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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Liu, Weilong Wang, Jin Zhang, Kewen Yu, Huan Zheng, Zhi Lu, Guodong State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310027 China Robotics Research Center of Yuyao City Ningbo315400 China College of Mechanical Engineering Zhejiang University of Technology Hangzhou310023 China Robotics Institute of Zhejiang University Hangzhou310027 China

ISBN: (纸本)9798350312201

Multi-Agent Path Finding (MAPF) has been widely studied in the field of artificial intelligence and multi-agent path search, and researchers have made improvements to make such algorithms applicable to actual nonholonomic constrained robots. In this paper, the collision detection is improved by body-occupied collision detection, which improves the efficiency of collision detection. In addition, to solve the problem of low efficiency in centralized search for multi-robot solutions, reasonable grouping is performed to reduce the number of collision nodes expanded in the centralized Conflict-based search(CBS), and feasible results are obtained faster. At the same time, the heuristic multi-robot search based on collision frequency is improved to reduce the search time. Finally, we constructed the trajectory smoothing problem based on the multi-robot path search results and applied the solution to real robot trajectory tracking. Our research provides valuable insights into solving trajectory planning problems for nonholonomic constrained mobile robots in practical scenarios. © 2023 IEEE.

关键词： Motion planning

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Zr-Fc MOF Nanosheets Based Mass Spectrometry Platform for Metabolites Detection

Zr-Fc MOF Nanosheets Based Mass Spectrometry Platform for Me...

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2022 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2022

作者： Xu, Xiaoyu Zhang, Yuxing Su, Haiyang Wang, Yuning Qian, Kun State Key Laboratory for Oncogenes and Related Genes School of Biomedical Engineering Institute of Medical Robotics Med-X Research Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781665475433

ISBN: (纸本)9781665475433

Novel Zr-Fc metal-organic framework (MOF) nanosheets based laser desorption/ionization mass spectrometry (LDI MS) platform has been developed for metabolites detection. The ultrathin Zr-Fc MOF nanosheets was synthesized using the bottom-up method. Furthermore, by optimizing the conditions, Zr-Fc MOF nanosheets exhibited excellent performance as an LDI MS matrix without background interference. The Zr-Fc MOF nanosheets based LDI MS platform has been successfully applied to detect various amino acids with high signal intensity ( 105), which presents potential values in clinical metabolic analysis for disease diagnosis and evaluation. © 2022 IEEE.

关键词： Nanosheets

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Shifts in intrinsic neural timescale of hippocampus support the maturation of inhibitory control and working memory in youth

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Medicine in Novel Technology and Devices 2024年第2期22卷 115-123页

作者： Debin Zeng Qiongling Li Deyu Li Shuyu Li Beijing Advanced Innovation Center for Biomedical Engineering School of Biological Science&Medical EngineeringBeihang UniversityBeijing100083China State Key Laboratory of Cognitive Neuroscience and Learning Beijing Normal UniversityBeijing100875China Beijing Key Laboratory of Brain Imaging and Connectomics Beijing Normal UniversityBeijing100875China IDG/McGovern Institute for Brain Research Beijing Normal UniversityBeijing100875China State Key Laboratory of Virtual Reaility technology and Systems Beihang UniversityBeijing100083China

The intrinsic neural timescale(INT)provides temporal windows in brain activity that process information of different durations,crucial for the integration and segregation of external inputs and ultimately shaping cognition and *** research has uncovered a pronounced INT hierarchy along the adult hippocampus's long***,the development of INT organization within the hippocampus—particularly the pattern of its hierarchical structure and its impact on cognitive development—has not been thoroughly investigated in ***,we discovered that the INT distribution in youth presents a distinct hierarchical structure along both posterioranterior and proximal-distal axes of the ***,this hierarchical structure correlates signifi-cantly with the first principal gradient of the hippocampal-cortical functional connectome and the thickness of hippocampal grey ***,we observed notable changes in the hippocampal INT landscape during youth,characterized by a general narrowing of timescales,alongside dedifferentiation along the hippocampal organizational *** maturational changes significantly link to improvements in inhibitory control and working memory ***,our findings reveal the developmental patterns of temporal integration and segregation hierarchies within hippocampus,and highlights the profound significance of INT as a neural underpinning that orchestrates cognitive growth.

