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arXiv 2020年

作者： Shi, Lei Cheng, Yuhua Shao, Jinliang Wang, Xiaofan Sheng, Hanmin The School of Automation Engineering University of Electronic Science and Technology of China Chengdu611731 China The Research Center on Crowd Spectrum Intelligence Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518054 China The School of Automation Engineering University of Electronic Science and Technology of China Sichuan611731 China The School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China

Trust and distrust are common in the opinion interactions among agents in social networks, and they are described by the edges with positive and negative weights in the signed digraph, respectively. It has been shown in social psychology that although the opinions of most agents (followers) tend to prevail, sometimes one agent (leader) with a firm stand and strong influence can impact or even overthrow the preferences of followers. This paper aims to analyze how the leader influences the formation of followers’ opinions in signed social networks. In addition, this paper considers an asynchronous evolution mechanism of trust/distrust level based on opinion difference, in which the trust/distrust level between neighboring agents is portrayed as a nonlinear weight function of their opinion difference, and each agent interacts with the neighbors to update the trust/distrust level and opinion at the times determined by its own will. Based on the related properties of sub-stochastic and super-stochastic matrices, the inequality conditions about positive and negative weights to achieve opinion consensus and polarization are established. Some numerical simulations based on two well-known networks called the "12 Angry Men" network and the Karate Club network are provided to verify the correctness of the theoretical results. Copyright © 2020, The Authors. All rights reserved.

关键词： Stochastic systems

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Corrigendum to "3D printed biomimetic composite scaffolds with sequential releasing of copper ions and dexamethasone for cascade regulation of angiogenesis and osteogenesis" [Chem. Eng. J. 496 (2024) 153662] (Chemical engineering Journal (2024) 496, (S1385894724051519), (10.1016/***.2024.153662))

引用

Chemical engineering Journal 2025年 511卷

作者： Song, Yongteng Hu, Qingxi Liu, Suihong Wang, Yahao Jia, Lijun Hu, Xinli Huang, Changjin Zhang, Haiguang Rapid Manufacturing Engineering Center School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai200072 China National Demonstration Center for Experimental Engineering Training Education Shanghai University Shanghai200444 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore Engineering Science and Mechanics Department Penn State University University ParkPA16802 United States Department of Orthopedics Changzheng Hospital Naval Medical University Shanghai China School of Health Science and Engineering University of Shanghai for Science and Technology Shanghai China

(1) The authors regret the error in Fig. 9(C) of the published article, where the unit of BMD on the y-axis was incorrectly given as "g/mm2". The correct unit should be "g/cm3".(2) The authors also regret the error in the calculation of Tb.N in Fig. 9(E), which has now been *** the above errors, in section 3.1.4, the SHG-MSNs@DEX compression modulus should be "22.88 ± 2.50 MPa" instead of "22.88 ± 22.50 MPa." The authors sincerely apologize for any inconvenience this may have caused. This correction does not affect the interpretation of the results or the conclusions of the study, and the updated figure is shown below as Fig. 9 (Updated).[Figure presented] Fig. 9 (Updated) Bone regeneration of rat skull defects in vivo. (A) Schematic diagram of the use of prepared bone scaffolds to repair skull defects. (B) Representative 3D reconstructed micro-CT images depicting skull defect sites 4 weeks and 8 weeks after scaffold implantation. (C-E) BMD, BV/TV, and Tb.N analysis results were obtained from micro-CT images at 4 weeks and 8 weeks post-surgery. (F, G) Results of histological analysis of skull sections at 4 weeks and 8 weeks after surgery: H&E staining (F) and Masson staining (G). Error bars indicate the standard deviation (n = 3), with statistical significance defined as **p © 2024 Elsevier B.V.

