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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Zhang, Qifan Guo, Jiamin Chai, Hui Zhang, Guoxuan Yang, Zhiyuan Yuan, Ming Zhang, Qin Li, Yueyang Li, Yibin Shandong University School of Control Science and Engineering Jinan China Shandong University Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China University of Jinan School of Electrical Engineering China

ISBN: (纸本)9798350325706

In hazardous explosive disposal scenarios, the autonomous grasping system of quadruped robots demonstrated limited task-level decision-making capabilities and exhibited minimal human-robot interaction (HRI). This paper proposes a task-level intelligent HRI approach, aiming to assist the quadruped robots making multi-object grasping decisions. Following the principle of natural HRI, we design a control terminal equipped with a touch screen. The control terminal receives the video stream from the robot's primary field of view via a video transmitter. We develop a graphical user interface (GUI) that decodes and displays the image, allowing the operator to interact naturally by touch and select a specific point in the image as the search center point. We employ the shortest Euclidean distance principle, enabling the target recognition module to search around the selected center point. Subsequently, the autonomous grasping system determines the grasping target and initiates the tasks of path planning and grasping detection. Real-world experiments involving multi-target autonomous grasping are conducted to validate the effectiveness of the proposed HRI method and address the challenge of decision making in scenarios with multiple targets. Furthermore, this method can be readily extended to other types of mobile robots. © 2023 IEEE.

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Polar-segmented vector optical field and its anomalous focal properties

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Optics Express 2025年第10期33卷 21030-21039页

作者： Gao, Xu-Zhen Song, Xin-Yu Chen, Jing-Rui Wang, Dan Xu, Shi-Tong Niu, Mingsheng Cao, Hongzhong Ma, Rende Pan, Yue School of Physics and Physical Engineering Qufu Normal University Qufu273165 China Shandong Provincial Key Laboratory of Laser Polarization and Information Technology Qufu Normal University Qufu273165 China Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education College of Physics and Optoelectronics Taiyuan University of Technology Shanxi Taiyuan030024 China

In recent years, study of spatially structured light has become an attractive and promising area, providing more ways to explore unusual and anomalous effects in optics. Here, we propose a kind of polar-segmented vector optical field (VOF), and demonstrate anomalous focal properties. Due to the appearance of the longitudinal component in tight focusing processes, the transverse energy flow and transverse spin angular momentum (SAM) are achieved, which can be applied in areas such as manipulating particles, as the transverse energy can transport the particles and the SAM can spin the particles in more degrees. Overall, the proposed polar-segmented VOF and the corresponding anomalous focal properties are crucial for advancing theories and technologies in optics, underscoring its importance in both fundamental research and practical applications. © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Focusing

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MaBEL1 regulates banana fruit ripening by activating cell wall and starch degradation-related genes

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Journal of Integrative Plant Biology 2023年第9期65卷 2036-2055页

作者： Zunyang Song Xiaoyang Zhu Xiuhua Lai Hangcong Chen Lihua Wang Yulin Yao Weixin Chen Xueping Li Guangdong Provincial Key Laboratory of Postharvest Science of Fruits and Vegetables/Engineering Research Center for Postharvest Technology of Horticultural Crops in South China Ministry of EducationCollege of HorticultureSouth China Agricultural UniversityGuangzhou 510642China Key Laboratory of Food Processing Technology and Quality Control in Shandong Province College of Food Science and EngineeringShandong Agricultural UniversityTai'an 271018China

Banana is a typical subtropical fruit, sensitive to chilling injuries and prone to softening ***, the underlying regulatory mechanisms of the softening disorder caused by cold stress remain obscure. Herein, we found that BEL1-LIKE HOMEODOMAIN transcription factor 1(MaBEL1)and its associated proteins regulate the fruit softening and ripening process. The transcript and protein levels of MaBEL1 were up-regulated with fruit ripening but severely repressed by the chilling stress. Moreover, the MaBEL1 protein interacted directly with the promoters of the cell wall and starch degradation-related genes, such as MaAMY3, MaXYL32, and MaEXP-A8. The transient overexpression of MaBEL1 alleviated fruit chilling injury and ripening disorder caused by cold stress and promoted fruit softening and ripening of “Fenjiao” banana by inducing ethylene production and starch and cell wall degradation. The accelerated ripening was also validated by the ectopic overexpression in ***, MaBEL1-silencing aggravated the chilling injury and ripening disorder and repressed fruit softening and ripening by inhibiting ethylene production and starch and cell wall degradation. MaABI5-like and MaEBF1, the two positive regulators of the fruit softening process,interacted with MaBEL1 to enhance the promoter activity of the starch and cell wall degradationrelated genes. Moreover, the F-box protein MaEBF1 does not modulate the degradation of MaBEL1, which regulates the transcription of MaABI5-like protein. Overall, we report a novel MaBEL1-MaEBF1-MaABI5-like complex system that mediates the fruit softening and ripening disorder in “Fenjiao” bananas caused by cold stress.

