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arXiv 2024年

作者： Wang, Lei Shan, Huanyuan Nie, Lin Cheng, Cheng Yuan, Fang-Ting Cui, Qifan Li, Guoliang Xie, Yushan Liu, Dezi Liu, Yao Fang, Min Li, Nan Jia, Peng Li, Ran Liu, Fengshan Shu, Yiping Jiang, Chang Wei, Cheng-Liang Qu, Han Zheng, Wen-Wen Zhu, Li-Yan Kang, Xi Purple Mountain Observatory Key Laboratory of Radio Astronomy Chinese Academy of Sciences 10 Yuanhua Road Qixia District Nanjing210023 China Shanghai Astronomical Observatory Chinese Academy of Sciences 80 Nandan Road Shanghai200030 China Key Laboratory of Radio Astronomy and Technology Chinese Academy of Sciences A20 Datun Road Chaoyang District Beijing100101 China University of Chinese Academy of Sciences Beijing100049 China Department of Information Engineering Wuhan Institute of City Hubei Wuhan430083 China Chinese Academy of Sciences South America Center for Astronomy National Astronomical Observatories CAS Beijing100101 China CAS Key Laboratory of Optical Astronomy National Astronomical Observatories Chinese Academy of Sciences Beijing100101 China Key Laboratory of Space and Technology National Astronomical Observatories Chinese Academy of Sciences Beijing100101 China South-Western Institute for Astronomy Research Yunnan University Yunnan Kunming650500 China National Astronomical Observatories Chinese Academy of Sciences Beijing100871 China College of Electronic Information and Optical Engineering Taiyuan030024 China Peng Cheng Lab Shenzhen518066 China Department of Physics Durham University DurhamDH1 3LE United Kingdom Zhejiang Provincial Key Laboratory of Quantum Precision Measurement College of Science Institute for Frontiers and Interdisciplinary Sciences Zhejiang University of Technology 288 Liuhe Road Hangzhou310023 China Zhejiang University Purple Mountain Observatory Joint Research Center for Astronomy Zhejiang University Hangzhou327 China

We present the application of the image coaddition algorithm, Up-sampling and PSF Deconvolution Coaddition (UPDC), for stacking multiple exposure images captured by the James Webb Space Telescope (JWST) Near-Infrared Camera (NIRCam). By addressing the point spread function (PSF) effect, UPDC provides visually enhanced and sharper images. Furthermore, the anti-aliasing and super-resolution capabilities of UPDC make it easier to deblend sources overlapped on images, yielding a higher accuracy of aperture photometry. We apply this algorithm to the SMACS J0723 imaging data. Comparative analysis with the Drizzle algorithm demonstrates significant improvements in detecting faint sources, achieving accurate photometry, and effectively deblending (super-resolution) closely packed sources. As a result, we have newly detected a pair of close binary stars that were previously unresolvable in the original exposures or the Drizzled image. These improvements significantly benefit various scientific projects conducted by JWST. The resulting dataset, named"UPdec-Webb", can be accessible through the official website of the Chinese Virtual Observatory (ChinaVO). © 2024, CC BY-NC-SA.

关键词： Space telescopes

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Extension of Virtual Decomposition Control to Cooperative Carrying of Dual-arm Robots in Free Motion 29

Extension of Virtual Decomposition Control to Cooperative Ca...

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第29届中国控制与决策会议

作者： Xueqian Wang Bo Xia Gang Li Houde Liu Bin Liang Tsinghua University National Laboratory for Information Science and Technology Shenzhen Key Lab of Space Robotic Technology and Telescience Tsinghua University Graduate School at Shenzhen Shenzhen Engineering Lab of Geometry Measurement Technology

ISBN: (纸本)9781509046584

This investigation is to deal with the internal force control issue for cooperative carrying of dual-arm robots in free motion using virtual decomposition *** to the virtual decomposition control principle,the entire system of the dual-arm robot in free motion for cooperative carrying is virtually decomposed into two chain subsystems and an object *** motion control problem of this entire system is converted into that of subsystems in which the internal force control of the object is *** the basis of establishing the mathematical model of the entire system,kinematics and dynamics of every subsystem are calculated.A virtual decomposition controller of each subsystem is designed,and this controller and the corresponding subsystem structure a control subsystem of this *** subsystem controllers constitute the controller of the entire robot system,and the combination of this controller and the robot system is the virtual decomposition control system of this *** analysis of the devised robot virtual decomposition control system is accomplished analyzing the virtual stability of each control subsystem by way of the virtual power flow related to the products of velocities errors and force ***,the virtual decomposition control system of the dual-arm robot to carry an object in free motion is *** results show that the virtual decomposition control system is stable and effective.

