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arXiv 2024年

作者： Wang, Guangming Pan, Lei Peng, Songyou Liu, Shaohui Xu, Chenfeng Miao, Yanzi Zhan, Wei Tomizuka, Masayoshi Pollefeys, Marc Wang, Hesheng The University of Cambridge ETH Zurich Switzerland The Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Key Laboratory of System Control and Information Processing Ministry of Education of China China Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China ETH Zurich Zurich Switzerland Mechanical Systems Control Laboratory University of California Berkeley United States

Meticulous 3D environment representations have been a longstanding goal in computer vision and robotics fields. The recent emergence of neural implicit representations has introduced radical innovation to this field as implicit representations enable numerous capabilities. Among these, the Neural Radiance Field (NeRF) has sparked a trend because of the huge representational advantages, such as simplified mathematical models, compact environment storage, and continuous scene representations. Apart from computer vision, NeRF has also shown tremendous potential in the field of robotics. Thus, we create this survey to provide a comprehensive understanding of NeRF in the field of robotics. By exploring the advantages and limitations of NeRF, as well as its current applications and future potential, we hope to shed light on this promising area of research. Our survey is divided into two main sections: The Application of NeRF in Robotics and The Advance of NeRF in Robotics, from the perspective of how NeRF enters the field of robotics. In the first section, we introduce and analyze some works that have been or could be used in the field of robotics from the perception and interaction perspectives. In the second section, we show some works related to improving NeRF's own properties, which are essential for deploying NeRF in the field of robotics. In the discussion section of the review, we summarize the existing challenges and provide some valuable future research directions for reference. © 2024, CC BY-NC-ND.

关键词： Robotics

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A Hierarchy Early Warning Method based on RBF Neural Network for BOD in WWTP

A Hierarchy Early Warning Method based on RBF Neural Network...

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第34届中国控制与决策会议

作者： Junkai Zhang Wenjing Li Faculty of Information Technology Beijing University of Technology Beijing Laboratory of Smart Environmental Protection Beijing Key Laboratory of Computational Intelligence and Intelligent System Engineering Research Center of Intelligent Perception and Autonomous Control Ministry of Education

As an indicator of the organic pollution of waste water,the early warning for the Biochemical Oxygen Demand(BOD) is vital and could prevent substandard waste water from environment *** paper presents a BOD early warning method combining multi-step time series prediction and hierarchy ***,an MIMO strategy based on an RBF neural network is designed to predict BOD concentration with multiple steps ***,a hierarchy alarm method based on a double-check from limit-value and tendency is proposed to recognize alarms from the predicted BOD time series ***,the BOD data from the Benchmark Simulation Model 1(BSM1) platform is used to test the effectiveness of the proposed *** experimental results show that the proposed method has a reliable early warning performance in different alarming level.

关键词： Early warning method Multi-step Prediction RBF neural network Biochemical Oxygen Demand(BOD) Waste Water Treatment Process

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FFPA-Net: Efficient Feature Fusion with Projection Awareness for 3D Object Detection

arXiv

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arXiv 2022年

作者： Jiang, Chaokang Wang, Guangming Wu, Jinxing Miao, Yanzi Wang, Hesheng Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China The Department of Engineering Mechanics Shanghai Jiao Tong University Shanghai200240 China

Promising complementarity exists between the texture features of color images and the geometric information of LiDAR point clouds. However, there still present many challenges for efficient and robust feature fusion in the field of 3D object detection. In this paper, first, unstructured 3D point clouds are filled in the 2D plane and 3D point cloud features are extracted faster using projection-aware convolution layers. Further, the corresponding indexes between different sensor signals are established in advance in the data preprocessing, which enables faster cross-modal feature fusion. To address LiDAR points and image pixels misalignment problems, two new plug- and-play fusion modules, LiCamFuse and BiLiCamFuse, are proposed. In LiCamFuse, soft query weights with perceiving the Euclidean distance of bimodal features are proposed. In BiLiCamFuse, the fusion module with dual attention is proposed to deeply correlate the geometric and textural features of the scene. The quantitative results on the KITTI dataset demonstrate that the proposed method achieves better feature-level fusion. In addition, the proposed network shows a shorter running time compared to existing methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Object detection

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China's greenhouse gas budget during 2000-2023

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National Science Review 2025年第4期12卷 24-36页

