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Searching for an Accurate Robot Calibration via Improved Levenberg–Marquardt and Radial Basis Function System

Journal of Field Robotics 2025年第0期

作者： Li, Zhibin Deng, Xun Chen, Tinghui Yang, Yuhang Chen, Linlin Yang, Xiwen Hu, Zhenzhen Hu, Lun Hu, Pengwei Li, Shuai Luo, Xin Xinjiang Technical Institute of Physics & Chemistry Chinese Academy of Sciences Urumqi China School of Software Engineering Chengdu University of Information Technology Chengdu China Dazhou Key Laboratory of Government Data Security Sichuan University of Arts and Science Dazhou China School of Software Engineering Xinjiang University Urumqi China Faculty of Information Technology and Electrical Engineering University of Oulu Oulu Finland VTT-Technical Research Centre of Finland Oulu Finland College of Computer and Information Science Southwest University Chongqing China

Robots are frequently utilized in manufacturing, aviation, and other industries, which enhance industrial production efficiency and quality. Specifically, robots perform high-precision tasks like welding, assembly and material handling, which reduce the intensity of manual labor in factories. In the logistics field, robots automatically sort and deliver goods, thereby speeding up supply chain operations. However, the prolonged operation of robots suffers from a decline in positioning accuracy, which makes them unable to satisfy task requirements. To address this challenging issue, this study designs an efficient calibration system integrating the Levenberg–Marquardt algorithm with fuzzy proportion integration differentiation controller and radial basis function neural network. The innovations of this method include: (1) integrating the fuzzy proportion integration differentiation controller into the updating rules of Levenberg–Marquardt algorithm, which further enhances the identification performance of kinematic errors;(2) adopting the radial basis function neural network to handle the robot dynamic errors, which addresses the complexity of dynamic error sources. Extensively experimental robot positioning points are gathered on an HSR JR680 robot, and then experimental validations are conducted by using the designed calibration system. The experiments indicate that the developed algorithm outperforms these existing advanced algorithms. © 2025 Wiley Periodicals LLC.

关键词： Radial basis function networks

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3D printing of self-powered triboelectric intelligent system with enhanced output performance for material identification via machine learning

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Chemical engineering Journal 2025年 515卷

作者： Huang, Bingyu Xu, Kailong Zhang, Xiaofei Zhang, Yongcheng Long, Yun-Ze Ge, Shuzhi Sam Wei, Xiangxia School of Automation Shandong Key Laboratory of Industrial Control Technology Qingdao University Qingdao266071 China College of Materials Science and Engineering Qingdao University Qingdao266071 China Collaborative Innovation Center for Nanomaterials & Devices College of Physics Qingdao University Qingdao266071 China College of Physics Qingdao University Qingdao266071 China Department of Electrical & Computer Engineering National University of Singapore 117576 Singapore

Triboelectric nanogenerators (TENGs) have attracted global attention for energy conversion from various types of mechanical energy into electricity. Traditional approaches for improving triboelectric conversion efficiency generally involved complicated preparation methods and strict structural design, which cannot fulfill the stringent requirements of material adaptability and application scenarios. In this work, a flexible TENG was developed based on zirconium-doped barium titanate (BaZrxTi1−xO3, BZT) particles in polydimethylsiloxane (PDMS) matrix. Subsequently, BZT/PDMS composites with patterned structures were fabricated by direct ink writing (DIW) based three-dimensional (3D) printing to significantly enhance the electrical performance. It was demonstrated that the TENG could deliver a maximum open-circuit voltage (VOC) of 350 V and a short-circuit current (ISC) of 4.9 µA with a maximum power density of 2.4 W m−2. Moreover, an effective utilization of the TENG was designed to detect the presence of humans, saving a huge amount of electrical energy. Finally, a TENG-based tactile sensor was integrated with machine learning to construct a material identification system, which was capable of recognizing different materials with a high accuracy of 98.54 %. The TENG-based tactile sensor with machine learning demonstrated a tremendous application in material perception, promoting the development of versatile sensors in the field of machine intelligence. © 2025 Elsevier B.V.

