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IEEE/SICE International Symposium on System Integration

作者： Yoshiaki Watanabe Karinne Ramirez Amaro Bahriye Ilhan Taku Kinoshita Thomas Bock Gordon Cheng Robotics Group Research and Development Institute Takenaka Corporation Japan Department of Electrical Engineering Chalmers University of Technology Sweden Division of Project and Construction Management Faculty of Architecture Istanbul Technical University Turkey Division of Human Mechanical Systems and Design Graduate School of Engineering Hokkaido University Japan Chair of Building Realization and Robotics Technical University of Munich Germany Institute for Cognitive Systems Technical University of Munich Germany

ISBN: (数字)9781728166674

ISBN: (纸本)9781728166681

Autonomous navigation is of great importance for service robots. Such robots need various technologies, especially localization, and mapping. In this paper, we focus on the localization problem. Commonly, to solve the localization problem, the creation of a map is needed. However, creating the map takes considerable time and costs. Therefore, one solution for indoor environment is to use architectural floor plans since buildings have own floor plans. If a robot can use them for localization, it enables users to cut the time and costs for creating the map from scratch. However, the floor plans sometimes do not match with a real building. Besides, sensor measurement sometimes contains objects such as a pedestrian, which are not contained in the floor plans. In this paper, we propose a localization algorithm with architectural floor plans that is robust to such inconsistencies. The algorithm estimates a robot coordinate by matching the floor plan with the point clouds obtained from depth images. Outliers derived from the inconsistencies in the point clouds are filtered with plane information from the depth images with the Generalized ICP framework. We tested our algorithm with floor plans in a real building and in a simulator as a case study. The results show that our algorithm can localize a robot with average more than twice accuracy compared to AMCL and be used for real-time applications.

关键词： Robot kinematics Three-dimensional displays Robot sensing systems Buildings Two dimensional displays Cloud computing

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Self-Powered Temperature-Changing System Driven by Wind Energy

SSRN

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SSRN 2024年

作者： Li, Jiayu Liu, Boxun Li, Mingyang Li, Yahui Ding, Wangyang Liu, Guanlin Luo, Jun Chen, Nan Wan, Lingyu Wei, Wenjuan Center on Nanoenergy Research Guangxi Colleges and Universities Key Laboratory of Blue Energy and Systems Integration Carbon Peak and Neutrality Science and Technology Development Institute School of Physical Science and Technology Guangxi University Nanning530004 China Department of Chemistry The Tsinghua Center for Frontier Polymer Research Tsinghua University Beijing100084 China State Key Laboratory of Featured Metal Materials and Life-cycle Safety for Composite Structures MOE Key Laboratory of New Processing Technology for Nonferrous Metals and Materials School of Resources Environment and Materials Guangxi University Nanning530004 China State Key Laboratory of Pollution Control and Resource Reuse School of the Environment Nanjing University Nanjing210023 China State Key Laboratory of Featured Metal Materials and Life-cycle Safety for Composite Structures Nanning530004 China National Key Laboratory of Science and Technology on Micro/Nano Fabrication China

The traditional refrigeration and heating process by means of phase change has a high demand for intensive electric energy. Especially when we establish a long-term heating or cooling equipment outdoors, it will consume a lot of natural resources and may cause damage to the environment. Therefore, we need to formulate a scheme to effectively control the temperature of out-door crops without pollution, which will be of great significance in terms of energy conservation, emission reduction and the increase of the yield of crops. In this scheme, we have designed a self-powered temperature-changing system driven by wind energy, which is composed of a wind cup collecting wind energy, a rotary disc-shaped FEP-rabbit fur TENG, a circuit man-agement module and a ferroelectric ceramic chip array. Firstly, successfully, we prepared 0.15PbTiO3-0.85PbSc0.5Ta0.5O3 ferroelectric ceramics with excellent electrocaloric effect at room temperature. Through rotary disc-shaped TENG and circuit management module, the system converts the wind energy in the outside into a high-voltage electric field at both ends of ceramic chip. Since the rotary disc-shaped TENG has a very high open-circuit voltage, it perfectly matches the ferroelectric materials whose electrocaloric effect requires high-voltage electric fields, which fully stimu-lates the electrocaloric effect of ceramic, and realizes the rapid heating and cooling functions. At the speed of 200 rpm, the temperature variation of 0.49 K is achieved in 276 s in the insulation cup whose volume is 300 times as big as the system. Compared with previous methods, the cooling speed of this system has been greatly improved. © 2024, The Authors. All rights reserved.