关键词： cold stress fruit ripening interaction MaBEL1 softening disorder transcriptional regulation

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Effects of spray adjuvants and operation modes on droplet deposition and elm aphid control using an unmanned aerial vehicle

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International Journal of Agricultural and Biological engineering 2023年第2期16卷 1-9页

作者： Zechen Dou Zhihao Fang Xiaoqiang Han Muhammad Zeeshan Yapeng Liu Yubin Lan College of Agriculture/Key Laboratory of Oasis Agricultural Pest Management and Plant Protection Resources Utilization Shihezi UniversityShihezi 832003XinjiangChina College of Agricultural Engineering and Food Science Shandong University of TechnologyZibo 255049ShandongChina Shandong Provincial Engineering Technology Research Center for Agricultural Aviation Intelligent Equipment Zibo 255049ShandongChina College of Electronics Engineering(College of Artificial Intelligence) South China Agricultural UniversityGuangzhou 510642China

A conventional spraying mode and a fully autonomous fruit tree operation mode using a model DJ T30 unmanned aerial vehicle(UAV)were used to control aphids control on elm trees and to clarify the distribution of droplets in elm trees sprayed by a *** effects of six aviation spray adjuvants on elm canopy droplet deposition and aphid control were *** software was used to analyze and measure the droplet density and deposition of water sensitive paper in two modes;this was done to calculate the droplet uniformity,depositional penetration,and droplet penetration,and to verify the aphid control *** results showed that the droplet density increased by 79.7%-100.7% in the upper canopy and 0-394.1%in the lower canopy without adjuvants in the fully autonomous fruit tree operation *** upper canopy deposits increased by 65.7%-179.3%,and the lower canopy increased by 0-152.8%.When adjuvants were added,the droplet density in the upper canopy increased by 49.7-56.1%using Jiexiaofeng(JXF),and the lower canopy increased by 138.2%-177.8% using JXF,45.8%-141.3%using Beidatong(BDT),45.5%-92.9% using Gongbei(GB),0-93.5% using Maisi(MS),and 0-95.2%using Manniu(MN).The deposits of the upper canopy increased by 888.1-1154.2% using JXF,0-1298.3% using MN,0-343.9%using BDT,0-422.5% using GB,0-580.3% using *** lower canopy increased by 746.4%-1426.0%using JXF,226.2%-231.0% using BDT,435.8%-644.0% using GB,255.0%-322.4%using MS,and 249.3%-360.0%using *** JXF was added,the droplet uniformity,droplet penetration and depositional penetration were better than when using other *** effects of JXF,BDT and GB in controlling aphids was significantly better than other adjuvants(p<0.05).The following control effects were observed;94.1% with JXF,93.1% with BDT,and 93.3% with GB after 3 d of application,and 97.9% with JXF,95.6% with BDT,and 97.1% with GB after 7 d of *** the same time,the application of the fully autonomous fruit tree operation mode a

关键词： adjuvants UAV operation mode droplet deposition aphid

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BAV-DSS: Blockchain Assisted Verifiable Data Sharing Scheme with Fast Encryption and Outsourced Decryption for IoT 24th

BAV-DSS: Blockchain Assisted Verifiable Data Sharing Scheme ...

