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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： He, Xuan Zhao, Qingjie Lv, Xingchen Wang, Lei Liu, Wangwang School of Computer Science and Technology Beijing Institute of Technology Beijing100081 China Beijing Institute of Control Engineering Beijing100190 China

ISBN: (纸本)9781665481090

High-precision three-dimensional models of small celestial bodies are important for deep space exploration tasks. The homologous point cloud obtained from a single sensor has limitations in terms of accuracy and density. For example, the point cloud obtained by RGB camera has rich information and high density, but low precision. The point cloud obtained by laser scanning has high precision but low density. Therefore, we hope to register and fuse the point clouds obtained from different sensors, synthesize the advantages of cross-source point clouds obtained from different source domains, and improve the density, accuracy and other aspects of small celestial point clouds. To solve the common problems of cross-source point clouds, we adopt an end-to-end feature measurement point cloud registration framework, which does not need to search the corresponding points between two point clouds, and reduces the difficulty of processing cross-source point cloud data. Aiming at the problem that some stray points on the registered point cloud surface affect the accuracy of the point cloud, a point cloud fusion optimization method based on Euclidean distance is proposed. The stray points around the point cloud are removed to reduce the loss of normal points. The accuracy of point cloud is improved by the fusion after registration. Experiments show that the proposed method can effectively improve the density and accuracy of small celestial body models. © 2024 IEEE.

关键词： Laser applications

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Efficient Adaptation of Pre-trained Vision Transformer via Householder Transformation 38

Efficient Adaptation of Pre-trained Vision Transformer via H...

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38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： Dong, Wei Sun, Yuan Yang, Yiting Zhang, Xing Lin, Zhijun Yan, Qingsen Zhang, Haokui Wang, Peng Yang, Yang Shen, Hengtao College of Information and Control Engineering Xi'an University of Architecture and Technology China School of Computer Science Northwestern Polytechnical University China School of Computer Science and Engineering University of Electronic Science and Technology of China China School of Computer Science and Technology Tongji University China

A common strategy for Parameter-Efficient Fine-Tuning (PEFT) of pre-trained Vision Transformers (ViTs) involves adapting the model to downstream tasks by learning a low-rank adaptation matrix. This matrix is decomposed into a product of down-projection and up-projection matrices, with the bottleneck dimensionality being crucial for reducing the number of learnable parameters, as exemplified by prevalent methods like LoRA and Adapter. However, these low-rank strategies typically employ a fixed bottleneck dimensionality, which limits their flexibility in handling layer-wise variations. To address this limitation, we propose a novel PEFT approach inspired by Singular Value Decomposition (SVD) for representing the adaptation matrix. SVD decomposes a matrix into the product of a left unitary matrix, a diagonal matrix of scaling values, and a right unitary matrix. We utilize Householder transformations to construct orthogonal matrices that efficiently mimic the unitary matrices, requiring only a vector. The diagonal values are learned in a layer-wise manner, allowing them to flexibly capture the unique properties of each layer. This approach enables the generation of adaptation matrices with varying ranks across different layers, providing greater flexibility in adapting pre-trained models. Experiments on standard downstream vision tasks demonstrate that our method achieves promising fine-tuning performance. © 2024 Neural information processing systems foundation. All rights reserved.

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Deciphering decadal urban ozone trends from historical records since 1980

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National science Review 2024年第11期11卷 117-129页