关键词： Liquid crystals

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Phase-Only Pattern Synthesis of Domino Tiling Irregular Arrays Based on Deep Reinforcement Learning and Gradient-descent Optimization

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IEEE Transactions on Antennas and Propagation 2025年

作者： Ma, Yihan Guo, Yibing Luo, Qi Zhou, Yonggang Yang, Guangwei Gao, Steven Northwestern Polytechnical University School of Electronics and Information Shaanxi Xi’an 710129 China University of Hertfordshire School of Physics Engineering and Computer Science Hertfordshire AL10 9AB United Kingdom Queen Mary University of London School of Electronic Engineering and Computer Science London E1 4NS United Kingdom Nanjing University of Aeronautics and Astronautics School of Electronic and Information Engineering Nanjing 210016 China The Chinese University of Hong Kong Department of Electronic Engineering Hong Kong Hong Kong

The irregular subarray design technique is gaining increasing attention for its excellent compromise between cost-effective design and good beamforming performance. In this article, a novel framework that incorporates a deep reinforcement learning (DRL) technique with a gradient-descent optimization method for phase-only pattern synthesis of domino-shaped irregular arrays is proposed. By employing the deep Q-network (DQN) technique to tile domino-shaped subarrays into an array aperture, the exact phase distribution over the aperture can be derived. Furthermore, to get better performance of the scanning radiation patterns as well as improve the optimization efficiency, a novel phase-only gradient-descent optimization method is integrated with the DRL training procedure to effectively evaluate the pattern synthesis performance of the tiling configuration. Through the proposed framework by combining DQN and phase-only gradient-descent iterative algorithm, the optimal configuration for the target radiation pattern can be efficiently optimized since the subarray tiling and optimization can be realized simultaneously. The good performance of the proposed framework is demonstrated through several case studies involving 16×16, 32×32, and 64×64-dimensional domino-shaped arrays. Furthermore, full-wave simulations of both reflective metasurface arrays and antenna phased arrays, as well as measurement results from reflective metasurface arrays, are utilized to verify the calculations, thereby demonstrating the practical reliability of the developed method. © 1963-2012 IEEE.

关键词： gradient-descent pattern synthesis sidelobe suppression Sub-arrayed tiling

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Survey of Spectral Amplitude Coding Optical Code Division Multiple Access Families

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Journal of Lightwave Technology 2025年

作者： Ullah, Rahat Ullah, Sibghat Ali, Aitizaz Jianxin, Ren Alwageed, Hathal Salamah Yaya, Mao Qi, Zhipeng Yu, Yongyi Imtiaz, Waqas A. Khan, Maqbool School of Physics and Optoelectronics Nanjing University of Information Science and Technology China Jiangsu Key Laboratory for Optoelectronic Detection of Atmosphere and Ocean Nanjing University of Information Science Technology Nanjing210044 China Jiangsu International Joint Laboratory on Meteorological Photonics and Optoelectronic Detection Nanjing University of Information Science Technology Nanjing210044 China School of Electronics Science and Technology Southeast University China School of Technology NSF Group Asia Pacific University Malaysia Saudi Arabia College of Computer Science Jouf University Saudi Arabia Electrical Engineering Department University of Engineering and Technology Peshawar Pakistan Pak-Austra Fachhochschule Haripur Pakistan

Quest for high capacity communication have led the research community to explore a plethora of technologies. Among these, optical code division multiple access (OCDMA) technique stands tall with support for high data rate connectivity in terms of data, reach and the number of subscribers. The development of OCDMA based networks started with the design and implementation of one dimensional (1D) codes, which provides effective correlation properties to reduce the effect of interference due to multiple users (MAI) and phase-induced-intensity-noise (PIIN) in order to provide the required system capacity. Several families of codes have been developed to determine the most suitable combination between code length, weight against the auto- and cross-correlation property respectively. This survey paper will analyze the most commonly used families of codes from spectral amplitude coding (SAC) based OCDMA systems names Double Weight (DW) codes, Diagonal codes , zero cross-correlation (ZCC) codes, and hybrid codes in terms of different performance parameters and identify the most suitable combination of code length (L), code weight (w), and cross-correlation (λC) to be utilized for next generation communication applications that can provide high capacity and cardinality. © 1983-2012 IEEE.