关键词： Dual-arm Robot Free Motion Virtual Decomposition Control Cooperative Carrying

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Modeling and Control of a Two-link Flexible Space Manipulator Using the Wave-based Method 29

Modeling and Control of a Two-link Flexible Space Manipulato...

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第29届中国控制与决策会议

作者： LI Yanan MENG Deshan LIU Houde WANG Xueqian LIANG Bin Shenzhen Engineering Laboratory of Geometry Measurement Technology Graduate School at ShenzhenTsinghua University Shenzhen Graduate School Harbin Institute of Technology Shenzhen Key Lab of Space Robotic Technology and Telescience

ISBN: (纸本)9781509046584

The vibration control of flexible space manipulator is challengeable due to the complex dynamics model and uncertain ***,the non-model-based control method is one of the important research directions of the vibration suppression of the flexible *** wave-based method proposed by O'Connor can well eliminate residual vibration for single-input flexible ***,there are very few studies on multi-input multi-output flexible system using wave-based *** this paper,we research vibration control of a two-link flexible space manipulator based on the principle of ***,based on the pseudo-rigid body method,the dynamics model of a two-link planar space manipulator with joint and link flexibility is ***,the basic principle of wave-based control method is briefly *** wave transfer function and the wave propagation in the flexible body are ***,the steady-state error of the two-link control system is studied and we proposed an elimination method of the steady-state error of the manipulator ***,the simulations of a single-link and a two-link flexible space manipulator are conducted to verify the effectiveness of the presented *** simulation results verify the validity of the proposed method.

关键词： Flexible Space Manipulator Pseudo-rigid Body Wave-based Vibration Control Dynamic Modeling

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Dynamic chloride ion adsorption on single iridium atom boosts seawater oxidation catalysis

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Nature communications 2024年第1期15卷 1973页

作者： Xinxuan Duan Qihao Sha Pengsong Li Tianshui Li Guotao Yang Wei Liu Ende Yu Daojin Zhou Jinjie Fang Wenxing Chen Yizhen Chen Lirong Zheng Jiangwen Liao Zeyu Wang Yaping Li Hongbin Yang Guoxin Zhang Zhongbin Zhuang Sung-Fu Hung Changfei Jing Jun Luo Lu Bai Juncai Dong Hai Xiao Wen Liu Yun Kuang Bin Liu Xiaoming Sun State Key Laboratory of Chemical Resource Engineering Beijing Advanced Innovation Center for Soft Matter Science and Engineering College of Chemistry Beijing University of Chemical Technology Beijing 100029 PR China. School of Chemistry Chemical Engineering and Biotechnology Nanyang Technological University Singapore 637459 Singapore. Beijing National Laboratory for Molecular Sciences CAS Key Laboratory of Colloid Interface and Chemical Thermodynamics Institute of Chemistry Chinese Academy of Sciences Beijing 100190 PR China. Ocean Hydrogen Energy R&D Center Research Institute of Tsinghua University in Shenzhen Shenzhen 518057 PR China. State Key Lab of Organic-Inorganic Composites College of Chemical Engineering Beijing University of Chemical Technology 100029 Beijing PR China. Energy & Catalysis Center School of Materials Science & Engineering Beijing Institute of Technology Beijing 100081 PR China. Hefei National Research Center for Physical Sciences at the Microscale University of Science and Technology of China Hefei 230026 PR China. Beijing Synchrotron Radiation Facility Institute of High Energy Physics Chinese Academy of Sciences 100049 Beijing PR China. Department of Chemistry Tsinghua University 100084 Beijing PR China. Department of Materials Science and Engineering City University of Hong Kong Hong Kong SAR 999077 PR China. College of Energy Shandong University of Science and Technology Tsingtao 266590 PR China. Beijing Key Laboratory of Energy Environmental Catalysis Beijing University of Chemical Technology 100029 Beijing PR China. Department of Applied Chemistry and Center for Emergent Functional Matter Science National Yang Ming Chiao Tung University Hsinchu 300 Taiwan. School of Materials Science and Engineering Tianjin Key Lab of Photoelectric Materials & Devices Tianjin University of Technology Tianjin 300384 PR China. ShenSi Lab Shenzhen Institute for Advanced Study University of Electronic Science and Technology of China Shen