关键词： Wind power

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Cognitive Artificial Population System: Framework and Application

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IFAC-PapersOnLine 2020年第5期53卷 495-500页

作者： Zi Li Dan He Kuangshi Huang Shaoru Jiang Peijun Ye School of Public Administration Chongqing Technology and Business University Chongqing 400067 China China Population and Development Research Center Beijing 100081 China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

Agent-based social simulation has been comprehensively applied in the research of social and ecological systems. At its core is an artificial population, which endogenously drives the system evolution for particular applications, such as urban transportation, reginal economics, analysis of infectious disease transmission, and military simulation. In contrast with the previous population simulations where simple mathematical models are used to ‘reproduce’ actual demographic features, this paper proposes a self-evolutionary digital population system, named as Cognitive Artificial Population System (CAPS). At a more fine-grained level, CAPS focuses on the agent cognitive, reasoning and learning process in their surrounding environment, thus can exploit most advantages from cognitive computing and Artificial Intelligence. As a case study, Chinese population evolution is implemented using the proposed framework. Computational experiments indicate that CAPS is able to achieve good predicted population structures for real social systems.

关键词： Artificial Population System Agent-Based Social Simulation Cognitive Computing

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Seeking the Analytical Approximation of the Stance Dynamics of the 3D Spring-Loaded Inverted Pendulum Model By Using Perturbation Approach

Seeking the Analytical Approximation of the Stance Dynamics ...

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Haitao Yu Shengjun Wang Kaizheng Shan Jun Li Lixian Zhang Haibo Gao State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

The Spring-Loaded Inverted Pendulum (SLIP) has been widely exploited in both biomechanical and robotics research due to its simple form in mathematics and high accuracy in fitting experimental biology data. However the intrinsic nonlinearity of the SLIP dynamics makes accurate analytical representation unavailable. Traditional methods take advantage of numerical integration to handle this issue while several existing analytical approximations focusing on 2D-SLIP model. The 3D-SLIP suitable to physical reality is rarely investigated. This paper presents a novel perturbation-based approach to obtain the closed-form analytical approximations of the 3D-SLIP model in stance phase. In contrast to existing work ignoring the gravitational forces, the proposed approach just relies on assumptions of small leg compression and small leg swept angle. The performance of the derived approximations has been evaluated via comprehensive numerical analysis. The quality of accurate apex prediction promises the approximation as an advantageous and reliable tool for locomotion control of legged robots.

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Interconnected robotic platforms inform deep-sea ecological restoration trends

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Marine Pollution Bulletin 2025年 219卷

作者： Ivan Masmitja Narcís Palomeras Daniel M. Toma Nixon Bahamon Matias Carandell José A. García del Arco Damianos Chatzievangelou Marta Real Antoni Sánchez-Márquez Gerard Batet Pau Vial Francisco Bonin-Font Caterina Muntaner Natàlia Hurtós Juan M. López Alex R. Ripoll Guillermo de Arcas Jordi Grinyó Spartacus Gomariz Kakani Katija Joan B. Company Institut de Ciències del Mar (ICM) CSIC Barcelona 08003 Spain Computer vision and Robotics Institute Universitat de Girona (UdG) Girona 17003 Spain SARTI-MAR Research group Universitat Politècnica de Catalunya (UPC) Barcelona Tech. Barcelona 08034 Spain Systems Robotics and Vision Group University of the Balearic Islands (UIB) Palma de Mallorca 07122 Spain IQUA Robotics Girona 17003 Spain Universidad Politécnica de Madrid (UPM) Grupo de Investigación en Instrumentación y Acústica Aplicada Madrid 28031 Spain Research and Development Bioinspiration Lab Monterey Bay Aquarium Research Institute (MBARI) Moss Landing CA 95062 USA Institut Català de Recerca per a la Governança del Mar (ICATMAR) Barcelona 08003 Spain

