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Pneumatic soft bionic actuators inspired by elephant trunk for multidisciplinary robotics applications

Physica Scripta 2025年第7期100卷 075013-075013页

作者： Xiaohui Guo Deli Kong Zihan Lin Xianghui Li Yupeng Shao Zhaobin Li Yinuo Chen Xinyu Wu Weiqiang Hong Tianxu Zhang Xiaowen Zhu Congguang He Junjie Qiu Xiangchen Zhao Qi Hong Yunong Zhao Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education School of Integrated Circuits Anhui University Hefei 230601 People’s Republic of China State Key Laboratory of High-Performance Precision Manufacturing Dalian University of Technology Dalian 116024 People’s Republic of China Key Laboratory for Micro/Nano Technology and System of Liaoning Province Dalian University of Technology Dalian 116024 People’s Republic of China School of Physics University of Science and Technology of China Hefei 230000 People’s Republic of China

Soft robots in technology makes rapid development in the field of robotics, so that robots are widely used in all aspects of life. This paper proposed a bionic elephant trunk structure of pneumatic actuator (SPA). To solve the insufficient tip force and bending angle of SPA, mathematical model and Finite Element Analysis (FEA) are used to determine the optimal parameters of the SPA. Based on optimized SPAs, robots for multidisciplinary applications are developed. These applications include soft gripper with high gripping force of up to 480 N, a quadruped soft robot capable of adapting complex amphibious environments, and a robot designed to assist with sign language communication. These demonstrate the versatility of soft robots in addressing challenges across various domains, such as healthcare, human-machine interaction, and environmental exploration.

关键词： pneumatic actuator soft robotics soft gripper physical modeling of SPA quadruped robotics

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DHMM-Based Asynchronous Finite-Time Sliding Mode Control for Markovian Jumping Lur’e Systems

Research Square

引用

Research Square 2021年

作者： Nie, Rong Du, Wenli Li, Zhongmei Zhou, Zhao He, Shuping Key Laboratory of Smart Manufacturing in Energy Chemical Process East China University of Science and Technology Ministry of Education Shanghai200237 China Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education School of Electrical Engineering and Automation Anhui University Hefei230601 China School of Electronic Information and Electrical Engineering Chengdu University Chengdu610106 China

This paper is concerned with the asynchronous problem for a class of Markovian jumping Lur’s system (MJLSs) via sliding mode control (SMC) in continuous-time domain. Specifically, the discrete hidden Markovian model (DHMM) is employed to describe the nonsynchronization between the controller modes and the MJLSs modes. In particular, considering the nonlinearity of MJLSs, a novel Lur’e-integral-type sliding surface is constructed. In order to ensure the finite-time stability of sliding mode dynamics and the accessibility of the specified sliding surface, the asynchronous Lur’e-type SMC law of the detector mode is presented. Finally, an example of DC motor is provided to demonstrate the effectiveness of the proposed technique. © 2021, CC BY.

关键词： Sliding mode control

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LasHeR: A large-scale high-diversity benchmark for RGBT tracking

arXiv

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arXiv 2021年

作者： Li, Chenglong Xue, Wanlin Jia, Yaqing Qu, Zhichen Luo, Bin Tang, Jin Sun, Dengdi Information Materials and Intelligent Sensing Laboratory of Anhui Province Anhui Provincial Key Laboratory of Multimodal Cognitive Computation School of Artificial Intelligence Anhui University Hefei230601 China Information Materials and Intelligent Sensing Laboratory of Anhui Province Key Lab of Intelligent Computing and Signal Processing of Ministry of Education Anhui Provincial Key Laboratory of Multimodal Cognitive Computation School of Computer Science and Technology Anhui University Hefei230601 China