Seawater electrolysis offers a renewable, scalable, and economic means for green hydrogen production. However, anode corrosion by Cl pose great challenges for its commercialization. Herein, different from conventional catalysts designed to repel Cl adsorption, we develop an atomic Ir catalyst on cobalt iron layered double hydroxide (Ir/CoFe-LDH) to tailor Cl adsorption and modulate the electronic structure of the Ir active center, thereby establishing a unique Ir-OH/Cl coordination for alkaline seawater electrolysis. Operando characterizations and theoretical calculations unveil the pivotal role of this coordination state to lower OER activation energy by a factor of 1.93. The Ir/CoFe-LDH exhibits a remarkable oxygen evolution reaction activity (202 mV overpotential and TOF = 7.46 O s) in 6 M NaOH+2.8 M NaCl, superior over Cl-free 6 M NaOH electrolyte (236 mV overpotential and TOF = 1.05 O s), with 100% catalytic selectivity and stability at high current densities (400-800 mA cm) for more than 1,000 h.

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A Particle Filter and Long Short Term Memory Fusion Algorithm for Failure Prognostic of Proton Exchange Membrane Fuel Cells 29

A Particle Filter and Long Short Term Memory Fusion Algorith...

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第29届中国控制与决策会议

作者： Chunchun Yang Zhiheng Li Bin Liang Weining Lu Xueqian Wang Houde Liu Tsinghua University Graduate School at Shenzhen Shenzhen Key Lab of Space Robotic Technology and Telescience Department of Automation School of Information Science and TechnologyTsinghua University Shenzhen Engineering Lab of Geometry Measurement Technology

ISBN: (纸本)9781509046584

Prognostics and Health Management(PHM) appears to be a promising maintenance strategy which can enhance reliability and reduce maintenance costs of the target *** the process of PHM,Prognostics is the most important and *** approaches can be roughly divided into two categories:model-based methods and data-driven methods,both of which have advantages and *** overcome the limitations of these methods and improve the accuracy and precision of the forecasting,we propose a novel fusion prognostic *** method fuses the Particle Filter(PF,model-based) and Long Short Term Memory(LSTM,data-driven) *** the literature,PF is used by estimating the system state and identifying the parameters of the model for the purpose of ***,it does not have ideal performance due to the lack of measurements in the prediction *** solve this problem,LSTM is used to forecast the measurements and use the results as the observation of *** experiment is applied to the data of Proton Exchange Membrane Fuel Cell Stack from IEEE PHM 2014 Data *** results demonstrate that the proposed method can effectively integrate the advantages of PF and LSTM,which leads to a better forecasting performance than naive PF approach.

关键词： Failure Prognostic LSTM Particle Filter PEMFC

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Variable Stiffness Force Tracking Impedance Control Using Differential-less Method 29

Variable Stiffness Force Tracking Impedance Control Using Di...

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第29届中国控制与决策会议

作者： Weifeng Lu Houde Liu Xiaojun Zhu Xueqian Wang Bin Liang Shenzhen Engineering Laboratory of Geometry Measurement Technology Graduate School at ShenzhenTsinghua University School of Automation Beijing University of Posts and Telecommunications

ISBN: (纸本)9781509046584

As robot manipulators are widely used in contact with the environment,force tracking control is becoming more and more *** stiffness impedance control can achieve force tracking by adjusting the stiffness of robot manipulators to get adapted to various environments just like human control to contact *** of the variable stiffness forces tracking impedance control methods need to obtain contact force differential information,but in fact there are high-frequency noise interferences in force sensor resulting in a big error of force *** order to make the strategy more feasible in practice,this paper proposes a differential-less method of variable stiffness force tracking impedance ***,the proposed control scheme achieves a contact force regulation control without force differential ***,the stability of the proposed control scheme is proved with a quadratic Lyapunov *** simulation studies with a two-degree-of-freedom robot manipulator are conducted to demonstrate the validity of the proposed method.

