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Porcellio scaber algorithm (PSA) for solving constrained optimization problems

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arXiv 2017年

作者： Zhang, Yinyan Li, Shuai Guo, Hongliang Department of Computing Hong Kong Polytechnic University Hong Kong Center for Robotics School of Automation Engineering University of Electronic Science and Technology of China Chengdu China

In this paper, we extend a bio-inspired algorithm called the porcellio scaber algorithm (PSA) to solve constrained optimization problems, including a constrained mixed discrete-continuous nonlinear optimization problem. Our extensive experiment results based on benchmark optimization problems show that the PSA has a better performance than many existing methods or algorithms. The results indicate that the PSA is a promising algorithm for constrained optimization. Copyright © 2017, The Authors. All rights reserved.

关键词： Constrained optimization

Bayesian view synthesis for video stitching

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Bayesian view synthesis for video stitching

2016 IEEE International Conference on Multimedia and Expo Workshop, ICMEW 2016

作者： Su, Jianmei Hong, Cheng Lu, Yang Luo, Ao Center for Robotics School of Automation Engineering University of Electronic Science and Technology of China Chengdu Sichuan611731 China

ISBN: (纸本)9781509015528

In this paper, we propose a Bayesian video stitching approach in multiview camera configuration considering the potential alignment errors with the imprecise optical flow estimation. The emphasis is on the artifacts eliminating around occlusions and motion objects edges. Traditional video stitching approaches ignored alignment errors leading to significant artifacts. In this paper, we first analyze to account for artifacts in the stitched video by imprecise optical flow estimation. Then, we derive and apply the spatial-temporal reliability provided by the error approximation in video stitching. We synthesis the final stitched result by solving a Maximum a Posterior(MAP) problem using graph cuts. The experimental results show the outperformance against the state-of-art video stitching approaches. © 2016 IEEE.

关键词： Bayesian networks

Multiple Model based Unscented Particle Filter Algorithm for a SINS/CNS Integrated Navigation System

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Multiple Model based Unscented Particle Filter Algorithm for...

American Control Conference

作者： Fangfang Zhao Shuzhi Sam Ge Wei He School of Computer Science and Engineering Center for Robotics University of Electronic Science and Technology of China Chengdu 611731 China the Department of Electrical and Computer Engineering National University of Singapore 117576 Singapore and Center for Robotics University of Electronic Science and Technology of China Chengdu 611731 China School of Automation and Electrical Engineering University of Science and Technology of Beijing Beijing 100083 China

ISBN: (纸本)9781509045839

The single model filter has poor adaptability under the uncertain or unknown system parameters, multiple model filters can be used to resolve this problem. This paper investigates the multiple model adaptive estimation (MMAE) algorithm and proposes a multiple model unscented particle filter (MMUPF) algorithm. Forward the traditional MMAE method which uses extend Kalman filter (EKF) or unscented Kalman filter (UKF) as each filter to execute the state estimation process. In this method, we combine MMAE with unscented particle filter (UPF), and replace UKF with UPF which shows higher accuracy than UKF for the nonlinear system. At the same time, this algorithm is applied to the integrated navigation system which combines strap-down inertial navigation with celestial navigation by a ballistic missile. Simulations are provided to demonstrate that MMUPF algorithm has the highest navigation precision, but at the cost of heavier computational burden.

关键词： resolve problem paper Resolve hybrid navigation systems Navigation systems Particle filtering algorithm State estimation Celestial navigation INERTIAL NAVIGATION paper Particle filters Filters multiples Nonlinear systems system parameter

