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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Zhang, Boyue Cui, Shaowei Zhang, Chaofan Hu, Jingyi Wang, Shuo School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Institute of Automation Chinese Academy of Sciences Beijing100190 China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai200031 China

ISBN: (纸本)9781665481090

In robot grasp and dexterous manipulation tasks, tactile sensing is important for the control adjustment of the manipulator. In this paper, we present a novel low-cost parallel gripper with high-resolution tactile sensing, named the GelStereo Gripper. Furthermore, an adaptive grasp strategy is proposed to endow the gripper with tactile-feedback grasp stability-maintaining ability. We install the gripper on our robot platform and conduct various grasp experiments by utilizing proposed control methods. Experimental results verify the reliability of the GelStereo gripper and also prove the effectiveness of the proposed strategy for experimental objects with different features. © 2022 IEEE.

关键词： Grippers

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Continuity Scaling: A Rigorous Framework for Detecting and Quantifying Causality Accurately

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Research 2022年第4期2022卷 137-146页

作者： Xiong Ying Si-Yang Leng Huan-Fei MaD Qing Nie Ying-Cheng Lai Wei Lin School of Mathematical Sciences SCMSand SCAMFudan UniversityShanghai 200433China Research Institute for Inteligent Complex Systems CCSBand LCNBIFudan UniversityShanghai 200433China State Key Laboratory of Medical Neurobiology and MOE Frontiers Center for Brain Science Institutes of Brain ScienceFudan UniversityShanghai 200032China Institute of AI and Robotics Academy for Engineering and TechnologyFudan UniversityShanghai 200433China School of Mathematical Sciences Soochow UniversitySuzhou 215006China Department of Mathematics Department of Developmental and Cll BiologyAnd NSF-Simons Center for Multiscale Cell Fate ResearchUniversity of CaliforniaIrvineCA 92697-3875USA School of Electrical ComputerAnd Energy EngineeringArizona State UniversityTempeArizona 85287-5706USA Shanghai Artificial Intelligence Laboratory Shanghai 200232China

Data-based detection and quantification of causation in complex,nonlinear dynamical systems is of paramount importance to science,engineering,and *** by the widely used methodology in recent years,the cross-map-based techniques,we develop a general framework to advance towards a comprehensive understanding of dynamical causal mechanisms,which is consistent with the natural interpretation of *** particular,instead of measuring the smoothness of the cross-map as conventionally implemented,we define causation through measuring the scaling law for the continuity of the investigated dynamical system *** uncovered scaling law enables accurate,reliable,and eficient detection of causation and assessment of its strength in general complex dynamical systems,outperforming those existing representative *** continuity scaling-based framework is rigorously established and demonstrated using datasets from model complex systems and the real world.

关键词： dynamical scaling continuity

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Cooperative Filtering with Range Measurements: A Distributed Constrained Zonotopic Method

arXiv

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arXiv 2023年

作者： Ding, Yu Cong, Yirui Wang, Xiangke Cheng, Long College of Intelligence Science and Technology National University of Defense Technology Changsha410073 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

This article studies the distributed estimation problem of a multi-agent system with bounded absolute and relative range measurements. Parts of the agents are with high-accuracy absolute measurements, which are considered as anchors;the other agents utilize low-accuracy absolute and relative range measurements, each derives an uncertain range that contains its true state in a distributed manner. Different from previous studies, we design a distributed algorithm to handle the range measurements based on extended constrained zonotopes, which has low computational complexity and high precision. With our proposed algorithm, agents can derive their uncertain range sequentially along the chain topology, such that agents with low-accuracy sensors can benefit from the high-accuracy absolute measurements of anchors and improve the estimation performance. simulation results corroborate the effectiveness of our proposed algorithm and verify our method can significantly improve the estimation accuracy. Copyright © 2023, The Authors. All rights reserved.