关键词： Robot Manipulator Differential-less Variable Stiffness Impedance Control Force Tracking

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Realization of Fractional Order Controller for Electro-Hydraulic Servo System Based on Best-Rational Function Theory 29

Realization of Fractional Order Controller for Electro-Hydra...

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第29届中国控制与决策会议

作者： Wang Songtao Liang Bin Wang Xueqian Liu Houde School of Information Science and Technology Tsinghua University Research Institute of Tsinghua University in Shenzhen Shenzhen Engineering Laboratory of Geometry Measurement Technology Graduate School at ShenzhenTsinghua University

ISBN: (纸本)9781509046584

To improve the dynamic performance of the electro-hydraulic servo system,the best-rational controller is designed by realizing the fractional order PID controller based on the best-rational function ***,in the frequency domain,the rational models of the fractional differential and integral operators are realized based on the best-rational function ***,the fractional order controller are rationalized according to the rational models of the fractional differential and integral operators,then the best-rational controller can be ***,the numerical experiments of an electro-hydraulic servo system are carried out based on the best-rational controller and the common PID *** results of the numerical experiments show that the best-rational controller can effectively improve the transient response and steady accuracy of the electro-hydraulic servo system comparing with the common PID controllers.

关键词： Fractional Order Controller Best-rational Function and Electro-Hydraulic Servo

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A Novel Non-Cooperative Pose measurement Method For Triangular Feature With Unknown Space Size 36

A Novel Non-Cooperative Pose Measurement Method For Triangul...

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第36届中国控制会议

作者： Jun Yang Shunzhi Li Xueqian Wang Zhiheng Li Xuehai Gao Bin Liang National Laboratory for Information Science and Technology Tsinghua University Graduate School at Shenzhen Tsinghua University Shenzhen Laboratory of Space Robotics & Telescience Shenzhen Engineering Laboratory of Geometry Measurement Technology

ISBN: (纸本)9781538629185

In this paper,a novel method for measuring the relative pose of the triangular feature with unknown size is proposed by introducing line structured ***,the coordinate system model is established,and the relative relationship between each coordinate system is given;Secondly,by using the isosceles property of the triangular bracket and the line structured light constraint,three vertices' coordinates of the triangular feature and two intersection points between line structured light and the triangular feature are calculated in the camera coordinates;Then,the transfer matrix between the camera coordinate system and the world coordinate system is calculated by using the five feature points,and the transfer matrix is decomposed to obtain the relative position and attitude of the triangle feature plane;Finally,the mathematical simulation model is established and the measurement error factors are *** results show that the proposed method is effective and feasible.

关键词： Non-Cooperative measurement Unknown Space Size Line Structured Light Triangular Feature

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Pose measurement for Capture of Large Satellite Docking Ring Based on Double-Line Structured Light Vision

Pose Measurement for Capture of Large Satellite Docking Ring...

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2017 2nd International Conference on Materials Science,Machinery and Energy engineering(MSMEE 2017)

作者： Jun Yang Xuehai Gao Zhiheng Li Shunzhi Li Bin Liang Graduate School at Shenzhen Tsinghua University Shenzhen Laboratory of Space Robotics & Telescience Shenzhen Engineering Laboratory of Geometry Measurement Technology

For on-orbit servicing of large valuable satellite, docking ring is a typical and strong component, which is fit for grasping by a space robot manipulator. In this paper, a novel method for measuring the relative pose of partial docking ring is proposed by introducing double-line structured light. Firstly, the double-line structured light vision measurement model is established. The model need only partial docking ring to compute pose. Secondly, the pose determination algorithm is presented. Using the four intersection points between the double-line structured light and partial docking ring, the position and attitude of the docking ring can be uniquely determined. Finally, the mathematical simulation model is built and the measurement error factors are analyzed. The simulation results show that the measurement method is effective and feasible.

关键词： Pose measurement Partial docking ring Double-line structured light Non-cooperative target Space intelligent robot

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Why is the Winner the Best?

Why is the Winner the Best?