作者： Wenping Yuan Minqi Liang Yuanyi Gao Ling Huang Li Dan Hongtao Duan Songbai Hong Fei Jiang Weimin Ju Tingting Li Ziyang Lou Shilong Luan Xiao Lu Zhangcai Qin Lishan Ran Lulu Shen Fei Teng Xiangjun Tian Yilong Wang Jing Wei Jiangzhou Xia Xiaosheng Xia Lijun Yu Xu Yue Haicheng Zhang Wen Zhang Yuzhong Zhang Xu Zhao Qiuan Zhu Shilong Piao Xuhui Wang Institute of Carbon Neutrality Sino-French Institute for Earth System Science College of Urban and Environmental Sciences Peking University School of Atmospheric Sciences Guangdong Province Data Center of Terrestrial and Marine Ecosystems Carbon Cycle Sun Yat-sen University Key Laboratory of Regional Climate-Environment for Temperate East Asia Institute of Atmospheric PhysicsChinese Academy of Sciences Key Laboratory of Lake and Watershed Science for Water Security Nanjing Institute of Geography and LimnologyChinese Academy of Sciences State Key Laboratory of Lake Science and Environment Nanjing Institute of Geography and LimnologyChinese Academy of Sciences School of Urban Planning and Design Shenzhen Graduate School Peking University Frontiers Science Center for Critical Earth Material Cycling Nanjing University Jiangsu Provincial Key Laboratory of Geographic Information Science and Technology International Institute for Earth System Science Nanjing University Key Laboratory of Atmospheric Environment and Extreme Meteorology Institute of Atmospheric PhysicsChinese Academy of Sciences Shanghai Engineering Research Center of Solid Waste Treatment and Resource Recovery School of Environmental Science & Engineering Shanghai Jiao Tong University Department of Geography The University of Hong Kong Department of Atmospheric and Oceanic Sciences School of PhysicsPeking University Institute of Energy Environment and Economy Tsinghua University State Key Laboratory of Tibetan Plateau Earth System Resources and Environment (TPESRE)Institute of Tibetan Plateau ResearchChinese Academy of Sciences Tianjin Key Laboratory of Water Resources and Environment Tianjin Normal University State Key Laboratory of Atmospheric Boundary Layer Physics and Atmospheric Chemistry (LAPC) Institute of Atmospheric PhysicsChinese Academy of Sciences Jiangsu Key Laboratory of Atmospheric Environment Monitoring and Pollution Control Collaborative Innovation Center of Atmospheric Environment and Equipment Technology School of

National greenhouse gas（GHG） budget,including CO2,CH4and N2O has increasingly become a topic of concern in international climate *** is paying increasing attention to reducing GHG emissions and increasing land sinks to effectively mitigate climate *** estimates of GHG fluxes are crucial for monitoring progress toward mitigating GHG emissions in *** study used comprehensive methods,including emission factor methods,process-based models,atmospheric inversions,and data-driven models,to estimate the long-term trends of GHG sources and sinks from all anthropogenic and natural sectors in China's mainland during 2000-2023,and produced an up-to-date China GHG Budget dataset（CNGHG）.The total gross emissions of the three GHGs show a 3-fold increase from 5.0（95% CI:4.9-5.1） Gt CO2-eq yr-1（in 2000） to 14.3（95% CI:13.8-14.8） Gt CO2-eqyr-1（in2023）.CO2emissions represented 81.8% of the GHG emissions in 2023,while 12.7% and 5.5% were for CH4and N2O,*** the largest CO2source,the energy sector contributed 87.4% *** contrast,the agriculture,forestry and other land use sector was the largest sector of CH4and N2O,representing 50.1% and 6 6.3% emissions,***,China's terrestrial ecosystems serve as a net CO2sink(1.0 Gt CO2yr-1,9596 CI:0.2-1.9 Gt CO2yr-1) during 2012 to 2021,equivalent to an average of 14.3% of fossil *** GHG emission estimates showed a general consistency with national GHG inventories,with gridded and sector-specific estimates of GHG fluxes over China,providing the basis for curtailing GHG emissions for each region and sector.

关键词： greenhouse gas budget China carbon dioxide methane nitrous oxide

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Tracking Performance of Networked systems with Limited Bandwidth and Colored Noise

Tracking Performance of Networked Systems with Limited Bandw...

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2022 Chinese Automation Congress, CAC 2022

作者： Zhang, Bin Jiang, Xiaowei Sun, Li Zhang, Xianhe School of Automation China University of Geosciences Wuhan430074 China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China School of Statistics and Mathematics Zhongnan University of Economics and Law Wuhan430074 China School of Electrical Engineering and Automation Hubei Normal University Huangshi435002 China

ISBN: (纸本)9781665465335

This study investigated the optimal tracking performance (OTP) of multi-input multi-output (MIMO), discrete- time networked control systems (NCSs). The limits of tracking performance (TP) under the influences of bandwidth, encoding- decoding, and additive coloured Gaussian noise (ACGN) are derived using the techniques of coprime decomposition and all-pass decomposition. The results reveal the negative impact of non-minimum phase (NMP) zeros and unstable poles of the plant as well as network communication constraints on the TP of NCSs. Finally, a numerical simulation is discussed and verifies our conclusions. © 2022 IEEE.

