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arXiv 2023年

作者： Zheng, Canlun Mi, Yize Guo, Hanqing Chen, Huaben Lin, Zhiyun Zhao, Shiyu College of Computer Science and Technology Zhejiang University Hangzhou China WINDY Lab Department of Artificial Intelligence Westlake University Hangzhou China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Peng Cheng Laboratory Shenzhen China

Vision-based cooperative motion estimation is an important problem for many multi-robot systems such as cooperative aerial target pursuit. This problem can be formulated as bearing-only cooperative motion estimation, where the visual measurement is modeled as a bearing vector pointing from the camera to the target. The conventional approaches for bearing-only cooperative estimation are mainly based on the framework of distributed Kalman filtering (DKF). In this paper, we propose a new optimal bearing-only cooperative estimation algorithm, named spatial-temporal triangulation, based on the method of distributed recursive least squares. The design of the algorithm fully incorporates all the available information and the specific triangulation geometric constraint. As a result, the algorithm has superior estimation performance than the state-of-the-art DKF algorithms in terms of both accuracy and convergence speed as verified by numerical simulation. We rigorously prove the exponential convergence of the proposed algorithm. Moreover, to verify the effectiveness of the proposed algorithm under practical challenging conditions, we develop a vision-based cooperative aerial target pursuit system, which is the first of such fully autonomous systems up to now to the best of our knowledge. © 2023, CC BY.

关键词： Triangulation

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Experimental Study on Droplet Behavior and Mechanisms During Reflooding in a Single-Rod Channel

SSRN

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SSRN 2022年

作者： Chen, Mingjing Liu, Hanzhou Chen, Deqi Zhong, Lei Liu, Haidong Yu, Hongxing Yu, Ruan Feng, Peng Key Laboratory of Low-grade Energy Utilization Technologies and Systems Chongqing University Ministry of Education Chongqing 400044 China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu610041 China Key Laboratory of Aerospace Thermophysics Ministry of Industry and Information Technology School of Energy Science and Engineering Harbin Institute of Technology Harbin150001 China

Discrete droplets have received extensive attention in reflooding processes under Loss Of Coolant Accident (LOCA) conditions due to their large vapor-liquid interface area, droplet collision, droplet evaporation, and other behaviors that have a significant impact on the heat transfer of Dispersed Flow Film Boiling (DFFB). Unfortunately, the accurate prediction of the characteristics of droplet velocity and distribution under DFFB cannot be achieved at present, due to the lack of sufficient visual data support. For this reason, a visualization experiment of high-temperature surface reflooding in a single-rod channel was carried out. In this paper, the effect of the thermal parameter, such as input heat flux on the transient droplet behavior, which include the droplet size and velocity, has been analaysed in detail. Furthermore, to provide physical support for building droplet distribution models containing more physical mechanisms in the future, several droplet formation and breakup mechanisms, which include the Helmholtz instability, capillary breakage and rewetting area sputter, has been discussed in this paper. © 2022, The Authors. All rights reserved.

关键词： Drop breakup

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Retraction Note: Enhancing low latency and high performance in clustered-based wireless sensor network routing using genetic algorithm for 5G networks

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Optical and Quantum Electronics 2024年第11期56卷 1-2页

作者： Banu, Firdouse Udhayamoorthi, M. Ramana Gupta Nallagattla, Venkata Phaneendra Maguluri, Lakshmana Mahesh Kumar, N. B. Jayachitra, S. Department of Applied Information System Applied College King Khalid University Khamis Mushaiyt Saudi Arabia Department of Computer Science and Design Karpagam College of Engineering (Autonomous) Coimbatore India Department of CSE Prasad V. Potluri Siddhartha Institute of Technology Vijayawada India Department of Computer Science and Engineering Koneru Lakshmaiah Education Foundation Vaddeswaram India Department of Computer Science and Engineering Hindusthan Institute of Technology Coimbatore India Department of Electronics and Communication Engineering PSNA College of Engineering and Technology Dindigul India

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GCD-Sampling: A General Cross-scale Decoupled Sampling for Point Cloud 39

GCD-Sampling: A General Cross-scale Decoupled Sampling for P...