RGBT tracking receives a surge of interest in the computer vision community, but this research field lacks a large-scale and high-diversity benchmark dataset, which is essential for both the training of deep RGBT trackers and the comprehensive evaluation of RGBT tracking methods. To this end, we present a Large-scale High-diversity benchmark for short-term RGBT tracking (LasHeR) in this work. LasHeR consists of 1224 visible and thermal infrared video pairs with more than 730K frame pairs in total. Each frame pair is spatially aligned and manually annotated with a bounding box, making the dataset well and densely annotated. LasHeR is highly diverse capturing from a broad range of object categories, camera viewpoints, scene complexities and environmental factors across seasons, weathers, day and night. We conduct a comprehensive performance evaluation of 12 RGBT tracking algorithms on the LasHeR dataset and present detailed analysis. In addition, we release the unaligned version of LasHeR to attract the research interest for alignment-free RGBT tracking, which is a more practical task in real-world applications. The datasets and evaluation protocols are available at: https://***/mmic-lcl/Datasets-and-benchmark-code. Copyright © 2021, The Authors. All rights reserved.

关键词： Large dataset

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Control of space-dependent four-wave mixing in a four-level atomic system

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Physical Review A 2020年第3期102卷 033516-033516页

作者： Jing Qiu Zhiping Wang Dongsheng Ding Zhixiang Huang Benli Yu Key Laboratory of Opto-Electronic Information Acquisition and Manipulation Ministry of Education Anhui University Hefei 230601 China Key Laboratory of Quantum Information University of Science and Technology of China Hefei Anhui 230026 China Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education Anhui University Hefei 230039 China

We propose a scheme to demonstrate the manipulation of space-dependent four-wave mixing (FWM) in a four-level atomic system. By adjusting the detuning of the control field, one can effectively control the FWM output field transferred from a pump beam carrying orbital angular momentum. More interestingly, by appropriate choice of the intensity of the control field, the FWM field can be significantly enhanced and phase twist is almost completely suppressed. Furthermore, the superposition modes created by the interference between the FWM field and a same-frequency Gaussian beam are also discussed, showing many interesting properties. Our results may open some possibilities for phase imprinting in Bose-Einstein condensates or atom manipulation with optical tweezers.

关键词： Angular momentum of light Atom optics Coherent control Optical coherence

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Secure Optical Wireless Links with Dynamic Beam and Diversity Receiver

Secure Optical Wireless Links with Dynamic Beam and Diversit...

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IEEE International Conference on Network Infrastructure and Digital Content (IC-NIDC)

作者： Jupeng Ding Chih Lin I Jintao Wang Hui Yang Lili Wang Key Laboratory of Signal Detection and Processing in Xinjiang Uygur Autonomous Region School of Information Science and Engineering Xinjiang University China China Mobile Research Institute Beijing China Department of Electronic Engineering Beijing National Research Center for Information Science and Technology Tsinghua University Beijing China School of Information and Electrical Engineering Ludong University Yantai China

ISBN: (纸本)9781665405836

Optical wireless communication (OWC) has emerged as one promising candidate to mitigate the frequency spectrum crisis. Due to the broadcast nature of OWC channel, physical layer security (PLS) techniques have been considered and explored to improve the transmission confidentiality of OWC links. However, almost all current schemes focus on scenarios including multiple transmitters and fail to match the scenarios with limited transmitters, even single transmitter. For addressing this issue, in this work, the dynamic optical beam based PLS enhancement scheme is proposed. Unlike conventional Lambertian beam based technique paradigm, the above scheme tentatively utilize the commercially available non-Lambertian beam to configure the secure OWC links. Numerical results show that, compared with about 1.10 bps/Hz average secrecy capacity (SC) of the conventional configuration, up to 1.93 bps/Hz average SC gain could be provided by the proposed dynamic beam scheme. Moreover, this potential gain will be increased to about 2.39 bps/Hz when the diversity combing is available for the legitimate user receiver.