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FreeDriveRF: Monocular RGB Dynamic NeRF without Poses for Autonomous Driving via Point-Level Dynamic-Static Decoupling

arXiv

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arXiv 2025年

作者： Wen, Yue Song, Liang Liu, Yijia Zhu, Siting Miao, Yanzi Han, Lijun Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Dimanshen Technology Co. Ltd. China Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China

Dynamic scene reconstruction for autonomous driving enables vehicles to perceive and interpret complex scene changes more precisely. Dynamic Neural Radiance Fields (NeRFs) have recently shown promising capability in scene modeling. However, many existing methods rely heavily on accurate poses inputs and multi-sensor data, leading to increased system complexity. To address this, we propose FreeDriveRF, which reconstructs dynamic driving scenes using only sequential RGB images without requiring poses inputs. We innovatively decouple dynamic and static parts at the early sampling level using semantic supervision, mitigating image blurring and artifacts. To overcome the challenges posed by object motion and occlusion in monocular camera, we introduce a warped ray-guided dynamic object rendering consistency loss, utilizing optical flow to better constrain the dynamic modeling process. Additionally, we incorporate estimated dynamic flow to constrain the pose optimization process, improving the stability and accuracy of unbounded scene reconstruction. Extensive experiments conducted on the KITTI and Waymo datasets demonstrate the superior performance of our method in dynamic scene modeling for autonomous driving. Our implementation will be available at https://***/IRMVLab/FreeDriveRF. Copyright © 2025, The Authors. All rights reserved.

关键词： Optical flows

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Multi-floor laboratory transportation technologies based on intelligent mobile robots

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Transportation Safety and Environment 2019年第1期1卷 37-53页

作者： Kerstin Thurow Lei Zhang Hui Liu Steffen Junginger Norbert Stoll Jiahao Huang Center for Life Science Automation(CELISCA) University of RostockRostock 18119Germany Institute of Artificial Intelligence&Robotics(IAIR) Key Laboratory of Traffic Safety on Track of Ministry of EducationSchool of Traffic&Transportation EngineeringCentral South UniversityChangsha 410075HunanChina Institute of Automation University of RostockRostock 18119Germany

Transportation technologies for mobile robots include indoor navigation,intelligent collision avoidance and target *** paper discusses the research process and development of these interrelated *** efficient multi-floor laboratory transportation system for mobile robots developed by the group at the center for Life Science automation(CELISCA)is then *** system is integrated with the multi-floor navigation and intelligent collision avoidance systems,as well as a labware manipulation system.A multi-floor navigation technology is proposed,comprising sub-systems for mapping and localization,path planning,door control and elevator *** on human-robot interaction technology,a collision avoidance system is proposed that improves the navigation of the robots and ensures the safety of the transportation *** and placing operation technologies using the dual arms of the robots are investigated and integrated into the multi-floor transportation *** proposed transportation system is installed on the H20 mobile robots and tested at the CELISCA *** results show that the proposed system can ensure the mobile robots are successful when performing multi-floor laboratory transportation tasks.

关键词： robots mobile robots laboratory transportation navigation

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Boosting the Efficiency and Mechanical Stability of Organic Solar Cells Through a Polymer Acceptor by Reducing the Elastic Modulus

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Advanced Energy Materials 2025年第0期

作者： Wang, Yan Yu, Han Zhao, Dan Liu, Wei Liu, Baoze Wu, Xin Gao, Danpeng Zhang, Dong Zhang, Shoufeng Sun, Xianglang Zhang, Chunlei Zhao, Chaoyue Fu, Yuchen Song, Wei Gong, Shaokuan Fu, Yuang Kwok, Chung Hang Ge, Ziyi Lu, Xinhui Chen, Xihan Xiao, Shuang Wong, Wai-Yeung Chai, Yu Yan, He Zhu, Zonglong Department of Chemistry City University of Hong Kong Kowloon999077 Hong Kong Department of Chemistry Guangdong-Hong Kong-Macao Joint Laboratory of Optoelectronic and Magnetic Functional Materials Energy Institute and Hong Kong Branch of Chinese National Engineering Research Center for Tissue Restoration & Reconstruction Hong Kong University of Science and Technology Clear Water Bay Kowloon999077 Hong Kong Department of Applied Biology and Chemical Technology and Research Institute for Smart Energy The Hong Kong Polytechnic University Hung Hom 999077 Hong Kong Hong Kong University of Science and Technology-Shenzhen Research Institute No. 9 Yuexing 1st RD Hi-tech Park Nanshan Guangdong Shenzhen518057 China School of Automation Engineering University of Electronic Science and Technology of China Sichuan Chengdu611731 China Department of Physics City University of Hong Kong Kowloon999077 Hong Kong Zhejiang Engineering Research Center for Energy Optoelectronic Materials and Devices Ningbo Institute of Materials Technology & Engineering Chinese Academy of Sciences Ningbo315201 China Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems SUSTech Energy Institute for Carbon Neutrality Department of Mechanical and Energy Engineering Southern University of Science and Technology Guangdong Shenzhen518055 China Department of Physics The Chinese University of Hong Kong Shatin999077 Hong Kong Center for Advanced Material Diagnostic Technology and College of Engineering Physics Shenzhen Technology University Guangdong Shenzhen518118 China Shenzhen Research Institute City University of Hong Kong Shenzhen518057 China