Giant and explosive plasmonic bubbles by delayed nucleation

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arXiv 2019年

作者： Wang, Yuliang Zaytsev, Mikhail E. Lajoinie, Guillaume Le The, Hai Eijkel, Jan C.T. van den Berg, Albert Versluis, Michel Weckhuysen, Bert M. Zhang, Xuehua Zandvliet, Harold J.W. Lohse, Detlef Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing100191 China Physics of Fluids Max Planck Center Twente for Complex Fluid Dynamics and J.M. Burgers Centre for Fluid Mechanics MESA+ Institute for Nanotechnology University of Twente P.O. Box 217 Enschede7500AE Netherlands Physics of Interfaces and Nanomaterials MESA+ Institute for Nanotechnology University of Twente Enschede7500AE Netherlands MIRA Institute for Biomedical Technology and Technical Medicine University of Twente Enschede Netherlands BIOS Lab-on-a-chip MESA+ Institute for Nanotechnology University of Twente University of Twente P.O. Box 217 Enschede7500AE Netherlands Inorganic Chemistry and Catalysis Debye Institute for Nanomaterials Science Utrecht University Universiteitsweg 99 Utrecht3584 CG Netherlands Department of Chemical and Materials Engineering University of Alberta 12-211 Donadeo Innovation Centre for Engineering EdmontonAB Canada Max Planck Institute for Dynamics and Self-Organization Am Fassberg 17 Göttingen37077 Germany

When illuminated by a laser, plasmonic nanoparticles immersed in water can very quickly and strongly heat up, leading to the nucleation of so-called plasmonic vapor bubbles, which have huge application potential in e.g. solar light-harvesting, catalysis, and for medical applications. Whilst the long-time behavior of such bubbles has been well-studied, here, by employing ultra-high-speed imaging, we reveal the nucleation and early life phase of these bubbles. After some delay time τd after beginning of the illumination, a giant bubble explosively grows, up to a maximal radius of 80 µm, and collapses again within ≈ 200µs (bubble life phase 1). The maximal bubble volume Vmax remarkably increases with decreasing laser power P. To explain this behavior, we measure the delay time τd from the beginning of the illumination up to nucleation, which drastically increases with decreasing laser power, leading to less total dumped energy E = Pτd. This dumped energy E shows a universal linear scaling relation with Vmax, irrespectively of the gas concentration of the surrounding water. This finding supports that the initial giant bubble is a pure vapor bubble. In contrast, the delay time does depend on the gas concentration of the water, as gas pockets in the water facilitate an earlier vapor bubble nucleation, which leads to smaller delay times and lower bubble nucleation temperatures. After the collapse of the initial giant bubbles, first much smaller oscillating bubbles form out of the remaining gas nuclei (bubble life phase 2, up to typically 10ms). Subsequently the known vaporization dominated growth phase takes over and the bubble stabilizes (life phase 3). In the final life phase 4 the bubble slowly grows by gas expelling due to heating of the surrounding. Our findings on the explosive growth and collapse during the early life phase of a plasmonic vapor bubble have strong bearings on possible applications of such bubbles, affecting their risk Copyright © 2019, The Authors. A

关键词： Plasmonics

Adaptive control for an uncertain robotic manipulator with input saturations

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Control Theory and Technology 2016年第2期14卷 113-121页

作者： Trong-Toan TRAN Shuzhi Sam GE Wei HE Center for Robotics and School of Automation Engineering University of Electronic Science and Technology of China (UESTC) Chengdu Sichuan 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Faculty of Electronic Technology Industrial University of rio Chi Minh City Ho Chi Minh City Vietnam School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing 100083 China

In this paper, we address the control problem of an uncertain robotic manipulator with input saturations, unknown input scalings and disturbances. For this purpose, a model reference adaptive control like （MRAC-like） is used to handle the input saturations. The model reference is input to state stable （ISS） and driven by the errors between the required control signals and input saturations. The uncertain parameters are dealt with by using linear-in-the-parameters property of robotic dynamics, while unknown input scalings and disturbances are handled by non-regressor based approach. Our design ensures that all the signals in the closed-loop system are bounded, and the tracking error converges to the compact set which depends on the predetermined bounds of the control inputs. Simulation on a planar elbow manipulator with two joints is provided to illustrate the effectiveness of the proposed controller.