关键词： Wireless communication Integrated optics Measurement Conferences Optical fiber networks Physical layer security Optical receivers

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Mobility in China, 2020: a tale of four phases

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National science Review 2021年第11期8卷 110-120页

作者： Suoyi Tan Shengjie Lai Fan Fang Ziqiang Cao Bin Sai Bing Song Bitao Dai Shuhui Guo Chuchu Liu Mengsi Cai Tong Wang Mengning Wang Jiaxu Li Saran Chen Shuo Qin Jessica R.Floyd Zhidong Cao Jing Tan Xin Sun Tao Zhou Wei Zhang Andrew J.Tatem Petter Holme Xiaohong Chen Xin Lu College of Systems Engineering National University of Defense Technology WorldPop School of Geography and Environmental ScienceUniversity of Southampton School of Mathematics and Big Data Foshan University State Key Laboratory on Blind Signal Processing State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Chinese Evidence-Based Medicine Center National Clinical Research Center for Geriatrics West China Hospital Sichuan University Big Data Research Center University of Electronic Science and Technology of China West China Biomedical Big Data Center West China Hospital Sichuan University Tokyo Tech World Hub Research Initiative Institute of Innovative Research Tokyo Institute of Technology School of Business Central South University Institute of Big Data and Internet Innovations Hunan University of Technology and Business

2020 was an unprecedented year,with rapid and drastic changes in human mobility due to the COVID-19 *** understand the variation in commuting patterns among the Chinese population across stable and unstable periods,we used nationwide mobility data from 318 million mobile phone users in China to examine the extreme fluctuations of population movements in 2020,ranging from the Lunar New Year travel season(chunyun), to the exceptional calm of COVID-19 lockdown,and then to the recovery *** observed that cross-city movements,which increased substantially in chunyun and then dropped sharply during the lockdown,are primarily dependent on travel distance and the socio-economic development of *** the Lunar New Year holiday,national mobility remained low until mid-February,and COVID-19 interventions delayed more than 72.89 million people returning to large *** network analysis revealed clusters of highly connected cities,conforming to the social-economic division of urban agglomerations in *** the mass migration back to large cities was delayed,smaller cities connected more densely to form new *** the recovery period after travel restrictions were lifted,the netflows of over 55% city pairs reversed in direction compared to before the *** findings offer the most comprehensive picture of Chinese mobility at fine resolution across various scenarios in China and are of critical importance for decision making regarding future public-health-emergency response,transportation planning and regional economic development,among others.

关键词： human mobility travel restrictions COVID-19 mobile phone data behavioral response

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Unambiguous signal reconstruction for GEO-LEO bistatic SAR with azimuth multichannel

Unambiguous signal reconstruction for GEO-LEO bistatic SAR w...

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IET International radar Conference 2018, IRC 2018

作者： Wang, Yuekun Lu, Zheng Xu, Mingming Zhu, Yu Li, Zhenfang Nanjing Research Institute of Electronics Technology Nanjing210039 China Beijing Institute of Spacecraft System Engineering Beijing100094 China National Laboratory of Radar Signal Processing Xidian University Xi'an710071 China

Spaceborne bistatic multichannel synthetic aperture radar (MC-SAR) system employed inclined geosynchronous Earth orbit (GEO) transmitter and low-Earth-orbit (LEO) receiver can provide fine spatial resolution and a vast area of surveillance, which presents great potentials for future Earth observation. Nevertheless, owing to special geometry and big differences of orbital characteristics, the conventional effective phase centre (EPC) operation for unambiguous SAR signal reconstruction cannot be directly used. To address the issue, starting from geometry model of GEO-LEO bistatic MC-SAR, the new effective positions of the receiving channels are obtained. Then, the time-variant characteristics of residual phase error after the presented EPC processing is analysed. Finally, the method of reconstructing unambiguous SAR signal is presented. Simulation results show the validity of the proposed method, which can efficiently reconstruct the unambiguous signal for GEO-LEO bistatic SAR. © 2019 Institution of Engineering and technology. All rights reserved.