关键词： Passive optical networks

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Dual-Band Dual-Polarized Array Based on Electromagnetic Transparent Antenna for Vehicle-Mounted Base Station Systems

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IEEE Transactions on Vehicular Technology 2025年

作者： Liu, Xuekang Sanz-Izquierdo, Benito Gao, Steven Luo, Qi Zhang, Lu Wen, Lehu Yang, Xue-Xia Wang, Lei Lancaster University School of Engineering LancasterLA1 4YW United Kingdom University of Kent School of Engineering CanterburyCT2 7NT United Kingdom Chinese University of Hong Kong Dept of Electronic Engineering Hong Kong University of Hertfordshire School of Physics Engineering and Computer Science HatfieldAL10 9AB United Kingdom Swansea University Faculty of Science and Engineering SwanseaSA1 8EN United Kingdom Brunel University London Department of Electronic and Electrical Engineering UxbridgeUB8 3PH United Kingdom Shanghai University School of Communication and Information Engineering Shanghai200444 China

This paper introduces a novel ±45° shared-aperture, dual-band, dual-polarized interleaved array for vehicle-mounted base station systems. The array integrates a lower band (LB) antenna with four higher band (HB) antennas. To address the issue of cross-band scattering and its impact on higher band performance, we employ an innovative method that involves reducing the aperture size and incorporating lumped or distributed inductors. These inductors function as frequency-selective structures, permitting low-frequency currents to pass while blocking high-frequency currents. Consequently, at high frequencies, these inductors act as open circuits, making the low-frequency antenna radiator resemble multiple discontinuous small metal strips. This approach achieves an electromagnetic transparent (EMT) bandwidth of over 82.9%, making it highly suitable for mobile base station applications. By integrating this low-scattering LB antenna with four bandwidth-optimized cross dipoles, we achieve a dual-band interleaved array. The measured results confirm that the dual-band array operates effectively within the 0.85-0.98 GHz and 1.4-2.7 GHz frequency ranges, maintaining stable radiation performance. The superior performance of this design makes it an ideal choice for vehicle-based base stations. © 1967-2012 IEEE.

关键词： Strip metal

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THz array of graphene disks: Classification of surface plasmon modes and their excitation

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Journal of Applied physics 2025年第18期137卷

作者： Dmitriev, Victor Oliveira, Cristiano Zografopoulos, D.C. Evangelista, Amanda Department of Electrical Engineering Federal University of Pará Pará Belém66075-110 Brazil Applied Physics Group Federal Institute of Science and Technology of Roraima Amajari Roraima69343-000 Brazil School of Electrical and Computer Engineering Aristotle University of Thessaloniki ThessalonikiGR-54124 Greece

We suggest a classification scheme for the eigenmodes in an array of graphene disks. The classification is based, first, on the division of the possible solutions in TE and TM modes and, second, on the irreducible representations (IRREPs) of the symmetry group of the unit cell. The last criterion classifies the possible modes in terms of the angular φ dependence of their corresponding currents. In the presented example of symmetry C4v of the square unit cell with the graphene disk, we show that the symmetry of the dipole mode is defined by two orthogonal subspaces of the 2D IRREP E . Two quadrupole modes described by IRREPs B1 and B2 are quasi-orthogonal and have different resonant frequencies. The angular resonances of the modes E , B1 , and B2 are defined by the superposition of clockwise and anti-clockwise edge-guided surface plasmon-polariton waves. However, the modes described by IRREPs A1 and A2 can be considered the superposition of modes propagating along the radius. The radial TM mode A1 differs from the radial TE mode A2 by orientation of the graphene current with respect to the wavevector. We discuss the necessary symmetry and physical conditions for the excitation of the hybridized quasi-dark modes by plane waves with normal incidence. The theoretical results are illustrated by many numerical examples. © 2025 Author(s).