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24th International Conference on Algorithms and Architectures for Parallel Processing, ICA3PP 2024

作者： Huang, Yao Yu, Zhongyuan Wang, Guijuan Chai, Baobao Zhang, Hongliang Jinan250353 China Shandong Provincial Key Laboratory of Industrial Network and Information System Security Shandong Fundamental Research Center for Computer Science Jinan250353 China School of Information Science and Engineering Lanzhou University Lanzhou730000 China School of Computer Science and Engineering Shandong University of Science and Technology Qingdao266590 China

ISBN: (纸本)9789819615414

Many sophisticated cloud platforms are available to provide services such as storage and computation for Internet of Things (IoT) applications. However, with the concerns about the semi-trusted nature of cloud platforms, data security and privacy have been gaining broad attention. In this paper, we propose a blockchain-assisted verifiable data sharing scheme (BAV-DSS) for IoT. The BAV-DSS features fine-grained access control, fast encryption, and outsourced decryption with verifiability. Specifically, with the application of ciphertext-policy attribute-based encryption (CP-ABE), flexible access control is enabled. Blockchain is employed to store public keys, generate account addresses, and perform data verification. Furthermore, the selective replayable chosen ciphertext attacks (sRCCA) security of BAV-DSS is proved, and the simulation results indicate that BAV-DSS obtains high efficiency and practicality compared to other schemes. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Cloud platforms

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Geometrically Engineered Heating Arrays Enabled by Electric-Field-Driven 3D Printing for On-Demand Thermal Patterning

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Additive Manufacturing Frontiers 2024年第3期3卷 25-32页

作者： Chengyun Long Huangyu Chen Zhenghao Li Siqi Qiu Chuanwei Liang Hongbo Lan Xiaoyang Zhu Yuan-Fang Zhang Shien-Ming Wu School of Intelligent Engineering South China University of TechnologyGuangzhou511442China Shandong Engineering Research Center for Additive Manufacturing Qingdao University of TechnologyQingdao266520China Guangdong Provincial Key Laboratory of Technique and Equipment for Macromolecular Advanced Manufacturing South China University of TechnologyGuangzhou511442China

Arbitrary and high-precision thermal patterning has long been desired in the field of thermal functional ***,existing thermal patterning strategies have not been widely applied,either hampered by the difficulty in fabricating anisotropic metamaterials or limited by complex thermal *** propose an on-demand thermal patterning scheme that sandwiches geometrically engineered heating arrays between a substrate and an encapsulation layer to form composite structures and control the omnidirectional transfer of the heat flux gen-erated by the heating *** heating arrays are digitally assembled from multiple heater cells of varying widths and continuously printed using electric-field-driven 3D printing.A design strategy for thermal patterning with good uniformity within individual regions and high contrast between regions is *** performance of the on-demand thermal patterning is verified via high-precision thermal *** proposed scheme pro-vides a general and reproducible method for designing thermal functional materials,with potential applications in thermochromics,messaging,thermal camouflage,and illusions.

关键词： Thermal patterning 3D printing Joule-heating Thermal manipulation Infrared imaging

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Cooperative Localization in Unknown Environment towards Multi-Robot systems

Cooperative Localization in Unknown Environment towards Mult...

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第43届中国控制会议

作者： Xiaohang Yang Lelai Zhou Chen Zhang Xincheng Tian Yibin Li School of Control Science and Engineering Shandong University Engineering Research Center of Intelligent Unmanned System Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Localization plays an important role in robotics, aiming at the problem of multi-robot cooperative localization in a GPS-denied environment, a multi-sensor fusion cooperative localization method based on relative observations is presented in this paper. The relative observation module is comprised primarily of a monocular camera and an ultra-wideband(UWB),which associates visual detection with UWB distance measurement data to obtain relative measurement models for multi-robot systems. An Extended Cubature Kalman Filter(ECKF) is designed to fuse observations and internal sensor odometry data to improve system accuracy and robustness. The algorithm deploys on a single robot, with a fleet of sharing relative *** evaluate the performance of the proposed method, we conduct the experiment in the Gazebo simulation environment and the cooperative localization experiment is carried out on three unmanned robots in the real world. Comparing the global camera position as the ground truth, the results show the accuracy and robustness of our system.

关键词： Multi-Robot systems Relative Localization Cooperative Localization GPS-denied environment Cubature Kalman Filtering

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Equivalence analysis of different sequence impedance modeling methods 6

Equivalence analysis of different sequence impedance modelin...