关键词： Multi agent systems

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A unified theory for gas dynamics and aeroacoustics in viscous compressible *** *** fluid

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Acta Mechanica Sinica 2022年第12期38卷 65-79,I0002页

作者： Feng Mao Linlin Kang Luoqin Liu Jiezhi Wu State Key Laboratory for Turbulence and Complex Systems College of EngineeringPeking UniversityBeijing100871China Shenzhen Tenfong Technology Co. LTDShenzhen518055China School of Engineering Westlake UniversityHangzhou310024China Department of Modern Mechanics University of Science and Technology of ChinaHefei230026China Physics of Fluids Group University of Twente7500 AEEnschedeThe Netherlands

This paper presents a deep reflection on the advective wave equations for velocity vector and dilatation discovered in the past *** show that these equations can form the theoretical basis of modern gas dynamics,because they dominate not only various complex viscous and heat-conducting gas flows but also their associated longitudinal waves,including aero-generated *** aeroacoustics theory has been developing in a manner quite independently of gas dynamics;it is based on the advective wave equations for thermodynamic variables,say the exact Phillips equation of relative disturbance pressure as a representative ***,these equations do not cover the fluid flow that generates and propagates sound *** using them,one has to assume simplified base-flow models,which we argue is the main theoretical obstacle to identifying sound source and achieving effective noise ***,we show that the Phillips equation and alike is nothing but the first integral of the dilatation equation that also governs the longitudinal part of the flow ***,we conclude that modern aeroacoustics should merge back into the general unsteady gas dynamics as a special branch of it,with dilatation of multiple sources being a new additional and sharper sound variable.

关键词： Gas dynamics-aeroacoustics viscous compressible flow Advective wave equations Thermodynamic variables Dilatation Process splitting and coupling

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Quantum entanglement and non-Hermiticity in free-fermion systems

arXiv

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arXiv 2024年

作者： Chen, Li-Mei Zhou, Yao Chen, Shuai A. Ye, Peng Guangdong Provincial Key Laboratory of Magnetoelectric Physics and Devices State Key Laboratory of Optoelectronic Materials and Technologies School of Physics Sun Yat-sen University Guangzhou510275 China Max Planck Institute for the Physics of Complex Systems Nöthnitzer Straße 38 Dresden01187 Germany Department of Physics The Hong Kong University of Science and Technology Hong Kong

This topical review article reports rapid progress on the generalization and application of entanglement in non-Hermitian free-fermion quantum systems. We begin by examining the realization of non-Hermitian quantum systems through the Lindblad master equation, alongside a review of typical non-Hermitian free-fermion systems that exhibit unique features. A pedagogical discussion is provided on the relationship between entanglement quantities and the correlation matrix in Hermitian systems. Building on this foundation, we focus on how entanglement concepts are extended to non-Hermitian systems from their Hermitian free-fermion counterparts, with a review of the general properties that emerge. Finally, we highlight various concrete studies, demonstrating that entanglement entropy remains a powerful diagnostic tool for characterizing non-Hermitian physics. The entanglement spectrum also reflects the topological characteristics of non-Hermitian topological systems, while unique non-Hermitian entanglement behaviors are also discussed. The review is concluded with several future directions. Through this review, we hope to provide a useful guide for researchers who are interested in entanglement in non-Hermitian quantum systems. Copyright © 2024, The Authors. All rights reserved.

关键词： Topology

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Numerical Investigation into the Impact of Oxy-Fuel Combustion on the Thermochemical State and Slab Heating Behaviour Inside a Metallurgical Heating Furnace

SSRN

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SSRN 2024年

作者： Dianyu, E. Yang, Yifeng Weng, Lingyi Yang, Yingxin Liu, Yonggang Chen, Chao Cui, Jiaxin Liu, Lingling Jiangxi Provincial Key Laboratory for Simulation and Modelling of Particulate Systems Jiangxi University of Science and Technology Nanchang330013 China International Institute for Innovation Jiangxi University of Science and Technology Nanchang330013 China School of Energy and Mechanical Engineering Jiangxi University of Science and Technology Nanchang330013 China Faculty of Materials Metallurgy and Chemistry Jiangxi University of Science and Technology Ganzhou341000 China Xinyu Iron and Steel Group Co. Ltd Xinyu338001 China College of Materials Science and Engineering Taiyuan University of Technology Taiyuan030024 China State Key Laboratory of Vanadium Titanium Resources Comprehensive Utilization Chengdu610031 China Pangang Group Research Institute Co. Ltd. Chengdu610031 China Monash University Australia