关键词： Robotic manipulator adaptive control uncertain parameter input saturation trajectory tracking

Soft robotics: Definition and research issues

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Soft robotics: Definition and research issues

International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Ang Chen Ruixue Yin Lin Cao Chenwang Yuan H.K. Ding W.J. Zhang School of Mechatronics and Automation Shanghai University Shanghai China Department of Mechanical Engineering University of Saskatchewan Saskatoon Canada School of Mechanical and Power Engineering East China University of Science and Technology Shanghai China Robotics Research Center Nanyang Technological University Singapore

Soft robots have been a buzz word in the field of robotics. However, there are several definitions of soft robots in literature with their varying degrees of usefulness to providing guidelines for designing and constructing a soft robot. This paper attempts to provide a comprehensive definition of soft robots with the goals that the definition should be of (i) generality and (ii) practicality. By generality, it is meant that the definition gives the signature to soft robots and is all inclusive, and by practicality, it is meant that the definition provides a general guideline for practicing designers to design and construct soft robots to particular applications. A salient point in our definition of soft robots is the concept of softness, which is defined from the perspective of a receiving object - particularly as the stress and other damage quantities (e.g., deflection) created in the receiving object when the receiving object interacts with the soft system per se. A further contribution is the provision of definitions to soft sensor, soft actuator along with power generator, soft controller, and soft mechanism. Finally, research issues on soft robots are outlined.

关键词： Robot sensing systems Soft robotics Strain Actuators Generators Stress

Study of tau neutrinos and non-unitary neutrino mixing with the first six detection units of KM3NeT/ORCA