关键词： Intrinsic neural timescale Hippocampus Development Inhibitory control and working memory

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Motion Planning of Mobile Robot with Non-holonomic Constraints 18

Motion Planning of Mobile Robot with Non-holonomic Constrain...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Zhang, Kewen Liu, Weilong Wang, Jin Chen, Leijie Lu, Guodong Zhejiang University of Technology Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of Education College of Mechanical Engineering Hangzhou310023 China Robotics Institute of Zhejiang University Hangzhou310027 China Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Hangzhou310027 China Robotics Research Center of Yuyao City Ningbo315400 China

ISBN: (纸本)9798350312201

This paper proposes a modified spatio-temporal A∗ path planning algorithm for the trajectory planning of mobile robots with non-holonomic constraints. Most path planning algorithms treat mobile robots as to be with holonomic constraints. However, wheeled mobile robots are affected by non-holonomic constraints, which leads to trajectory unreachability. To solve this problem, an improved spatio-temporal A∗ algorithm based on non-holonomic constraints is given, which considers the efficiency, completeness and smoothness of the path. At the same time, by improving the construction form of collision constraint and adding spatio-temporal constraints to the path, the success rate and solving speed of the path planning algorithm for non-holonomic constrained mobile robot are increased. Finally, simulation experiments are given to indicate that the proposed planning algorithm provides an optimized path, while improving the planning success rate and reducing the computational time. © 2023 IEEE.

关键词： Motion planning

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A Novel Transfer Learning Method for Robot Bearing Fault Diagnosis Based on Deep Convolutional Residual Wasserstein Adversarial Network 16th

A Novel Transfer Learning Method for Robot Bearing Fault Dia...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Pan, Bing Xiong, Xin Hu, Hailiang He, Jun Yang, Shixi The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China The Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province School of Mechanical Engineering Zhejiang University Hangzhou China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai200444 China Hangzhou Steam Turbine Power Group Co. Ltd. Hangzhou China

ISBN: (纸本)9789819965007

In the process of robot bearing fault diagnosis based on data-driven, transfer learning is an effective method to solve the lack of labeled data, and data distribution difference between source domain data and target domain data will lead to domain drifts under variable working conditions. In this paper, a robot bearing fault diagnosis method based on deep convolutional residual Wasserstein adversarial network (DCRWAN) is proposed to reduce domain offsets and improve the robot bearing fault diagnosis accuracy. In the proposed method, a deep convolutional residual network is constructed to extract the transferable features of source domain and target domain. Then, a domain discrimination module is constructed and the domain adversarial training is carried out to minimize the distribution discrepancy of cross-domain by the Wasserstein loss function. At the same time, a domain distribution discrepancy metrics module is applied to estimate the difference of features distribution between two domains, and further fine-tuning the network parameters to obtain domain-invariant and class-separable features for the classification. The average accuracy of the two transfer tasks using this method is 95.65% and 93.75%, respectively, and the results show that the method effectively reduces the domain differences caused by varying working conditions and improves the fault diagnosis accuracy of robot bearings under variable working conditions. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Failure analysis

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Model heat source using actual distribution of laser power density for simulation of laser processing

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Journal of Central South University 2022年第10期29卷 3277-3293页

作者： WANG Gen-wang DING Ye GUAN Yan-chao WANG Yang YANG Li-jun State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China

The model of heat source(MHS) which reflects the thermal interaction between materials and laser during processing determines the accuracy of simulation results. To acquire desirable simulations results, although various modifications of heat sources in the aspect of absorption process of laser by materials have been purposed, the distribution of laser power density(DLPD) in MHS is still modeled theoretically. However, in the actual situations of laser processing, the DLPD is definitely different from the ideal models. So, it is indispensable to build MHS using actual DLPD to improve the accuracy of simulation results. Besides, an automatic modeling method will be benefit to simplify the tedious pre-processing of simulations. This paper presents a modeling method and corresponding algorithm to model heat source using measured DLPD. This algorithm automatically processes original data to get modeling parameters and provides a step MHS combining with absorption models. Simulations and experiments of heat transfer in steel plates irradiated by laser prove the mothed and the step MHS. Moreover, the investigations of laser induced thermal-crack propagation in glass highlight the signification of modeling heat source based on actual DLPD and demonstrate the enormous application of this method in the simulation of laser processing.