作者： Haolin Wang Xiao Lu Paul I.Palmer Lin Zhang Keding Lu Ke Li Tatsuya Nagashima Ja-Ho Koo Hiroshi Tanimoto Haichao Wang Meng Gao Cheng He Kai Wu Shaojia Fan Yuanhang Zhang School of Atmospheric Sciences Sun Yat-sen University and Key Laboratory of Tropical Atmosphere-Ocean System Ministry of Education Guangdong Provincial Observation and Research Station for Climate Environment and Air Quality Change in the Pearl River Estuary Southern Marine Science and Engineering Guangdong Laboratory (Zhuhai) School of Geo Sciences University of Edinburgh National Centre for Earth Observation University of Edinburgh Laboratory for Climate and Ocean-Atmosphere Studies Department of Atmospheric and Oceanic SciencesSchool of PhysicsPeking University State Key Joint Laboratory of Environmental Simulation and Pollution Control The State Environmental Protection Key Laboratory of Atmospheric Ozone Pollution ControlCollege of Environmental Sciences and Engineering Peking University Jiangsu Key Laboratory of Atmospheric Environment Monitoring and Pollution Control Collaborative Innovation Center of Atmospheric Environment and Equipment Technology School of Environmental Science and Engineering Nanjing University of Information Science &Technology National Institute for Environmental Studies Department of Atmospheric Sciences Yonsei University Department of Geography Hong Kong Baptist University Department of Civil and Environmental Engineering University of California

Ozone pollution is a major environmental threat to human health. Timely assessment of ozone trends is crucial for informing environmental policy. Here we show that for the most recent decade（2013–2022） in the northern hemisphere, warm-season（April–September） mean daily 8-h average maximum ozone increases much faster in urban regions with top ozone levels(mainly in the North China Plain, 1.2 ± 1.3 ppbv year-1) than in other, low-ozone regions(0.2 ± 0.9 ppbv year-1). These trends widen the ozone differences across urban regions, and increase extreme pollution levels and health threats from a global perspective. Comparison of historical trends in different urban regions reveals that ozone increases in China during 2013–2022 differ in magnitude and mechanisms to historical periods in other regions since *** reflects a unique chemical environment characterized by exceptionally high nitrogen oxides and aerosol concentrations, where reducing ozone precursor emissions leads to substantial ozone *** increase in China has slowed down in 2018–2022 compared to 2013–2017, driven by ongoing emission reductions, but with ozone-favorable weather conditions. Historical ozone evolution in Japan and South Korea indicates that ozone increases should be suppressed with continuous emission *** temperature and associated wildfires have also reversed ozone decreases in the USA and Europe,with anthropogenic ozone control slowing down in recent decades.

关键词： air quality surface ozone trends

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An artificial systems,computational experiments and parallel execution-based surface electromyogram-driven anti-disturbance zeroing neurodynamic strategy for upper limb human-robot interaction control

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CAAI Transactions on Intelligence Technology 2024年第2期9卷 511-525页

作者： Yongbai Liu Keping Liu Gang Wang Jiliang Zhang Yao Chou Zhongbo Sun Department of Mechanical Engineering Changchun University of TechnologyChangchunChina Department of Control Engineering Changchun University of TechnologyChangchunChina School of Electrical and Information Engineering Jilin Engineering Normal UniversityChangchunChina College of Information Science and Engineering Northeastern UniversityShenyangChina Department of Electrical and Computer Engineering Brigham Young UniversityProvoUtahUSA

In recent years,intelligent robots are extensively applied in the field of the industry and intelligent rehabilitation,wherein the human-robot interaction(HRI)control strategy is a momentous part that needs to be ***,the efficacy and robustness of the HRI control algorithm in the presence of unknown external disturbances deserve to be *** deal with these urgent issues,in this study,artificial systems,computational experiments and a parallel execution intelligent control framework are constructed for the HRI *** upper limb-robotic exoskeleton system is re-modelled as an artificial *** on surface electromyogram-based subject's active motion intention in the practical system,a non-convex function activated anti-disturbance zeroing neurodynamic(NC-ADZND)controller is devised in the artificial system for parallel interaction and HRI control with the practical ***,the linear activation function-based zeroing neurodynamic(LAF-ZND)controller and proportionalderivative(posterior deltoid(PD))controller are presented and *** results substantiate the global convergence and robustness of the proposed controller in the presence of different external *** addition,the simulation results verify that the NC-ADZND controller is better than the LAF-ZND and the PD controllers in respect of convergence order and anti-disturbance characteristics.