关键词： Networked control systems

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Electrochemical Study of Cu2+ Sensor Based on Zif-67/Mwcnts/Nafion

SSRN

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SSRN 2023年

作者： Ding, Lifeng Song, Yuru Li, Qiang Guo, Jinqing Zhang, Jie Wang, Qi Dong, Hongmei Song, Yongbo Song, Zhengwei Zhao, Xiaohong Niu, Yulan Department of Chemistry and Chemical Engineering Taiyuan Institute of Technology Taiyuan030008 China School of Chemical Engineering and Technology North University of China Taiyuan030051 China MicroNano System Research Center College of Information and Computer Key Laboratory of Advanced Tran sducers and Intelligent Control System Ministry of Education and Shanxi Province Taiyuan University of Technology Taiyuan030024 China

In this work, a ZIF-67/MWCNT/Nafion sensor platform was constructed based on the good adsorption capacity of ZIF-67, the electrical conductivity of multiwalled carbon nanotubes (MWCNTs) and the excellent chemical stability of Nafion for the detection of Cu2+ in water. Meanwhile, the modified materials were characterized by scanning electron microscopy (SEM), X-ray photoelectron spectroscopy (XPS), X-ray diffraction (XRD) and Fourier transform infrared spectrometry (FT-IR). Cyclic voltammetry (CV), electrochemical impedance spectroscopy (EIS) and square wave stripping voltammetry (SWSV) were used to characterize and test ZIF-67/MWCNT/Nafion/GCE. The results show that ZIF-67/MWCNT/Nafion/GCE has high sensitivity (57.5 μA/μM) and a low limit of detection (4.3 nM) for the electrochemical detection of Cu2+ ions in an electrochemical sensing system. Finally, the modified electrode has good repeatability, reproductivity, anti-interference and stability and can be applied to test domestic water. © 2023, The Authors. All rights reserved.

关键词： Electrochemical sensors

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Optimal Tracking Performance of Networked control systems Under DoS and its Applications

Optimal Tracking Performance of Networked Control Systems Un...

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Chinese Automation Congress (CAC)

作者： Xinyu Ren Bo Li Feng Zhao Xiangyong Chen Xianhe Zhang Xiaowei Jiang Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation China University of Geosciences Wuhan China School of Finance Anhui University of Finance and Economics Bengbu China Key Laboratory of Complex systems and Intelligent Computing Universities of Shandong Linyi University Linyi China Key Laboratory of Complex systems and Intelligent Computing School of Automation and Electrical Engineering Universities of Shandong Linyi University Linyi China School of Electrical Engineering and Automation Hubei Normal University Huangshi China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

This paper investigates the optimal tracking performance (OTP) of multiple-input multiple-output (MIMO) discrete networked control systems (NCSs) under the influence of Denial of Service (DoS) attack, channel noise, and bandwidth constraints. The channel noise is assumed to be additive Gaussian white noise (AWGN). Due to the randomness of DoS attack, a Bernoulli distribution is used for DoS modeling. Utilizing frequency domain analysis methods, coprime factorization, all-pass decomposition, and Youla parameterization, an explicit expression for the optimal tracking performance (OTP) of the system under the two-degree-of-freedom (TDOF) controller is derived. The analysis indicates that non-minimum phase (NMP) zeros, unstable poles (UPs), DoS attack, and network constraints affect the OTP of NCSs. Finally, the theoretical results are validated through simulations of MIMO NCS and vehicle control system.

关键词： Automation Networked control systems Frequency-domain analysis Bandwidth Interference White noise Cyber-physical systems Poles and zeros MIMO communication Multi-agent systems

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Pseudo-LiDAR for Visual Odometry

arXiv

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arXiv 2022年

作者： Deng, Huiying Wang, Guangming Feng, Zhiheng Jiang, Chaokang Wu, Xinrui Miao, Yanzi Wang, Hesheng Advanced Robotics Research Center AI Research Institute School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