关键词： signal reconstruction

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On q-ary shortened-1-perfect-like codes

arXiv

引用

arXiv 2021年

作者： Shi, Minjia Wu, Rongsheng Krotov, Denis S. Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education School of Mathematics Sciences Anhui University Anhui Hefei230601 China School of Mathematical Sciences University of Science and Technology of China Anhui Hefei230026 China Sobolev Institute of Mathematics pr. Akademika Koptyuga 4 Novosibirsk630090 Russia

We study codes with parameters of q-ary shortened Hamming codes, i.e., (n = (qm − q)/(q − 1), qn−m, 3)q. Firstly, we prove the fact mentioned in 1998 by Brouwer et al. that such codes are optimal, generalizing it to a bound for multifold packings of radius-1 balls, with a corollary for multiple coverings. In particular, we show that the punctured Hamming code is an optimal q-fold packing with minimum distance 2. Secondly, for every admissible length starting from n = 20, we show the existence of 4-ary codes with parameters of shortened 1-perfect codes that cannot be obtained by shortening a 1-perfect *** Codes 94B05, 94B65 Copyright © 2021, The Authors. All rights reserved.

关键词： Optimal systems

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Two-Stream Graph Convolutional Network for Intra-oral Scanner Image Segmentation

arXiv

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arXiv 2022年

作者： Zhao, Yue Zhang, Lingming Liu, Yang Meng, Deyu Cui, Zhiming Gao, Chenqiang Gao, Xinbo Lian, Chunfeng Shen, Dinggang Chongqing University of Posts and Telecommunications School of Communication and Information Engineering Chongqing400065 China The Chongqing Key Laboratory of Signal and Information Processing Chongqing400065 China Department of Orthodontics Stomatological Hospital of Chongqing Medical University Chongqing401147 China Chongqing Key Laboratory for Oral Diseases and Biomedical Sciences Chongqing401147 China Faculty of Information Technology Macau University of Science and Technology China School of Mathematics and Statistics Xi'an Jiaotong University Xian710049 China School of Biomedical Engineering ShanghaiTech University Shanghai201210 China Shanghai United Imaging Intelligence Co. Ltd. Shanghai200030 China The School of Computer Science The University of Hong Kong 999077 Hong Kong School of Computer Science and Technology Chongqing University of Posts and Telecommunications Chongqing400065 China

Precise segmentation of teeth from intra-oral scanner images is an essential task in computer-aided orthodontic surgical planning. The state-of-the-art deep learning-based methods often simply concatenate the raw geometric attributes (i.e., coordinates and normal vectors) of mesh cells to train a single-stream network for automatic intra-oral scanner image segmentation. However, since different raw attributes reveal completely different geometric information, the naive concatenation of different raw attributes at the (low-level) input stage may bring unnecessary confusion in describing and differentiating between mesh cells, thus hampering the learning of high-level geometric representations for the segmentation task. To address this issue, we design a two-stream graph convolutional network (i.e., TSGCN), which can effectively handle inter-view confusion between different raw attributes to more effectively fuse their complementary information and learn discriminative multi-view geometric representations. Specifically, our TSGCN adopts two input-specific graph-learning streams to extract complementary high-level geometric representations from coordinates and normal vectors, respectively. Then, these single-view representations are further fused by a self-attention module to adaptively balance the contributions of different views in learning more discriminative multi-view representations for accurate and fully automatic tooth segmentation. We have evaluated our TSGCN on a real-patient dataset of dental (mesh) models acquired by 3D intraoral scanners. Experimental results show that our TSGCN significantly outperforms state-of-the-art methods in 3D tooth (surface) segmentation. Github: https://***/ZhangLingMing1/TSGCNet. © 2022, CC BY.

关键词： Scanning

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Correction to: Enhancing cyber defense strategies with discrete multi-dimensional Z-numbers: a multi-attribute decision-making approach

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Complex & Intelligent Systems 2025年第7期11卷 1-1页

作者： Yao, Aiting Huang, Chen Zhang, Weiqi Dong, Chengzu Lu, Meiqu Mao, Junjun Liu, Xiao Li, Xuejun Anhui Provincial International Joint Research Center for Advanced Technology in Medical Imaging School of Computer Science and Technology Anhui University Hefei China AI Techplus Pty Ltd Organization Melbourne Australia School of Information Technology Deakin University Geelong Australia School of Data Science Lingnan University Hongkong China School of Artificial Intelligence Guangxi Minzu University Nanning China Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education Hefei China

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