The implementation of Marine Protected Areas (MPAs) has increased in the last few decades, creating a deep impact on ocean governance and local fishery communities. Despite their effectiveness being actively debated, initial results show that this spatial management could promote the recovery of depleted marine communities and species, and ecosystem services such as increased fishing profits, especially in nearby areas. This could potentially maintain the economic levels of local and regional under-pressure economies while improving the overall marine biodiversity. However, the lack of ecological monitoring systems for long-lasting, non-invasive, and multiparametric measurements in near-real-time is a roadblock to national-level monitoring programs in those areas. Here we present a set of technological solutions, including robotics, biologging, and machine learning approaches to monitor MPAs, developed and validated in different deep-sea field experiments. The outcomes of these trials have yielded insights into the fine-scale behavioral ecology of different deep-sea species and the recovery dynamics of overexploited seafloors. With these tools, it is possible to monitor restored areas via ecological indicators, that are key to informing and empowering policymakers, conservation biologists, and fishery ecology experts, propelling an effective approach to the conservation and governance of marine ecosystems.

关键词： Marine protected areas Conservation Restoration robotics Machine learning Underwater technology Autonomous vehicles Acoustics Ecosystem services Ocean monitoring

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A consensus protocol for functional connectivity analysis in the rat brain (vol 26, pg 673, 2023)

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NATURE NEUROSCIENCE 2023年第6期26卷 1127-1128页