As one of the important tasks in the field of robotics and machine vision, LiDAR/visual odometry provides tremendous help for various applications such as navigation, location, etc. In the existing methods, LiDAR odometry shows superior performance, but visual odometry is still widely used for its price advantage. Conventionally, the task of visual odometry mainly rely on the input of continuous images. However, it is very complicated for the odometry network to learn the epipolar geometry information provided by the images. In this paper, the concept of pseudo-LiDAR is introduced into the odometry to solve this problem. The pseudo-LiDAR point cloud back-projects the depth map generated by the image into the 3D point cloud, which changes the way of image representation. Compared with the stereo images, the pseudo-LiDAR point cloud generated by the stereo matching network can get the explicit 3D coordinates. Since the 6 Degrees of Freedom (DoF) pose transformation occurs in 3D space, the 3D structure information provided by the pseudo-LiDAR point cloud is more direct than the image. Compared with sparse LiDAR, the pseudo-LiDAR has a denser point cloud. In order to make full use of the rich point cloud information provided by the pseudo-LiDAR, a projection-aware dense odometry pipeline is adopted. Most previous LiDAR-based algorithms sampled 8192 points from the point cloud as input to the odometry network. The projection-aware dense odometry pipeline takes all the pseudo-LiDAR point clouds generated from the images except for the error points as the input to the network. While making full use of the 3D geometric information in the images, the semantic information in the images is also used in the odometry task. The fusion of 2D-3D is achieved in an image-only based odometry. Experiments on the KITTI dataset prove the effectiveness of our method. To the best of our knowledge, this is the first visual odometry method using pseudo-LiDAR. Copyright © 2022, The Authors. A

关键词： Pipelines

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Provably Secure Authenticated Key-Management Mechanism for e-Healthcare Environment

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IEEE Internet of Things Journal 2025年

作者： Saleem, Muhammad Asad Li, Xiong Mahmood, Khalid Ghaffar, Zahid Xie, Yong Wang, Guijuan University of Electronic Science and Technology of China School of Computer Science and Engineering Sichuan Chengdu611731 China National Yunlin University of Science and Technology Graduate School of Intelligent Data Science Yunlin Douliu64002 Taiwan National Yunlin University of Science and Technology Graduate School of Engineering Science and Technology Douliu64002 Taiwan Qinghai Institute of Technology School of Computer and Information Science China Qinghai Provincial Laboratory for Intelligent Computing and Application China Key Laboratory of Computing Power Network and Information Security Jinan250353 China Shandong Provincial Key Laboratory of Industrial Network and Information System Security China Shandong Fundamental Research Center for Computer Science Jinan250353 China

The Internet of Things (IoT) is rapidly permeating all aspects of human life, involving a network of devices that share sensitive data. A notable application is the e-healthcare systems, which employ connected sensors, medical servers, and wearable devices. However, the public nature of communication in e-healthcare systems poses challenges such as security, privacy, and authentication of participating entities. Recently, many authentication protocols have been introduced to address these challenges. However, most of these protocols remain vulnerable to various security attacks, including device or medical server impersonation, denial of service, physical or cloning, and de-synchronization attacks. Therefore, we introduce an authenticated key-management protocol utilizing hash functions and Cipher-Block Chaining-Advanced Encryption Standard encryption (CBC-AES) encryption. The proposed protocol also employs the Physical Unclonable Function (PUF), which makes it more robust and efficient in resisting physical or cloning attacks. Additionally, the proposed scheme resists various security threats, including impersonation, session key leakage, ephemeral secret leakage, and de-synchronization attacks. We analyze the scheme’s security and reliability through formal and informal analysis. The informal analysis demonstrates that the scheme encompasses crucial security features, while the formal analysis substantiates. Moreover, performance analysis of the proposed protocol with various competing results indicates that our protocol achieves an average reduction in communication and computation overheads by 36.03.% and 41.79%, respectively. © 2014 IEEE.

关键词： Electronic health record

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Ontology Modelling of Smart Product-Service system Components towards Mass Personalization

Ontology Modelling of Smart Product-Service System Component...

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IEEE International Conference on Industrial engineering and engineering Management

作者： Lucheng Chen Guojun Sheng Chenggang Qin Chao Wang Alexander T.Y Wu Ayala Nuertai Tongtong Zhou Xinguo Ming SJTUSME-COSMOPlat Joint Research Center for New Generation Industrial Intelligent Technology School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China COSMOPlat Institute of Industrial Intelligence (Qingdao) Co. Ltd Shandong Qingdao China State Key Laboratory of Massive Personalized Customization System and Technology Shandong China School of Design Shanghai Jiao Tong University Shanghai China China

ISBN: (数字)9798350386097

ISBN: (纸本)9798350386103

Customer products have become increasingly driven by mass personalization as industries are shifting to knowledge-driven user-centric design approaches such as Smart Product-Service systems (Smart PSS) to better meet expectations and remain competitive. However current user-centric design methods lack a semantic framework that properly models the components of a Smart PSS, leading to a lack in the usefulness of the knowledge generated from user research. This paper aims to create an ontological model that defines the components of a Smart PSS and their relationships to help enterprises better support dynamic personalization requirements. A case-study of electric vehicles is then presented to explore the usage of the ontologybased knowledge model on a Smart PSS.

关键词： Industries Reviews engineering management User-generated content Semantics Ontologies Industrial engineering Electric vehicles User experience Vehicle dynamics

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