关键词： heat source laser processing distribution of power density digital images processing heat transfer

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Kinematic Parameter Calibration for Parallel Robot Based on Robust Estimation and PCR Algorithm 7

Kinematic Parameter Calibration for Parallel Robot Based on ...

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7th International Conference on Advanced Algorithms and Control engineering, ICAACE 2024

作者： Wang, Jin Zhang, Renge Hu, Weijun Zhang, Haiyun Lu, Guodong Chen, Silu Luo, Jingbo School Of Mechanical Engineering Zhejiang University State Key Laboratory Of Fluid Power And Mechatronic Systems Hangzhou310027 China School Of Robotics Ningbo University Of Technology Ningbo315211 China Robotics Institute Of Zhejiang University Hangzhou310027 China Zhejiang Qiantang Robot And Intelligent Equipment Research Co. Ltd Hangzhou310018 China Ningbo Institute Of Materials Technology And Engineering Chinese Academy Of Sciences Ningbo315201 China

ISBN: (纸本)9798350361445

Due to the existence of redundant identification parameters and parallel branch chains, the nonlinear error model of parallel robot is likely to produce multicollinearity, which will lead to the undesirable ill-conditioned identification matrix. Though PCR method can modify the ill-conditioned identification matrix, it is still susceptible to the gross error of the original data. In terms of these problems, this paper proposes a parameter calibration algorithm for parallel robot based on robust estimation and principal component regression (RE-PCR). Firstly, the linear identification model is established based on the closed-loop vector chain perturbation theory to improve the identification accuracy. On this basis, for the configuration types with redundant identification parameters and parallel branch chains, PCR is used to modify the ill-conditioned matrix and a robust estimation (RE) algorithm is designed to improve the resistance capacities of PCR to gross error data points. Finally, through the identification experiment based on 4PPa-2PaR parallel robot, the proposed algorithm demonstrates higher efficiency and stronger robustness in comparison with traditional methods. © 2024 IEEE.

关键词： Parameter estimation

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Erosion-corrosion resistance of Mo-Ti- and Ni-Cr-Mo-alloyed medium-carbon martensitic steels: a critical analysis of synergistic effect of erosion and corrosion

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Journal of Iron and Steel Research International 2022年第8期29卷 1299-1311页

作者： De-fa Li Hang-yu Dong Cheng-yang Hu Kai-ming Wu Serhii Yershov Oleg Isayev School of Mechanical and Vehicle Engineering West Anhui UniversityLuan 237012AnhuiChina The State Key Laboratory of Refractories and Metallurgy Hubei Province Key Laboratory of Systems Science on Metallurgical ProcessingInternational Research Institute for Steel TechnologyWuhan University of Science and TechnologyWuhan 430081HubeiChina Laboratory for Excellence in Advanced Steel Research Materials Science and Engineering ProgramDepartment of MetallurgicalMaterials and Biomedical EngineeringUniversity of Texas at El PasoEl PasoTX 79968USA

Grain refinement renders Mo-Ti-alloyed medium-carbon martensitic steel to exhibit high hardness,high strength,and good toughness,but the erosion-corrosion resistance of steel in a corrosive slurry environment is not ***-Ti-alloyed medium-carbon martensitic steel is compared with Ni-Cr-Mo-alloyed medium-carbon martensitic steel,and the erosion-corrosion resistance of those two steels under impingement by NaCl solution with gravels has been *** components,pure-corrosion rate,pure-erosion rate,and synergistic effect of erosion and corrosion(SEEC)of erosion-corrosion rate,were *** pure-corrosion and pure-erosion rates of Mo-Ti-alloyed steel were higher than those of Ni-Cr-Mo-alloyed one;however,its erosion-corrosion rate was relatively lower because of a weak *** plastic deformation and work hardening due to gravel impingement were the essential reason for SEEC,which could be reduced by grain refinement,and consequently,Mo-Ti-alloyed steel with finer grains had better erosion-corrosion *** refinement could be an effective way to improve the erosion-corrosion resistance of martensitic steels.