Organic solar cells (OSCs) are regarded as one of the most promising flexible power sources due to their lightweight and flexible properties, with the improvement of photovoltaic and mechanical performance. To improve the current density and power conversion efficiency (PCE), mPh4F-TS (TS) and PYSe2F-T (PA) are introduced into the binary host, PM6/mPh4F-TT (PM6/TT) as third components. It is demonstrated that the corresponding ternary devices, in both rigid and flexible devices, achieved superior efficiencies (19.6%/17.7% for PM6/TT+TS, and 19.2%/17.4% for PM6/TT+PA) outperform the binary counterparts (18.3%/16.4%). However, distinct differences in mechanical performance are observed between the polymer acceptor (PA) and small-molecular acceptor (TS). The PM6/TT+PA significantly improved the mechanical stability of flexible devices with a lower elastic modulus of 3.6 GPa, while the PM6/TT+TS resulted in the opposite effect with a higher elastic modulus of 5.5 GPa. Through in-depth investigation, a clear correlation between the elastic modulus, crack density, and mechanical stability of the active layer blends is successfully established, revealing the key role of reducing the elastic modulus in enhancing the mechanical stability of flexible OSCs. This study provides important guidance for the development of flexible photovoltaic devices with both high efficiency and mechanical robustness. © 2025 The Author(s). Advanced Energy Materials published by Wiley-VCH GmbH.

关键词： Organic solar cells

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Cascade Graph Neural Networks for RGB-D Salient Object Detection

arXiv

引用

arXiv 2020年

作者： Luo, Ao Li, Xin Yang, Fan Jiao, Zhicheng Cheng, Hong Lyu, Siwei Center for Robotics School of Automation Engineering UESTC Chengdu China Abu Dhabi United Arab Emirates University of Pennsylvania Philadelphia United States University at Albany State University of New York United States

In this paper, we study the problem of salient object detection (SOD) for RGB-D images using both color and depth information. A major technical challenge in performing salient object detection from RGB-D images is how to fully leverage the two complementary data sources. Current works either simply distill prior knowledge from the corresponding depth map for handling the RGB-image or blindly fuse color and geometric information to generate the coarse depth-aware representations, hindering the performance of RGB-D saliency detectors. In this work, we introduce Cascade Graph Neural Networks (Cas-Gnn), a unified framework which is capable of comprehensively distilling and reasoning the mutual benefits between these two data sources through a set of cascade graphs, to learn powerful representations for RGB-D salient object detection. Cas-Gnn processes the two data sources individually and employs a novel Cascade Graph Reasoning (CGR) module to learn powerful dense feature embeddings, from which the saliency map can be easily inferred. Contrast to the previous approaches, the explicitly modeling and reasoning of high-level relations between complementary data sources allows us to better overcome challenges such as occlusions and ambiguities. Extensive experiments demonstrate that Cas-Gnn achieves significantly better performance than all existing RGB-D SOD approaches on several widely-used benchmarks. Code is available at https://***/LA30/Cas-Gnn. Copyright © 2020, The Authors. All rights reserved.

关键词： Graph neural networks

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A Guide for Human Walking Model and Control——Insights from Mechanical Property Analysis of Human Walking

A Guide for Human Walking Model and Control——Insights from...

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第32届中国控制与决策会议

作者： Guangrong Chen Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

This paper aims to establish the simplest human walking model and provide a guide for controlling biped ***,a human motion capture system was utilized to sample the motion data of human walking and a representative subject was ***,one of the simplest human walking model was set *** mechanical property analysis of human walking was done based on the established walking model via ***,the feasibility and effectiveness of proposed walking model were validated by numerical ***,the intrinsical relationships among human walking,biped walking model and control were discussed to provide a guide and insight for controlling biped robots.