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39th Annual AAAI Conference on Artificial Intelligence, AAAI 2025

作者： Dai, Tao Wang, Yanzi Xiong, Jianyu Zha, Yaohua Xia, Shu-Tao Zhu, Zexuan College of Computer Science and Software Engineering Shenzhen University China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Tsinghua Shenzhen International Graduate School Tsinghua University China Shenzhen City Key Laboratory of Embedded System Design Shenzhen China

ISBN: (纸本)157735897X

Sampling strategy (e.g., fixed farthest point sampling) of point cloud has been an essential step for developing practical solutions in 3D computer vision tasks. Previous fixed sampling is simple, but suffer from suboptimal performance for downstream tasks. To adapt to target networks properly, adaptive sampling methods with trainable parameters have been recently developed to enhance the performance. However, existing adaptive sampling methods still suffer from the over-coupling problem of target network, and thus become model-specific, which limits their practical applications. To address this issue, we propose a novel general cross-scale decoupled sampling method (GCD-sampling) for point cloud, which consists of original feature cache, cross-scale feature fusion and convex combination learning for better feature extraction. To reduce the coupling relationship with the target task network, our method only utilizes the point cloud coordinates as the input and output of itself. Besides, we introduce an arbitrary scale structure to enable parameter sharing across multi-scale sampling in point cloud networks. Extensive experiments on different architectures demonstrate the effectiveness of our method over other existing adaptive sampling methods. © 2025, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Feature extraction

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Collaborative Fall Detection and Response Using Wi-Fi Sensing and Mobile Companion Robot

Collaborative Fall Detection and Response Using Wi-Fi Sensin...

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IEEE International Conference on Robotics and Biomimetics

作者： Yunwang Chen Yaozhong Kang Ziqi Zhao Yue Hong Lingxiao Meng Max Q.-H. Meng Shenzhen Key Laboratory of Robotics Perception and Intelligence Southern University of Science and Technology Shenzhen China Department of Electrical and Electronic Engineering SUSTech Shenzhen China School of System Design and Intelligent Manufacturing SUSTech Shenzhen China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

This paper presents a collaborative fall detection and response system integrating Wi-Fi sensing with robotic assistance. The proposed system leverages channel state information (CSI) disruptions caused by movements to detect falls in non-line-of-sight (NLOS) scenarios, offering non-intrusive monitoring. Besides, a companion robot is utilized to provide assistance capabilities to navigate and respond to incidents autonomously, improving efficiency in providing assistance in various environments. The experimental results demonstrate the effectiveness of the proposed system in detecting falls and responding effectively.

关键词： Navigation Biomimetics Collaboration Robot sensing systems Sensors Fall detection Wireless fidelity Monitoring Injuries Channel state information

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design of Metamaterial Absorber at X Band Using BP Neural Network

Design of Metamaterial Absorber at X Band Using BP Neural Ne...

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IEEE MTT-S International Microwave Workshop Series on Advanced Materials and Processes for RF and THz Applications (IMWS-AMP)

作者： Xianliang Zeng Yin Yu Yiting Shuai Weijun Wu Li Tao Science and Technology on Electromagnetic Compatibility Laboratory China Ship Development and Design Center Combat System Develop Department China Ship Development and Design Center

The absorption performance of metamaterial absorber is determined by the configuration parameters of the metallic pattern, the thickness and dielectric constants of the substrate. Conventional parameter sweep method and adjoint- based optimization are time consuming. In this work, a metamaterial absorber at X band is designed by using the BP neural network. In order to determine the geometry parameters for realizing the perfect absorption performance, 81 different simulation results are trained with the BP neural network. The designed structure can obtain the low reflection of -14.09dB at 10GHz. Compared to the full wave simulation, the calculation time with BP neural network is much shorter, which can be widely applied in other artificial electromagnetic structure based on metamaterials.

