Chen Pang State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System College of Electronic Science and Technology National University of Defense Technology Changsha China

To make full use of the polarization information of electromagnetic waves for the polarimetric sensor array, we derive the orthogonality expression of the polarization state based on the Poincaré sphere (PS) representation. The ellipticity angle and the orientation angle of the ellipse are used to describe the polarization ellipse and the point on the surface of the Poincaré sphere. The derivation shows that two points that characterize a pair of orthogonal polarization states are distributed in the opposite positions. Compared with the conventional linear and circular polarization state, the flexible elliptical polarization state would result in the maximum separation of co-polarization and cross-polarization components, thereby enhancing the accuracy of polarization information measurement. The simulation result displays the correctness of the theoretical derivation, which could provide a basis for the further polarization state configuration.

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Transient Fault Diagnosis Algorithm based on Feature Classification and Its Application in High-Power Laser facility

Transient Fault Diagnosis Algorithm based on Feature Classif...

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第32届中国控制与决策会议

作者： Qiang Ren Hang Gao Hailei Ren Baoran An Tianyou Yun Xiaoli Wang Institute of Computer Application China Academy of Engineering Physics State Key Laboratory of Complex Electromagnetic Environmental Effects on Electronics and Information System College of Electronic Science and TechnologyNational University of Defense Technology Institute of Fluid Physics China Academy of Engineering Physis

High-power laser facility plays an import role both in scientific research and military application,and the occurred faults are usually *** this paper,a transient fault diagnosis algorithm based on feature classification is proposed,and the algorithm has been applied in the high-power laser *** method extracts the features of input data with an autoencoder *** based on the extracted features,a multi-layer full connection neural network is adopted for fault *** comparing the results with those obtained by traditional fault diagnosis methods,the performance of the algorithm has been verified.

关键词： High-power laser facility transient fault diagnosis feature-extraction

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