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6th IEEE International Electrical and Energy Conference, CIEEC 2023

作者： Fang, Qiao Xing, Facai Jiang, Zhe Zhao, Yujing Wu, Cheng Power Grid Technology Center State Grid Shandong Electric Power Research Institute Jinan China Shandong University Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Jinan China Shandong Electric Power Dispatching and Control Center State Grid Shandong Electric Power Company Jinan China

ISBN: (纸本)9798350346671

The sequence impedance has a clear physical meaning and can be directly measured by commercial equipment, so it is widely used for stability analysis in the field of electrical engineering. It can be transformed from dq impedance indirectly or calculated based on Harmonic State Space (HSS) theory directly. This paper analyzes the equivalence of the above two methods. Firstly, the dq impedance model of grid-connected converter is established, and the equivalence of impedance in dq domain and sequence domain is proved by mathematical transformation. Then, modified sequence impedance model of grid-connected converter is established considering the frequency coupling phenomenon. On the other hand, the impedance model can also be obtained from HSS modeling with h order harmonics. Subsequently, the relationship between the modified sequence impedance and HSS impedance can be found. The former is a special case when the latter takes h=2. When considering the coupling effect of higher harmonics, HSS impedance model has higher accuracy. Finally, the accuracy and the equivalence of the above-mentioned two methods are verified by frequency sweep. © 2023 IEEE.

关键词： Harmonic analysis

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H∞ control for Discrete-Time Interconnected Large-Scale systems With Round-Robin Scheduling Protocol 38

H∞ Control for Discrete-Time Interconnected Large-Scale Sys...

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38th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2023

作者： Chen, Wei Yu, Tao He, Shuping Anhui University School of Electrical Engineering and Automation Hefei230601 China Anhui University School of Artificial Intelligence Hefei230026 China Ministry of Education Engineering Research Center of Autonomous Unmanned System Technology Hefei230026 China Anhui Provincial Engineering Research Center for Unmanned System and Intelligent Technology Hefei230026 China

ISBN: (纸本)9798350303636

This paper explores the H∞ control issue for discrete-time interconnected large-scale systems based on Round-Robin scheduling protocol. Round-Robin scheduling protocol is used to eliminate overload conditions in the sensor-to-controller network. For difficulties with more systems, the matrices of subsystems are widened to facilitate processing and the decentralized control mechanism is selected to enhance system stability. Minimal upper bound on the cost function is found by the expectation and perfect square method. In addition, the desired gain matrices of a certain structure with elements only on the diagonal are obtained by means of the Riccati equations and an optimization issue. Finally, the proposed scheme is verified by a numerical example of continuous stirred-tank reactor systems. © 2023 IEEE.

关键词： discrete-time interconnected large-scale systems optimization issue Round-Robin scheduling protocol

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Spatial Pyramid Attention Based Two-Stream Network for Fish Behavior Recognition

Spatial Pyramid Attention Based Two-Stream Network for Fish ...

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2023 China Automation Congress, CAC 2023

作者： Zhang, Hao Ma, Xin Yu, Yining Wang, Liang Hao, Lin Center for Robotics School of Control Science and Engineering Shandong University China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Shandong Marine Group Ltd Jinan250000 China Shandong Deep Sea Green Farming Ltd Qingdao266000 China

ISBN: (纸本)9798350303759

In intensive aquaculture, achieving accurate monitoring of fish behavior is crucial for improving efficiency. Previous studies on fish behavior recognition have been limited to recognizing fish school behavior from a global perspective, disregarding the importance of recognizing behaviors that occur in local regions. In this study, a spatial pyramid attention based two-stream network (SPA-TSN) is proposed to recognize fish behavior from both global and local perspective. SPA-TSN is comprised of a spatial stream and a motion stream, both of which use a spatial pyramid attention module to obtain the spatial and temporal features of fish behavior respectively. Specifically, the spatial pyramid attention module aggregates the features from different levels of the baseline to capture the correlation between local and global information. Then, a fusion feature is obtained by adding the temporal feature to the spatial feature. The three features are assigned different weights through a learnable multiplier M for behavior recognition. To validate the effectiveness of the proposed method, experiments are conducted on our established fish behavior dataset which consists four common fish behaviors. The results demonstrate that the proposed method has the best performance with an accuracy of 95.904%, performing better than state-of-the-art methods. © 2023 IEEE.

关键词： Fish

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