作者： Grandjean, Joanes Desrosiers-Gregoire, Gabriel Anckaerts, Cynthia Angeles-Valdez, Diego Ayad, Fadi Barriere, David A. Blockx, Ines Bortel, Aleksandra Broadwater, Margaret Cardoso, Beatriz M. Celestine, Marina Chavez-Negrete, Jorge E. Choi, Sangcheon Christiaen, Emma Clavijo, Perrin Colon-Perez, Luis Cramer, Samuel Daniele, Tolomeo Dempsey, Elaine Diao, Yujian Doelemeyer, Arno Dopfel, David Dvorakova, Lenka Falfan-Melgoza, Claudia Fernandes, Francisca F. Fowler, Caitlin F. Fuentes-Ibanez, Antonio Garin, Clement M. Gelderman, Eveline Golden, Carla E. M. Guo, Chao C. G. Henckens, Marloes J. A. G. Hennessy, Lauren A. Herman, Peter Hofwijks, Nita Horien, Corey Ionescu, Tudor M. Jones, Jolyon Kaesser, Johannes Kim, Eugene Lambers, Henriette Lazari, Alberto Lee, Sung-Ho Lillywhite, Amanda Liu, Yikang Liu, Yanyan Y. Lopez-Castro, Alejandra Lopez-Gil, Xavier Ma, Zilu MacNicol, Eilidh Madularu, Dan Mandino, Francesca Marciano, Sabina McAuslan, Matthew J. McCunn, Patrick McIntosh, Alison Meng, Xianzong Meyer-Baese, Lisa Missault, Stephan Moro, Federico Naessens, Daphne M. P. Nava-Gomez, Laura J. Nonaka, Hiroi Ortiz, Juan J. Paasonen, Jaakko Peeters, Lore M. Pereira, Mickael Perez, Pablo D. Pompilus, Marjory Prior, Malcolm Rakhmatullin, Rustam Reimann, Henning M. Reinwald, Jonathan Del Rio, Rodrigo Triana Rivera-Olvera, Alejandro Ruiz-Perez, Daniel Russo, Gabriele Rutten, Tobias J. Ryoke, Rie Sack, Markus Salvan, Piergiorgio Sanganahalli, Basavaraju G. Schroeter, Aileen Seewoo, Bhedita J. Selingue, Erwan Seuwen, Aline Shi, Bowen Sirmpilatze, Nikoloz Smith, Joanna A. B. Smith, Corrie Sobczak, Filip Stenroos, Petteri J. Straathof, Milou Strobelt, Sandra Sumiyoshi, Akira Takahashi, Kengo Torres-Garcia, Maria E. Tudela, Raul van den Berg, Monica van der Marel, Kajo van Hout, Aran T. B. Vertullo, Roberta Vidal, Benjamin Vrooman, Roel M. Wang, Victora X. Wank, Isabel Watson, David J. G. Yin, Ting Zhang, Yongzhi Zurbruegg, Stefan Achard, Sophie Alcauter, Sarael Auer, Dorothee P. Barbier, Emmanuel L. Baudewig, Juergen Beckmann, Chri Donders Institute for Brain Behaviour and Cognition Radboud University Nijmegen The Netherlands Department for Medical Imaging Radboud University Medical Center Nijmegen The Netherlands Department of Neuroscience and Pharmacology Rudolf Magnus Institute of Neuroscience University Medical Center Utrecht Utrecht The Netherlands Nuffield Department of Clinical Neurosciences Wellcome Centre for Integrative Neuroimaging FMRIB University of Oxford John Radcliffe Hospital Headington Oxford UK Erwin L. Hahn Institute for MR Imaging University of Duisburg-Essen Essen Germany Cerebral Imaging Centre Douglas Mental Health University Institute Verdun QC Canada Integrated Program in Neuroscience McGill University Montreal QC Canada Biological and Biomedical Engineering McGill University Montreal QC Canada Physical Sciences Platform Sunnybrook Research Institute Toronto QC Canada Department of Psychiatry McGill University Montreal QC Canada Bio-imaging Lab University of Antwerp Antwerp Belgium µNEURO Research Centre of Excellence University of Antwerp Antwerp Belgium Instituto de Neurobiología Universidad Nacional Autónoma de México Campus Juriquilla Querétaro Mexico McConnell Brain Imaging Centre McGill University Montreal QC Canada Montreal Neurological Institute McGill University Montreal QC Canada Center for Translational Neuroimaging Northeastern University Boston MA USA Department of Neurology and Neurosurgery McGill University Montreal QC Canada Department of Physiology McGill University Montreal QC Canada UMR INRAE/CNRS 7247 Physiologie des Comportements et de la Reproduction Physiologie de la reproduction et des comportements Centre de recherche INRAE de Nouzilly Tours France Center for Animal MRI University of North Carolina at Chapel Hill Chapel Hill NC USA Department of Neurology University of North Carolina at Chapel Hill Chapel Hill NC USA Biomedical Research Imaging Center University of North Carolina at Chapel Hill Chapel Hill

Task-free functional connectivity in animal models provides an experimental framework to examine connectivity phenomena under controlled conditions and allows for comparisons with data modalities collected under invasive or terminal procedures. Currently, animal acquisitions are performed with varying protocols and analyses that hamper result comparison and integration. Here we introduce StandardRat, a consensus rat functional magnetic resonance imaging acquisition protocol tested across 20 centers. To develop this protocol with optimized acquisition and processing parameters, we initially aggregated 65 functional imaging datasets acquired from rats across 46 centers. We developed a reproducible pipeline for analyzing rat data acquired with diverse protocols and determined experimental and processing parameters associated with the robust detection of functional connectivity across centers. We show that the standardized protocol enhances biologically plausible functional connectivity patterns relative to previous acquisitions. The protocol and processing pipeline described here is openly shared with the neuroimaging community to promote interoperability and cooperation toward tackling the most important challenges in neuroscience.