关键词： Human Walking Model Biped Robots Leg Stiffness Legged Locomotion Model and Control

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Dynamic Balance and Trajectory Tracking Control of Quadruped Robots Based on Virtual Model Control

Dynamic Balance and Trajectory Tracking Control of Quadruped...

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第三十九届中国控制会议

As for a motion control framework of robots, virtual model control（VMC） can use virtual components to create virtual forces/torques. Actually, the virtual forces/torques are generated by joint actuators when the virtual components interact between robots and environments. In this paper, a virtual model control is proposed to do the dynamic balance control of quadruped robots in trot gait. In each leg, virtual model control includes swing phase control of robots and stance phase counterparts. In whole body, based on the forces/torques distribution method between two stance legs, virtual model control is mainly about the attitude control containing roll, pitch and yaw. Then, an intuitive approach of velocity control is employed for the locomotion of quadruped robots. Based on the velocity planning and control, a trajectory tracking control approach is investigated by considering four factors: terrain complexity index, curvature radius of given trajectory, distance to terminal, and maximum velocity of quadruped robots. Finally, the effectiveness of proposed controllers is validated by co-simulations.

关键词： Virtual model control Dynamic balance control Trajectory tracking control Quadruped robots

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A Variable Stiffness Soft Continuum Robot Based on Pre-charged Air, Particle Jamming, and Origami

A Variable Stiffness Soft Continuum Robot Based on Pre-charg...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Yujia Li Tao Ren Yonghua Chen Michael Z. Q. Chen School of Mechatronic Engineering Southwest Petroleum University Chengdu China Robotics Research Center Xihua University Chengdu China Department of Mechanical Engineering The University of Hong Kong Pok Fu Lam Hong Kong School of Automation Nanjing University of Science and Technology Nanjing China

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Soft continuum robots have many applications such as medical surgeries, service industries, rescue tasks, and underwater exploration. Flexibility and good accessibility of such robots are the key reasons for their popularity. However, the complexity of their structural design and control systems limit their broader applications. In this paper, a novel variable stiffness soft continuum robot based on pre-charged air, particle jamming, and origami is proposed. The robot is a bellow-like origami structure with internal chambers. A spine-like chamber is filled with particles, and three identical chambers surrounding the spine chamber are filled with pressurized air. When the origami structure is compressed, the particles are jammed by the compression force and the increased pressure of the three air chambers, thus increasing the overall stiffness of the robot. The robot expansion-contraction and bending are controlled by three tendons. An analytical model of the proposed stiffness variation mechanism has been developed. The effects of various parameters on the lateral and axial stiffness of the soft continuum robot have been investigated by experimental studies. A prototype robot has been fabricated to demonstrate grasping operations.

关键词： Robots Jamming Force Tendons Electron tubes Wires Valves

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Introduction of a flexible adaptive AUV-capture device based on bio-inspired hydraulic soft robot

Introduction of a flexible adaptive AUV-capture device based...

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Deng, Hao Su, Hang Mei, Tao Xu, Wenjun Cheng, Zhengkun Dong, Xiang Peng Cheng Laboratory Robotics Research Center No. 2 Xingke 1st street Nanshan Shenzhen518055 China Anhui University School of Electrical Engineering and Automation Hefei Anhui230601 China

ISBN: (纸本)9781728163215

To capture the non-cooperative and cross-scale underwater objects, an underwater soft bionic robot is proposed according to task function analysis and bionics inspiration. The device was mainly composed of a soft bionic arm and a soft body. It has the abilities of long-distance reachability, end pose adjustment, cross-scale capture, target measurement and recognition. The soft bionic arm is driven by water filling, which has the characteristics of light weight and large shrinkage ratio. It consists of several serially arranged modular soft actuators with diverse functions which can be designed for deep-sea object retrieving. The soft modules are connected by quick-shift joints, which make it possible to adjust the arm configuration specific to the task requirement in situ. The method to test the performance of each functional module is also introduced. © 2019 IEEE.

关键词： Bionics

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