关键词： Grain refinement Mo-Ti alloying Ni-Cr-Mo alloying Martensite Erosion-corrosion

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Trajectory Planning Towards Water-Air Trans-Media Motion for Robotic Dolphin

Trajectory Planning Towards Water-Air Trans-Media Motion for...

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2024 China Automation Congress, CAC 2024

作者： Xiong, Yan Zhang, Pengfei Chen, Di Yu, Junzhi State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing100871 China Shandong Nuclear Power Company LTD Yantai265116 China School of Intelligence Science and Technology University of Science and Technology Beijing Beijing100083 China

ISBN: (纸本)9798350368604

Water-air trans-media navigators have multi-media motion modes, breaking through the limitation that traditional robots can only operate in a single medium. Autonomous navigation is an indispensable component of the process of trans-media motion. Most of the current work has only completed the development and testing of prototypes, and the problem of task-oriented motion planning and control needs to be solved. In this paper, a safe and efficient hierarchical approach is proposed. First, a novel rapidly exploring random tree-based algorithm is proposed to search for a suitable path. Then, by fixing bound waypoints, the time-optimization trajectory is planned. Finally, the trajectory tracker is designed based on nonlinear model predictive control (NMPC). Simulation experiments numerically validate the proposed method, offering some new insights for further trans-media motions. © 2024 IEEE.

关键词： Trajectories

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A fully biodegradable polydioxanone occluder for ventricle septal defect closure

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Bioactive Materials 2023年第6期24卷 252-262页

作者： Zefu Li Pengxu Kong Xiang Liu Shuyi Feng Wenbin Ouyang Shouzheng Wang Xiaopeng Hu Yongquan Xie Fengwen Zhang Yuxin Zhang Rui Gao Weiwei Wang Xiangbin Pan Department of Structural Heart Disease National Center for Cardiovascular DiseaseChina&State Key Laboratory of Cardiovascular DiseaseFuwai HospitalChinese Academy of Medical Sciences&Peking Union Medical CollegeNational Health Commission Key Laboratory of Cardiovascular Regeneration MedicineNational Clinical Research Center for Cardiovascular DiseasesBeijingChina Tianjin Key Laboratory of Biomaterial Research Institute of Biomedical EngineeringChinese Academy of Medical Science&Peking Union Medical CollegeTianjinChina Department of Polymer Science and Engineering Key Laboratory of Systems Bioengineering(Ministry of Education)School of Chemical Engineering and TechnologyTianjin UniversityTianjin300072China Research and Development Department Lepu Medical Technology(Beijing)CoLtdBeijing102200China Key Laboratory of Innovative Cardiovascular Devices Chinese Academy of Medical SciencesChina

Ventricular septal defect(VSD)is one of the commonest congenital heart diseases(CHDs).Current occluders for VSD treatment are mainly made of nitinol,which has the risk of nickel allergy,persistent myocardial abrasion and fatal ***,a fully biodegradable polydioxanone(PDO)occluder equipped with a shape line and poly-L-lactic acid PLLA membranes is developed for VSD closure without the addition of metal *** occluder showed great mechanical strength,fatigue resistance,geometry fitness,biocompatibility and *** a rat subcutaneous implantation model,PDO filaments significantly alleviated inflammation response,mitigated fibrosis and promoted endothelialization compared with *** safety and efficacy of PDO occluder were confirmed in a canine VSD model with 3-year follow-up,demonstrating the biodegradable PDO occluder could not only effectively repair VSD,induce cardiac remodeling but also address the complications associated with metal ***,a pilot clinical trial with five VSD patients indicated that all the occluders were successfully implanted under the guidance of echocardiography and no adverse events occurred during the 3-month ***,the fully bioresorbable PDO occluder is safe and effective for clinical VSD closure and holds great promise for the treatment of structural CHDs.

关键词： Polymer Congenital heart disease Ventricle septal defect Biodegradable occluder Tissue regeneration

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