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Measurement-Induced Boolean Dynamics from Open Quantum Networks ⁎

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IFAC-PapersOnLine 2020年第2期53卷 275-280页

作者： Hongsheng Qi Biqiang Mu Ian R. Petersen Guodong Shi Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing 100049 China Research School of Electrical Energy and Materials Engineering The Australian National University Canberra 0200 Australia Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW 2008 Australia

In this paper, we study the induced probabilistic Boolean dynamics for dynamical quantum networks subject to sequential quantum measurements. In this part of the paper, we focus on closed networks of quits whose states evolutions are described by a continuous Lindblad master equation. When measurements are performed sequentially along such continuous dynamics, the quantum network states undergo random jumps and the corresponding measurement outcomes can be described by a probabilistic Boolean network. First of all, we show that the state transition of the induced Boolean networks can be explicitly represented through realification of the master equation. Next, when the open quantum dynamics is relaxing in the sense that it possesses a unique equilibrium as a global attractor, structural properties including absorbing states, reducibility, and periodicity for the induced Boolean network are direct consequences of the relaxing property. Finally, we show that for quantum consensus networks as a type of non-relaxing open quantum network dynamics, the communication classes of the measurement-induced Boolean networks are encoded in the quantum Laplacian of the underlying interaction graph.

关键词： quantum networks open quantum systems quantum measurements Boolean networks

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development modes analysis of renewable energy power generation in North Africa

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Global Energy Interconnection 2020年第3期3卷 237-246页

作者： Liang Zhao Ruoying Yu Zhe Wang Wei Yang Linan Qu Weidong Chen China Electrical Power Research Institute No.15Qinghexiaoying East RoadHaidian DistrictBeijing 100192P.R.China State Key Laboratory of Operation and Control of Renewable Energy&Storage Systems China Electric Power Research Institute.No.15Qinghexiaoying East RoadHaidian DistrictBeijing 100192P.R.China Global Energy Interconnection of Development and Cooperation Organization No.8Xuanwumen Inner StreetXicheng DistrictBeijing 100031P.R.China R&D Nester(Centro de Investigação em Energia REN-State Grid S.A.)Rua Cidade de Goanº4-B-2685-039 SacavémLisbonPortugal

North African countries generally have strategic demands for energy transformation and sustainable *** energy development is important to achieve this *** three typical types of renewable energies—wind,photovoltaic(PV),and concentrating solar power(CSP)—an optimal planning model is established to minimize construction costs and power curtailment *** levelized cost of electricity is used as an index for assessing economic *** this study,wind and PV,wind/PV/CSP,and transnational interconnection modes are designed for Morocco,Egypt,and *** installed capacities of renewable energy power generation are planned through the time sequence production simulation method for each *** results show that renewable energy combined with power generation,including the CSP mode,can improve reliability of the power supply and reduce the power curtailment *** transnational interconnection mode can help realize mutual benefits of renewable energy power,while the apportionment of electricity prices and trading mechanisms are very important and are related to economic feasibility;thus,this mode is important for the future development of renewable energy in North Africa.

关键词： North Africa Renewable energy Wind power generation Solar energy generation Transnational interconnection Optimal planning Levelized cost of electricity

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Effects of forest management on biomass stocks in Romanian beech forests

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Forest Ecosystems 2019年第3期6卷 179-193页

作者： O.Bouriaud A.Don I.A.Janssens G.Marin E.-D.Schulze Integrated Center for Research Development and Innovation in Advanced MaterialsNanotechnologiesand Distributed Systems for Fabrication and ControlStefan cel Mare University720229 SuceavaRomania National Forest Inventory National Research Development Institute for Silviculture Voluntari Romania. vTI BraunschweigGermany Department of Biology University of AntwerpenUniversiteitsplein 12610 WilrijkBelgium Faculty of Silviculture and Forest Engineering Transilvania University of BrasovStr. Sirul Beethovennr.1500123 BrasovRomania Max-Planck Institute for Biogeochemistry PO Box 10016407701 JenaGermany