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arXiv 2025年

作者： Aiello, S. Albert, A. Alhebsi, A.R. Alshamsi, M. Garre, S. Alves Ambrosone, A. Ameli, F. Andre, M. Aphecetche, L. Ardid, M. Ardid, S. Aublin, J. Bailly-Salins, L. Bardačová, Z. Baret, B. Bariego-Quintana, A. Becherini, Y. Gualandi, F. Benfenati Benhassi, M. Bennani, M. Benoit, D.M. Berbee, E. Bertin, V. Biagi, S. Boettcher, M. Bonanno, D. Bouasla, A.B. Boumaaza, J. Bouta, M. Bouwhuis, M. Bozza, C. Bozza, R.M. Brânzaş, H. Bretaudeau, F. Breuhaus, M. Bruijn, R. Brunner, J. Bruno, R. Buis, E. Buompane, R. Busto, J. Caiffi, B. Calvo, D. Capone, A. Carenini, F. Carretero, V. Cartraud, T. Cecchini, V. Celli, S. Cerisy, L. Chabab, M. Chen, A. Cherubini, S. Chiarusi, T. Circella, M. Clark, R. Cocimano, R. Coelho, J.A.B. Coyle, P. Creusot, A. Wasseige, G. De Decoene, V. Rosso, I. Del Mauro, L.S. Di Palma, I. Di Díaz, A.F. Diego-Tortosa, D. Distefano, C. Donzaud, C. Drakopoulou, E. Drouhin, D. Ducoin, J.-G. Duverne, P. Eberl, T. Eckerová, E. Eddymaoui, A. Eff, M. Bojaddaini, I. El Hedri, S. El Ellajosyula, V. Enzenhöfer, A. Ferrara, G. Filipović, M.D. Filippini, F. Franciotti, D. Fusco, L.A. Gagliardini, S. Gal, T. Méndez, J. García Soto, A. Garcia Oliver, C. Gatius Geißelbrecht, N. Genton, E. Ghaddari, H. Gialanella, L. Gibson, B.K. Giorgio, E. Goos, I. Gracia, R. Guidi, C. Guillon, B. Gutiérrez, M. Haack, C. van Haren, H. Heijboer, A. Hennig, L. Hernández-Rey, J.J. Idrissi, A. Ibnsalih, W. Idrissi Illuminati, G. Joly, D. de Jong, M. de Jong, P. Jung, B.J. Kalaczynski, P. Kikvadze, V. Kistauri, G. Kopper, C. Kouchner, A. Kovalev, Y.Y. Krupa, L. Kueviakoe, V. Kulikovskiy, V. Kvatadze, R. Labalme, M. Lahmann, R. Lamoureux, M. Larosa, G. Lastoria, C. Lazar, J. Lazo, A. Le Stum, S. Lehaut, G. Lemaître, V. Leonora, E. Lessing, N. Levi, G. Clark, M. Lindsey Magnani, F. Majumdar, J. Malerba, L. Mamedov, F. Manfreda, A. Manousakis, A. Marconi, M. Margiotta, A. Marinelli, A. Markou, C. Martin, L. Via Santa Sofia 64 Catania95123 Italy Université de Strasbourg CNRS IPHC UMR 7178 StrasbourgF-67000 France Khalifa University of Science and Technology Department of Physics PO Box 127788 Abu Dhabi United Arab Emirates Aix Marseille Univ CNRS IN2P3 CPPM Marseille France c/Catedrático José Beltrán 2 Valencia Paterna46980 Spain INFN Sezione di Napoli Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli80126 Italy Università di Napoli "Federico II" Dip. Scienze Fisiche "E. Pancini" Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli80126 Italy INFN Sezione di Roma Piazzale Aldo Moro 2 Roma00185 Italy Universitat Politècnica de Catalunya Laboratori d’Aplicacions Bioacústiques Centre Tecnològic de Vilanova i la Geltrú Avda. Rambla Exposició s/n Vilanova i la Geltrú08800 Spain Subatech IMT Atlantique IN2P3-CNRS Nantes Université 4 rue Alfred Kastler - La Chantrerie BP Nantes20722 44307 France Universitat Politècnica de València Instituto de Investigación para la Gestión Integrada de las Zonas Costeras C/ Paranimf 1 Gandia46730 Spain Université Paris Cité CNRS Astroparticule et Cosmologie ParisF-75013 France Università di Genova Via Dodecaneso 33 Genova16146 Italy INFN Sezione di Genova Via Dodecaneso 33 Genova16146 Italy LPC CAEN Normandie Univ ENSICAEN UNICAEN CNRS IN2P3 6 boulevard Maréchal Juin Caen14050 France Czech Technical University in Prague Institute of Experimental and Applied Physics Husova 240/5 Prague110 00 Czech Republic Comenius University in Bratislava Department of Nuclear Physics and Biophysics Mlynska dolina F1 Bratislava842 48 Slovakia INFN Sezione di Bologna v.le C. Berti-Pichat 6/2 Bologna40127 Italy Università di Bologna Dipartimento di Fisica e Astronomia v.le C. Berti-Pichat 6/2 Bologna40127 Italy Università degli Studi della Campania"Luigi Vanvitelli" Dipartimento di Matematica e Fisica viale Lincoln 5 Caserta81100 Italy LPC Campus des Cézeaux 24 av

Oscillations of atmospheric muon and electron neutrinos produce tau neutrinos with energies in the GeV range, which can be observed by the ORCA detector of the KM3NeT neutrino telescope in the Mediterranean Sea. First measurements with ORCA6, an early subarray corresponding to about 5% of the final detector, are presented. A sample of 5828 neutrino candidates has been selected from the analysed exposure of 433 kton-years. The ντ normalisation, defined as the ratio between the number of observed and expected tau neutrino events, is measured to be Sτ = 0.48+0−0.335 . This translates into a ντ charged-current cross section measurement of στmeas = (2.5+2−1.68) × 10−38 cm2 nucleon−1 at the median ντ energy of 20.3 GeV. The result is consistent with the measurements of other experiments. In addition, the current limit on the non-unitarity parameter affecting the τ-row of the neutrino mixing matrix was improved, with α33 > 0.95 at the 95% confidence level. Copyright © 2025, The Authors. All rights reserved.