关键词： Geometry Radio frequency Absorption Simulation Neural networks Predictive models Metamaterials

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Application Research of Computational design Aesthetics

Application Research of Computational Design Aesthetics

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Intelligent design (ICID), International Conference on

作者： Ding Zhou Jiawei Huang Yukun Zhang Bingjian Liu School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Department of Mechanical Materials and Manufacturing Engineering University of Nottingham Ningbo China Ningbo China

This study explores the application of computational design aesthetics to conform to Chinese aesthetic standards in customized glasses frames. Through quantitative analysis, it examines the impact of key design variables (upper frame position, middle beam height, and lower frame position) on the aesthetics of wearing. The results indicate that achieving a better aesthetic feeling can be attained when the upper frame of the glasses is approximately 20% above the vertical distance between the eyebrow and eye, the middle beam is about 20% above the height of the frame, or the lower frame is roughly 40% above the vertical distance between the lower eyelid and the angle of the mouth. These findings hold significant value for the eyewear industry and cultural confidence. They empower enterprises to leverage computational design tools, enhancing the harmony and attractiveness of individual facial frames, catering to the preferences of the Chinese market, and deepening the understanding of cultural factors in aesthetic perception. Furthermore, it contributes to realizing the goal of socialist cultural confidence with Chinese characteristics. In conclusion, this study is a valuable reference for creating eyewear frames that exude individual and cultural confidence, fostering innovation in the eyewear industry and the principles of harmonious design aesthetics.

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Interspaces Between Nature and the City: Art Gallery 2022 Chapter 20 10

Interspaces Between Nature and the City: Art Gallery 2022 Ch...

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10th International Symposium of Chinese CHI, Chinese CHI 2022

作者： Bai, Ziqian Wang, Yimin Guo, Jiawei Wang, Anqi Yue, Hua Gao, Ze Chen, Zesheng Castiel Zhou, Xiaoyu Pan, Ziwei Li, Hao Sheng, Yanming Zheng, Jianwei Liu, Zaiwei Zhang, Kejia Zhang, Yunhua Hong, Zerong Tan, Liang School of System Design and Intelligent Manufacturing Southern University of Science and Technology China Hong Kong University of Science and Technology Hong Kong Hong Kong University College London United Kingdom University of Macau China Shandong University China Independent Artist China Future Lighting China Cultural & Creative Co. Ltd. China Guangzhou Academy of Fine Arts China

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Rush-Out Risk Mapping from Human Operational Commands Considering Field Context*

Rush-Out Risk Mapping from Human Operational Commands Consid...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Fumiya Ohnishi Yosuke Kawasaki Masaki Takahashi School of Science for Open and Environmental Systems Graduate School of Science and Technology Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama Japan Department of System Design Engineering Faculty of Science and Technology Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama Japan

Collaborative delivery robots in hospitals are required to move safely and efficiently in a short time, without colliding with people. Hence, they must consider the risk of people rushing out from blind spots or rooms, including field context such as the role and usage of the location. However, these factors are difficult to extract solely from geometric information. Therefore, we propose a method for generating a rush-out risk map considering the field context from the hospital staf’s operation data of an electric wheelchair. We convert the wheelchair’s speed operated by staff into rush-out risk, and then place rush-out risk potentials at positions where rush-outs may occur. Subsequently, we optimize the mapping position of rush-out risk and parameters of each potential to minimize the error to obtain a rush-out risk map. We collected actual staff operation data in the hospital and confirmed that we could generate a rush-out risk map with small errors.

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New design of smooth PSO-IPF navigator with kinematic constraints

arXiv

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arXiv 2024年

作者： Mohaghegh, Mahsa Jafarpourdavatgar, Hedieh Saeedinia, Samaneh Alsadat Auckland New Zealand Faculty of Design and Creative Technologies AUT Auckland New Zealand Control Engineering Department Amirkabir University Tehran Iran Complex System Laboratory Iran University of Science and Technology Tehran Iran

Robotic applications across industries demand advanced navigation for safe and smooth movement. Smooth path planning is crucial for mobile robots to ensure stable and efficient navigation, as it minimizes jerky movements and enhances overall performance Achieving this requires smooth collision-free paths. Partial Swarm Optimization (PSO) and Potential Field (PF) are notable path-planning techniques, however, they may struggle to produce smooth paths due to their inherent algorithms, potentially leading to suboptimal robot motion and increased energy consumption. In addition, while PSO efficiently explores solution spaces, it generates long paths and has limited global search. On the contrary, PF methods offer concise paths but struggle with distant targets or obstacles. To address this, we propose Smoothed Partial Swarm Optimization with Improved Potential Field (SPSO-IPF), combining both approaches and it is capable of generating a smooth and safe path. Our research demonstrates SPSO-IPF's superiority, proving its effectiveness in static and dynamic environments compared to a mere PSO or a mere PF approach. © 2024, CC BY.

关键词： Motion planning

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