关键词： neural network pattern recognition robotics signal processing

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Temperature-controlled fabrication of hydrophilic manganese oxide microspheres as high-performance electrode materials for supercapacitors

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Chinese Chemical Letters 2023年第5期34卷 516-520页

作者： Yuchen Wang Yaoyu Liu Ahsan Ejaz Kai Yan Guangdong Provincial Key Laboratory of Environmental Pollution Control and Remediation Technology School of Environmental Science and EngineeringSun Yat-sen UniversityGuangzhou 510275China Department of Civil Engineering Mirpur University of Science and TechnologyAJKMirpur 10250Pakistan

The supercapacitive properties of manganese oxides(MnO_(x))are strongly affected by their crystal ***,the relationship between the crystal structure and supercapacitive performance of Mn O_(x)is ***,a temperature-controlled fabrication method was developed to achieve MnO_(2),Mn_(3)O_(4),MnO and Mn_(2)O_(3)microspheres with various crystal structure as electrode materials tunable for *** detailed material and electrochemical characterizations revealed the structureactivity relationship of Mn O_(x)microspheres by systematically investigating the effect of valence state,specific surface area,conductivity and morphology on supercapacitive *** these MnO_(x)materials,nanoneedle-like Mn O_(2)delivered a relatively high specific capacitance of 274.1 F/g at 1 A/g due to a high Mn valence state of+4,a large specific surface area of 113.4 m^(2)/g and a desirable electronic conductivity of 1.73×10^(-5)S/***,MnO_(2)presented a remarkable cycle stability with 115%capacitance retention after 10,000 cycles owing to the enhancement of *** work not only provides a facile strategy to modulate MnO_(x)crystal structure,but also offers a deep understanding of structure-dependent supercapacitive performance of MnO_(x).

关键词： Temperature-controlled Manganese oxide Microsphere Supercapacitors Hydrophilic

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Some Remarks on Fault-Tolerant Dynamic control Allocation for Weakly Redundant Systems 32

Some Remarks on Fault-Tolerant Dynamic Control Allocation fo...

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32nd Mediterranean Conference on control and Automation, MED 2024

作者： Cristofaro, Andrea Faleschini, Michelangelo Sapienza University of Rome Department of Computer Control and Management Engineering Italy School of Science and Technology Mathematics Division University of Camerino Italy

ISBN: (纸本)9798350395440

We consider the problem of control allocation for weakly redundant systems subject to actuator faults. In particular, the design of a suitable allocator will be devised with the aim of compensating for the fault effects while, at the same time, keeping the control burden as low as possible. To this goal, two approaches can be followed for the synthesis of the allocation servomechanism: direct allocation using orthogonal projection and optimization-based allocation. Some numerical examples illustrate and highlight advantages, disadvantages and limitations of both strategies. © 2024 IEEE.

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On final opinions of the Friedkin-Johnsen model over random graphs with partially stubborn community 63

On final opinions of the Friedkin-Johnsen model over random ...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Wang, Lingfei Xing, Yu Johansson, Karl H. Kth Royal Institute of Technology and with Digital Futures Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm Sweden

ISBN: (纸本)9798350316339

This paper studies the formation of final opinions for the Friedkin-Johnsen (FJ) model with a community of partially stubborn agents. The underlying network of the FJ model is symmetric and generated from a random graph model, in which each link is added independently from a Bernoulli distribution. It is shown that the final opinions of the FJ model will concentrate around those of an FJ model over the expected graph as the network size grows, on the condition that the stubborn agents are well connected to other agents. Probability bounds are proposed for the distance between these two final opinion vectors, respectively for the cases where there exist non-stubborn agents or not. Numerical experiments are provided to illustrate the theoretical findings. The simulation shows that, in presence of non-stubborn agents, the link probability between the stubborn and the non-stubborn communities affect the distance between the two final opinion vectors significantly. Additionally, if all agents are stubborn, the opinion distance decreases with the agent stubbornness. © 2024 IEEE.