关键词： Neutrons

Automatic metal drum opening-sealing device prototype for nuclear power plant

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Revista Tecnica de la Facultad de Ingenieria Universidad del Zulia 2016年第6期39卷 264-275页

作者： Liu, Sibang Ge, Shuzhi Sam Zhao, Qian Huang, Gang Su, Zhe School of Automation Engineering University of Electronic Science and Technology of China ChengduSichuan611731 China Center for Robotics University of Electronic Science and Technology of China ChengduSichuan611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore Centre for Robotics University of Electronic Science and Technology of China China

Automatic metal drum opening-sealing device is the key device of the low and intermediate level radioactive wastes treatment line for the nuclear power plant, which is used to open and seal the metal drum filled with radioactive wastes automatically. This paper firstly analyzes the key technologies of the metal drum opening-sealing device which include the technology of metal drum positioning, drum trip bolt and bolt hole positioning, drum cover depositing and bolt tightening shaft torque controlling. Then, based on the modular design method, a device prototype was designed and made and tests were carried out based on the prototype. The test results verified the design rationality and high operation efficiency of the prototype. © 2016, Revista Tecnica de la Facultad de Ingeniera. All rights reserved.

关键词： Bolt tightening

Probing invisible neutrino decay with the first six detection units of KM3NeT/ORCA