关键词： Surface plasmon resonance

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引用

IEEE International Symposium on Biomedical Imaging

作者： Ying He Qianni Zhang Marc E. Miquel School of Electronic Engineering and Computer Science Queen Mary University of London London UK Clinical Physics Barts Health NHS Trust London UK Advanced Cardiovascular Imaging William Harvey Research Institute Queen Mary University London UK

ISBN: (数字)9798331520526

ISBN: (纸本)9798331520533

Convolutional Neural Networks (CNNs) have shown promising results in the field of medical image segmentation, but often struggle to capture global context. While transformer-based models can address this limitation, they come with high computational costs. To tackle the challenges of high computational complexity and the limitations of CNNs, we propose DAG-UNet. The DAG-UNet reduces channel-wise redundancy and enhances feature diversity by introducing a similarity-based strategy to select dissimilar feature channels while efficiently capturing global context through multilayer perceptron. The DAG-UNet is also lightweight, with only 0.72M parameters and 0.62G FLOPs. We evaluate the performance of DAG-UNet on Speech MRI and ultrasound datasets. It achieves competitive performance on Speech MRI and outperforms other models on the ultrasound dataset. The code is available at: https://***/Yhe9718/DAG-UNet.

关键词： Performance evaluation Image segmentation Ultrasonic imaging Magnetic resonance imaging Redundancy Multilayer perceptrons Transformers Feature extraction Mobile handsets Biomedical imaging

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Sorting and characterization of cancer cells with different migration phenotypes using a microfluidic platform

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Sensors and Actuators B: Chemical 2025年 440卷

作者： Ding, Shihui Ding, Wenyong Wang, Xuan Li, Zeyao Fan, Yanping Lin, Francis Wu, Jiandong Institute of Biomedical and Health Engineering Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology Shanghai200093 China Department of Physics and Astronomy University of Manitoba WinnipegMBR3T 2N2 Canada

Cancer metastasis is the primary cause of poor prognosis and high mortality in patients, and the chemotactic migration of cancer cells is closely related to the metastasis process. Isolating cancer cells with different migration phenotypes is crucial for understanding the mechanisms of cancer cell migration and cancer metastasis. However, current methods for sorting cancer cells based on migration phenotypes often suffer from low efficiency, long operation times, and complex procedures. Additionally, cell migration and sorting experiments often rely on live cell imaging systems, which are generally costly and lack portability. In this study, we developed an automated microfluidic platform for sorting cancer cells based on their migration phenotypes. The platform was validated using two breast cancer cell lines, MDA-MB-231 and MCF-7, with the sorting process completed within 6.5 hours. The sorted cells with high and low migration phenotypes could be further cultured and had similar proliferative capacities. Through SMART-seq2 analysis, we identified several significantly differentially expressed genes closely related to cell migration and tumor metastasis across different migration phenotypes. Functional validation experiments revealed that the knockdown of the GADD45B gene in MDA-MB-231 cells reduced the migration rate of high-chemotactic cells. Enrichment analyses revealed that the differentially expressed genes were associated with multiple migration-related pathways, including the mitogen-activated protein kinases (MAPK) signaling pathway. Protein expression assays indicated an upregulation of phosphorylated p38 in high-chemotactic cells. In conclusion, this sorting platform provides an efficient and robust solution for investigating the migration heterogeneity of cancer cells. © 2025 Elsevier B.V.