Oxy-fuel combustion is a promising technology for the merits of energy-saving and NOx emission reduction and has been gradually promoted to the application of metallurgical heating furnaces. For the purpose of understanding and optimizing the heating process of the industrial furnace, with a particular focus on the effect of fuel types and oxy-fuel combustion, a comprehensive transient 3D CFD model was built for the simulation of the complicated in-furnace thermochemical states and the gas-solid heat transfer at multi-scales. It was observed that under constant calorific heat input conditions, the fuel composition appears to have little influence on the internal thermal state and the slab heating. Meanwhile, oxy-fuel combustion enhances the in-furnace heat radiation intensity, leading to higher average gas and thus higher slab temperatures. However, the in-furnace thermal distribution becomes uneven and the slab internal temperature difference increases. Under the prerequisite that the slab temperature leaving the furnace is between 1373-1573 K and the maximum internal temperature difference is less than 50 K/m, the production efficiency can be increased by 6.25% when oxy-fuel combustion is applied, with the corresponding slab residence time decreases from 7424s to 6960s. © 2024, The Authors. All rights reserved.

关键词： Optimization

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Novel PIO Algorithm with Multiple Selection Strategies for Many-Objective Optimization Problems

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complex System Modeling and simulation 2021年第4期1卷 291-307页

作者： Zhihua Cui Lihong Zhao Youqian Zeng Yeqing Ren Wensheng Zhang Xiao-Zhi Gao School of Computer Science and Technology Taiyuan University of Science and TechnologyTaiyuan 030024China School of Cyberspace Security Beijing University of Posts and TelecommunicationsBeijing 100876China State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Computing University of Eastern FinlandKuopioFI-70211Finland

With the increase of problem dimensions,most solutions of existing many-objective optimization algorithms are ***,the selection of individuals and the retention of elite individuals are *** algorithms cannot provide sufficient solution precision and guarantee the diversity and convergence of solution sets when solving practical many-objective industrial ***,this work proposes an improved many-objective pigeon-inspired optimization(ImMAPIO)algorithm with multiple selection strategies to solve many-objective optimization *** selection strategies integrating hypervolume,knee point,and vector angles are utilized to increase selection pressure to the true Pareto ***,the accuracy,convergence,and diversity of solutions are *** is applied to the DTLZ and WFG test functions with four to fifteen objectives and compared against NSGA-III,GrEA,MOEA/D,RVEA,and many-objective Pigeon-inspired optimization *** results indicate the superiority of ImMAPIO on these test functions.

关键词： pigeon-inspired optimization algorithm many-objective optimization problem multiple selection strategy elite individual retention

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Mental Calculation Drives Reliable and Weak Distant Connectivity While Music Listening Induces Dense Local Connectivity

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Phenomics 2021年第6期1卷 285-298页

作者： Gaoxing Zheng Yuzhu Li Xiaoying Qi Wei Zhang Yuguo Yu State Key Laboratory of Medical Neurobiology and MOE Frontiers Center for Brain Science Human Phenome Institute and Research Institute of Intelligent and Complex SystemsInstitute of Science and Technology for Brain-Inspired IntelligenceShanghai 200433China Department of Neurology Zhongshan Hospital and Shanghai Medical CollegeFudan UniversityShanghai 200032China

Mathematical calculation usually requires sustained attention to manipulate numbers in the mind,while listening to light music has a relaxing effect on the *** differences in the corresponding brain functional network topologies underlying these behaviors remain rarely ***,we systematically examined the brain dynamics of four behaviors(resting with eyes closed and eyes open,tasks of music listening and mental calculation)using 64-channel electroencephalogram(EEG)recordings and graph theory *** developed static and dynamic minimum spanning tree(MST)analysis method and demonstrated that the brain network topology under mental calculation is a more line-like structure with less tree hierarchy and leaf fraction;however,the hub regions,which are mainly located in the frontal,temporal and parietal regions,grow more stable over *** contrast,music-listening drives the brain to exhibit a highly rich network of star structure,and the hub regions are mainly located in the posterior *** then adopted the dynamic dissimilarity of different MSTs over time based on the graph Laplacian and revealed low dissimilarity during mental *** results suggest that the human brain functional connectivity of individuals has unique dynamic diversity and flexibility under various behaviors.