关键词： Graph theory

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Clarity Method of Low-illumination and Dusty Coal Mine Images Based on Improved AMEF

Informatica (Slovenia)

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Informatica (Slovenia) 2023年第7期47卷 51-62页

作者： Su, Chang Li, Ziqiang Wei, Zhongliang Xu, Naizhong Yuan, Quan State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mine Anhui University of Science and Technology Huainan China School of Mechanical Engineering Anhui University of Science and Technology Huainan China School of Computer Science and Engineering Anhui University of Science and Technology Huainan China School of Mining Anhui University of Science and Technology Huainan China

The existing image processing methods based on physical models can have a significant impact on defogging performance due to inaccurate estimation of the depth of field information. These methods often encounter problems such as low brightness, invisible color distortion, and loss of detail when processing images with poor lighting conditions, such as those taken in coal mines. To address these issues, this paper proposes a new algorithm based on artificial multi-exposure image fusion. The proposed method performs global exposure on images with uneven illumination by combining S-type functions and the Contrast Limited Adaptive Histogram Equalization (CLAHE) algorithm in the Hue-Saturation-Value (HSV) color space. This reduces the spatial dependence of brightness during processing and avoids color distortion problems that may arise in the Red-Green-Blue (RGB) color space. To mitigate the issue of detail loss, a gradient-domain guided filter is used to preserve fine structures in images, while an improved homomorphic filtering algorithm is introduced during the Laplacian pyramid decomposition process to reduce image content loss arising from large dark areas. This paper also conducted subjective, objective, and computational time comparisons to evaluate performance, providing reliable results regarding speed, quality, and reliability in processing hazy images. © 2023 Slovene Society Informatika. All rights reserved.

关键词： Luminance

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Electromagnetic and mechanical properties of soft magnetic cement composite 7th

Electromagnetic and mechanical properties of soft magnetic c...

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7th Chinese-European Workshop on Functional Pavements, CEW 2023

作者： Li, Y.J. Li, F. Deng, Y.T. Zhou, S.Q. Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beihang University Beijing China

ISBN: (纸本)9781032480923

The transmission efficiency of wireless power transfer can be improved by using soft magnetic material on the wireless charging pavement where magnetic induction lines pass through. In order to explore the effect of ferrite powder content on the properties of soft magnetic material, six kinds of specimens with different replacement rate of ferrite powder to sand were made by mixing cement, sand, Mn-Zn ferrite powder and water. The electromagnetic and mechanical properties of specimens were tested. A simulation model was established to verify the efficiency improvement of WPT system. The results showed that with the increase of ferrite content, the relative magnetic permeability increased gradually and the dielectric loss decreases first and then increases. The mechanical strength dropped sharply when the replacement rate was 0.4 and then remained basically unchanged. The replacement rate of ferrite powder to sand is recommended to be 0.2 with a 1.61% efficiency improvement. © 2024 The Author(s).

关键词： Efficiency

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Covalent triazine frameworks materials for photo-and electrocatalysis

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Nano Research 2024年第9期17卷 7830-7839页

作者： Aoji Liang Wenbin Li Anbai Li Hui Peng Guofu Ma Lei Zhu Ziqiang Lei Yuxi Xu Key Laboratory of Eco-functional Polymer Materials of the Ministry of Education Key Laboratory of Polymer Materials of Gansu ProvinceCollege of Chemistry and Chemical EngineeringNorthwest Normal UniversityLanzhou 730070China School of Chemistry and Materials Science Hubei Key Laboratory of Quality Control of Characteristic Fruits and VegetablesHubei Engineering UniversityXiaogan 432000China School of Engineering Westlake UniversityHangzhou 310024China

Covalent triazine frameworks(CTFs)are a class of unique two-dimensional nitrogen-rich triazine framework with adjustable chemical and electronic structures,rich porosity,good stability and excellent semiconductivity,which enable great various applications in efficient gas/molecular adsorption and separation,energy storage and conversion,especially photo-and *** synthesis strategies strongly affect the morphology of CTFs and play an important role in their structure and *** this concept,we provide a comprehensive and systematic review of the synthesis methods such as ionothermal synthesis,phosphorus pentoxide catalytic method,polycondensation and ultra-strong acid catalyzed method,and applications of CTFs in photo-and *** we offer some insights into the future development progress of CTFs materials for catalytic applications.

关键词： covalent triazine frameworks synthetic strategy photocatalysis electrocatalysis

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