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arXiv 2025年

作者： Aiello, S. Albert, A. Alhebsi, A.R. Alshamsi, M. Garre, S. Alves Ambrosone, A. Ameli, F. Andre, M. Aphecetche, L. Ardid, M. Ardid, S. Aublin, J. Badaracco, F. Bailly-Salins, L. Bardačová, Z. Baret, B. Bariego-Quintana, A. Becherini, Y. Bendahman, M. Gualandi, F. Benfenati Benhassi, M. Bennani, M. Benoit, D.M. Berbee, E. Bertin, V. Biagi, S. Boettcher, M. Bonanno, D. Bouasla, A.B. Boumaaza, J. Bouta, M. Bouwhuis, M. Bozza, C. Bozza, R.M. Brânzaş, H. Bretaudeau, F. Breuhaus, M. Bruijn, R. Brunner, J. Bruno, R. Buis, E. Buompane, R. Busto, J. Caiffi, B. Calvo, D. Capone, A. Carenini, F. Carretero, V. Cartraud, T. Castaldi, P. Cecchini, V. Celli, S. Cerisy, L. Chabab, M. Chen, A. Cherubini, S. Chiarusi, T. Circella, M. Clark, R. Cocimano, R. Coelho, J.A.B. Coleiro, A. Condorelli, A. Coniglione, R. Coyle, P. Creusot, A. Cuttone, G. Dallier, R. De Benedittis, A. De Wasseige, G. Decoene, V. Deguire, P. Del Rosso, I. Di Mauro, L.S. Di Palma, I. Díaz, A.F. Diego-Tortosa, D. Distefano, C. Domi, A. Donzaud, C. Dornic, D. Drakopoulou, E. Drouhin, D. Ducoin, J.-G. Duverne, P. Dvornický, R. Eberl, T. Eckerová, E. Eddymaoui, A. van Eeden, T. Eff, M. van Eijk, D. El Bojaddaini, I. El Hedri, S. El Mentawi, S. Ellajosyula, V. Enzenhöfer, A. Ferrara, G. Filipović, M.D. Filippini, F. Franciotti, D. Fusco, L.A. Gagliardini, S. Gal, T. Méndez, J. García Soto, A. Garcia Oliver, C. Gatius Geißelbrecht, N. Genton, E. Ghaddari, H. Gialanella, L. Gibson, B.K. Giorgio, E. Goos, I. Goswami, P. Gozzini, S.R. Gracia, R. Guidi, C. Guillon, B. Gutiérrez, M. Haack, C. van Haren, H. Heijboer, A. Hennig, L. Hernández-Rey, J.J. Idrissi, A. Ibnsalih, W. Idrissi Illuminati, G. Joly, D. de Jong, M. de Jong, P. Jung, B.J. Kalaczyński, P. Kikvadze, V. Kistauri, G. Kopper, C. Kouchner, A. Kovalev, Y.Y. Krupa, L. Kueviakoe, V. Kulikovskiy, V. Kvatadze, R. Labalme, M. Lahmann, R. Lamoureux, M. Larosa, G. Lastoria, C. Lazar, J. Lazo, A. Le Stum, S. Lehaut, G. Via Santa Sofia 64 Catania95123 Italy Université de Strasbourg CNRS IPHC UMR 7178 StrasbourgF-67000 France Khalifa University of Science and Technology Department of Physics PO Box 127788 Abu Dhabi United Arab Emirates Aix Marseille Univ CNRS IN2P3 CPPM Marseille France c/Catedrático José Beltrán 2 Paterna Valencia46980 Spain INFN Sezione di Napoli Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli80126 Italy Università di Napoli "Federico II" Dip. Scienze Fisiche "E. Pancini" Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli80126 Italy INFN Sezione di Roma Piazzale Aldo Moro 2 Roma00185 Italy Universitat Politècnica de Catalunya Laboratori d’Aplicacions Bioacústiques Centre Tecnològic de Vilanova i la Geltrú Avda. Rambla Exposició s/n Vilanova i la Geltrú08800 Spain Subatech IMT Atlantique IN2P3-CNRS Nantes Université 4 rue Alfred Kastler - La Chantrerie BP Nantes20722 44307 France Universitat Politècnica de València Instituto de Investigación para la Gestión Integrada de las Zonas Costeras C/ Paranimf 1 Gandia46730 Spain Université Paris Cité CNRS Astroparticule et Cosmologie ParisF-75013 France Università di Genova Via Dodecaneso 33 Genova16146 Italy INFN Sezione di Genova Via Dodecaneso 33 Genova16146 Italy LPC CAEN Normandie Univ ENSICAEN UNICAEN CNRS IN2P3 6 boulevard Maréchal Juin Caen14050 France Czech Technical University in Prague Institute of Experimental and Applied Physics Husova 240/5 Prague110 00 Czech Republic Comenius University in Bratislava Department of Nuclear Physics and Biophysics Mlynska dolina F1 Bratislava842 48 Slovakia INFN Sezione di Bologna v.le C. Berti-Pichat 6/2 Bologna40127 Italy Università di Bologna Dipartimento di Fisica e Astronomia v.le C. Berti-Pichat 6/2 Bologna40127 Italy Università degli Studi della Campania "Luigi Vanvitelli" Dipartimento di Matematica e Fisica viale Lincoln 5 Caserta81100 Italy LPC Campus des Cézeaux 24 a

In the era of precision measurements of neutrino oscillation parameters, it is necessary for experiments to disentangle discrepancies that may indicate physics beyond the Standard Model in the neutrino sector. KM3NeT/ORCA is a water Cherenkov neutrino detector under construction and anchored at the bottom of the Mediterranean Sea. The detector is designed to study the oscillations of atmospheric neutrinos and determine the neutrino mass ordering. This paper focuses on the initial configuration of ORCA, referred to as ORCA6, which comprises six out of the foreseen 115 detection units of photosensors. A high-purity neutrino sample was extracted during 2020 and 2021, corresponding to an exposure of 433 kton-years. This sample is analysed following a binned log-likelihood approach to search for invisible neutrino decay, in a three-flavour neutrino oscillation scenario, where the third neutrino mass state ν3 decays into an invisible state, e.g. a sterile neutrino. The resulting best fit of the invisible neutrino decay parameter is (formula presented), corresponding to a scenario with θ23 in the second octant and normal neutrino mass ordering. The results are consistent with the Standard Model, within a 2.1 σ interval. Copyright © 2025, The Authors. All rights reserved.

关键词： Cosmic ray detectors