关键词： Dynamic minimum spanning tree Spatiotemporal variability Dissimilarity Graph Laplacian Mental calculation Music listening

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Floquet Gauge Anomaly Inflow and Arbitrary Fractional Charge in Periodically Driven Topological-Normal Insulator Heterostructures

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Physical Review Letters 2023年第22期130卷 223403-223403页

作者： Yiming Pan Zhaopin Chen Bing Wang Eilon Poem School of Physical Science and Technology and Center for Transformative Science ShanghaiTech University Shanghai 200031 China Physics Department and Solid-State Institute Technion Haifa 32000 Israel Department of Physics of Complex Systems Weizmann Institute of Science Rehovot 76100 Israel Department of Electrical Engineering Physical Electronics Tel Aviv University Ramat Aviv 69978 Israel National Laboratory of Solid State Microstructures and School of Physics Nanjing University Nanjing 210093 China

Usually, when coupling in a background gauge field, topological zero modes would yield an anomalous current at the interface, culminating in the zero-mode anomaly inflow, which is ultimately conserved by extra contributions from the topological bulk. However, the anomaly inflow mechanism for guiding Floquet steady states is rarely explored in periodically driven systems. Here we synthesize a driven topological-normal insulator heterostructure and propose a Floquet gauge anomaly inflow, associated with the occurrence of arbitrary fractional charge. Through our photonic modeling, we experimentally observed a Floquet gauge anomaly as the system was driven into anomalous topological phases. Prospectively, we believe our findings could pave a novel avenue on exploring Floquet gauge anomalies in driven systems of condensed matter, photonics, and ultracold atoms.

关键词： Quantum field theory (low energy) Quantum simulation Symmetry protected topological states Topological effects in photonic systems Floquet systems Laser applications

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Thermal Decomposition Mechanism of 1,3,5-Trinitroperhydro-1,3,5-Triazine: Experiments and Reaction Kinetic Modeling

SSRN

引用

SSRN 2022年

作者： Xu, Yabei Chu, Qingzhao Wang, He Wang, Shengkai Xu, Shengliang Chen, Dongping State Key Lab of Explosion Science and Technology Beijing Institute of Technology Beijing100081 China State Key Laboratory of Turbulence and Complex Systems College of Engineering Peking University Beijing100871 China Science and Technology on Aerospace Chemical Power Laboratory Hubei Institute of Aerospace Chemotechnology Xiangyang441003 China

This study investigates the thermal decomposition of 1,3,5- trinitroperhydro-1,3,5-triazine (RDX) based on combined thermogravimetric (TG) measurements and chemical reaction neural network (CRNN) modeling. Two compact kinetic models that can accurately capture the mass change time-history during the decomposition of RDX are introduced, with one consisting of three substances and a single global reaction (denoted as the one-step model) and the other consisting of four substances and four reactions (4-4 model). In the one-step model, an activation energy of 169.71 kJ mol -1 is calculated from best-fitting the CRNN to experimental data and the value is in good agreement with the existing value determined independently from classical methods. As for the 4-4 model, more constraints from molecular simulations, as well as experimental observations, are carefully introduced. The substances and reactions in 4-4 models are assigned based on a skeleton mechanism involving reactions of N-N and C-N bond rupture and HONO elimination. To the authors’ knowledge, the current work presents the first detailed mechanism of RDX decomposition that is reported publicly and validated against experiments. Extension of the CRNN framework to kinetic modeling of other solid-phase energetic materials is anticipated in future studies. © 2022, The Authors. All rights reserved.

关键词： Thermolysis

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