关键词： Bioassay

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Super-Resolution Coherent Diffractive Imaging via Titled-Incidence Multi-Rotation-Angle Fusion Ptychography

arXiv

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arXiv 2025年

作者： Zhou, Youyang Shi, Weiren Xie, Yun Zhao, Bianli Luo, Xinyu Yao, Mingjie Zhang, Rui Tan, Xin Li, Kui Yang, Hao Liu, Qi Nan, Yinggang Bao, Jie Zhang, Yuping Shu, Feng Li, Shaopan Zhang, Xiaoshi School of Physics and Astronomy Yunnan University Yunnan Kunming650500 China School of Automation Engineering University of Electronic Science and Technology of China Chengdu611731 China Academy for Engineering and Technology Fudan University Shanghai200433 China School of Materials and Energy Yunnan University Yunnan Kunming650500 China South west United Graduate school Yunnan Kunming650092 China School of Instrumentation and Optoelectronic Engineering Beihang University Beijing100191 China School of Engineering Yunnan University Yunnan Kunming650500 China School of Chemical Science and Engineering Yunnan University Yunnan Kunming650500 China School of Electrical and Computer Engineering The University of Sydney CamperdownNSW2006 Australia Aerospace Information Research Institute Chinese Academy of Sciences Beijing100094 China

Coherent diffractive imaging (CDI) enables lensless imaging with experimental simplicity and a flexible field of view, yet its resolution is fundamentally constrained by the Abbe diffraction limit. To overcome this limitation, we introduce a novel Tilted-Incidence Multi-Rotation-Angle Fusion Ptychography technique. This approach leverages a tilted-incidence geometry to extend the collection angle beyond the Abbe limit, achieving up to a √2-fold resolution enhancement. By acquiring diffraction patterns at multiple sample rotation angles, we capture complementary spatial frequency information. A tilted-incidence multirotation-angle fusion ptychographic iterative engine (tmf-PIE) algorithm is then employed to integrate these datasets, enabling super-resolution image reconstruction. Additionally, this method mitigates the anisotropic resolution artifacts inherent to tilted CDI geometries. Our technique represents a novel advancement in super-resolution imaging, providing a novel alternative alongside established methods such as STED, SIM, and SMLM. © 2025, CC BY.

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In-situ synthesis of zeolitic imidazolate framework-8 on an optical microbubble cavity for enhanced ethanol sensing

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Optics Express 2025年第11期33卷 23065-23074页

作者： Yanyan Zhi Li Liu Yan Huang Li-Peng Sun Wei Wang Jie Li Jiejun Zhang Jianping Yao Bai-Ou Guan Guangdong Provincial Key Laboratory of Optical Fiber Sensing and Communications Institute of Photonics Technology Jinan University Guangzhou 510632 China College of Physics & Optoelectronic Engineering Jinan University Guangzhou 510632 China Microwave Photonics Research Laboratory School of Electrical Engineering and Computer Science University of Ottawa Ottawa Ontario K1N 6N5 Canada

Optical whispering-gallery-mode microcavities have been applied for ultra-sensitive detection of physical parameters and nano-scale analytes due to strong light-matter interactions. Surface treatments to enhance mode confinement or increase analyte interaction with the optical field are effective methods to improve the sensing performance. In this work, an optical microbubble cavity fabricated via heat-and-pull and arc discharge techniques is functionalized with zeolitic imidazolate framework-8 (ZIF-8), a subclass of metal-organic frameworks (MOFs), for concentration sensing of ethanol solutions. The bubble-shaped structure forms an internal microfluidic channel to sustain the analyte solution, which provides an excellent platform for trace detection. By growing a multilayer of MOFs on the inner surface of the microcavity, the sensitivity is significantly enhanced, with distinct behaviors observed when detecting ethanol solution concentrations lower or higher than $0.1{\%}$ . Compared to a pure silica microbubble cavity, the sensitivity is enhanced by 47 times and 7 times at lower and higher concentrations, respectively. The knowledge gained on sensitivity enhancement of microcavities induced by surface functionalization will guide the combinations of novel materials and optical sensors for superior detection demands.

关键词： Light matter interactions Microcavities Optical fields Optical materials Q factor Refractive index

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