Background: Forest management aims at obtaining a sustainable production of wood to be harvested to generate products or energy. However, the quantitative influence of forest management and of removals by harvest on biomass stocks has rarely been analysed on a large scale based on measurements. Two hypotheses prevail: management induces a reduction of wood stocks due to cuttings, versus no impact because of increased growth of the remaining trees. Using data collected for 2840 permanent plots across Romania from the National Forest Inventory representing^2.5 Mha, we have tested to what extent different management types and treatments can influence the biomass stock and productivity of beech forests, and attempt to quantify these effects both on the short and long terms. Three main types of beech forest management are implemented in Romania with specific objectives: intensive wood production in production forests, protection of ecosystem services (e.g. watersheds, avalanche protection) in protection forests, and protection of the forest and its biodiversity in protected forests. Production forests encompass two treatments differing according to the stand regeneration method: the age class rotation management and the group shelterwood management. Results: We show that forest management had little influence on the biomass stocks at a given stand age. The highest stocks at stand age 100 were observed in production forests (the most intensively managed forests). Consequences of early cuttings were very short-termed because the increase in tree growth rapidly compensated for tree cuttings. The cumulated biomass of production forests exceeded that of protected and protection forests. Regarding the treatment, the group shelterwood forests had a markedly higher production over a full rotation period. The total amount of deadwood was primarily driven by the amount of standing deadwood, and no management effect was detected. Conclusions: Given the relatively low-intensity mana

关键词： Forest management Forest productivity Biomass stocks National forest inventory

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Identification of muscle morphology with noncontact capacitive sensing: Preliminary study

Identification of muscle morphology with noncontact capaciti...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Enhao Zheng Jiacheng Wan Dongfang Xu Qining Wang Hong Qiao The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Information Engineering China university of geosciences (Beijing) Beijing China The Robotics Research Group College of Engineering Peking University Beijing China

ISBN: (数字)9781728119908

ISBN: (纸本)9781728119915

Human-machine interface with muscle signals serves as an important role in the field of wearable robotics. To compensate for the limitations of the existing surface Electromyography (sEMG) based technologies, we previously proposed a noncontact capacitive sensing approach that could record the limb shape changes. The sensing approach frees the human skin from contacting to the metal electrodes, thus enabling the measurement of muscle signals by dressing the sensing front-ends outside of the clothes. We validated the capacitive sensing in human motion intent recognition tasks with the wearable robots and produced comparable results to existing studies. However, the biological significance of the capacitance signals is still unrevealed, which is an indispensable issue for robot intuitive control. In this study, we address the problems of identifying the relationships between the muscle morphological parameters and the capacitance signals. We constructed a measurement system that recorded the noncontact capacitive sensing signals and the muscle ultrasound (US) images simultaneously. With the designed device, five subjects were employed and the US images from the gastrocnemius muscle (GM) and the tibialis anterior (TA) muscle during level walking were sampled. We fitted the calculated muscle morphological parameters (the pinnation angles and the muscle fascicle length) and the capacitance signals of the same gait phases. The results demonstrated that at least one-channel capacitance signal strongly correlated to the muscle morphological parameters (R 2 > 0.5, quadratic regression). The average R 2 s of the most correlated channels were up to 0.86 for pinnation angles and 0.83 for the muscle fascicle length changes. The interesting findings in this preliminary study suggest the biological physical significance of the capacitance signals during human locomotion. Future efforts are worth being paid in this new research direction for more promising results.

关键词： Muscles Robot sensing systems Capacitance Legged locomotion Electrodes Ultrasonic variables measurement

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