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： M. Eisenmann A. Reinke V. Weru M. D. Tizabi F. Isensee T. J. Adler S. Ali V. Andrearczyk M. Aubreville U. Baid S. Bakas N. Balu S. Bano J. Bernal S. Bodenstedt A. Casella V. Cheplygina M. Daum M. De Bruijne A. Depeursinge R. Dorent J. Egger D. G. Ellis S. Engelhardt M. Ganz N. Ghatwary G. Girard P. Godau A. Gupta L. Hansen K. Harada M. Heinrich N. Heller A. Hering A. Huaulmé P. Jannin A. E. Kavur O. Kodym M. Kozubek J. Li H. Li J. Ma C. Martín-Isla B. Menze A. Noble V. Oreiller N. Padoy S. Pati K. Payette T. Rädsch J. Rafael-Patiño V. Singh Bawa S. Speidel C. H. Sudre K. Van Wijnen M. Wagner D. Wei A. Yamlahi M. H. Yap C. Yuan M. Zenk A. Zia D. Zimmerer D. Aydogan B. Bhattarai L. Bloch R. Brüngel J. Cho C. Choi Q. Dou I. Ezhov C. M. Friedrich C. Fuller R. R. Gaire A. Galdran Á. García Faura M. Grammatikopoulou S. Hong M. Jahanifar I. Jang A. Kadkhodamohammadi I. Kang F. Kofler S. Kondo H. Kuijf M. Li M. Luu T. Martinčič P. Morais M. A. Naser B. Oliveira D. Owen S. Pang J. Park S. Park S. Płotka E. Puybareau N. Rajpoot K. Ryu N. Saeed A. Shephard P. Shi D. Štepec R. Subedi G. Tochon H. R. Torres H. Urien J. L. Vilaça K. A. Wahid H. Wang J. Wang L. Wang X. Wang B. Wiestler M. Wodzinski F. Xia J. Xie Z. Xiong S. Yang Y. Yang Z. Zhao K. Maier-Hein P. F. Jäger A. Kopp-Schneider L. Maier-Hein Division of Intelligent Medical Systems German Cancer Research Center (DKFZ) Heidelberg Germany Helmholtz Imaging German Cancer Research Center (DKFZ) Heidelberg Germany Faculty of Mathematics and Computer Science Heidelberg University Heidelberg Germany Division of Biostatistics German Cancer Research Center (DKFZ) Heidelberg Germany Division of Medical Image Computing German Cancer Research Center (DKFZ) Heidelberg Germany Faculty of Engineering and Physical Sciences School of Computing University of Leeds Leeds UK Institute of Informatics School of Management HES-SO Valais-Wallis University of Applied Sciences and Arts Western Switzerland Sierre Switzerland Department of Nuclear Medicine and Molecular Imaging Lausanne University Hospital Lausanne Switzerland Technische Hochschule Ingolstadt Ingolstadt Germany Center for Artificial Intelligence and Data Science for Integrated Diagnostics (AI2D) and Center for Biomedical Image Computing and Analytics (CBICA) University of Pennsylvania Philadelphia PA USA Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Department of Radiology Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Department of Radiology University of Washington Seattle WA USA Department of Computer Science Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS) University College London London UK Universitat Autònoma de Barcelona & Computer Vision Center Barcelona Spain Division of Translational Surgical Oncology National Center for Tumor Diseases (NCT/UCC) Dresden Dresden Germany Department of Advanced Robotics Istituto Italiano di Tecnologia Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milan Italy IT University of Copenhagen Copenhagen Denmark Department of General Visceral and Transplantation Surgery Heidelberg University Hospital Heidelberg Germany Department of Radiology and Nuc

International benchmarking competitions have become fundamental for the comparative performance assessment of image analysis methods. However, little attention has been given to investigating what can be learnt from these competitions. Do they really generate scientific progress? What are common and successful participation strategies? What makes a solution superior to a competing method? To address this gap in the literature, we performed a multicenter study with all 80 competitions that were conducted in the scope of IEEE ISBI 2021 and MICCAI 2021. Statistical analyses performed based on comprehensive descriptions of the submitted algorithms linked to their rank as well as the underlying participation strategies revealed common characteristics of winning solutions. These typically include the use of multi-task learning (63%) and/or multi-stage pipelines (61%), and a focus on augmentation (100%), image preprocessing (97%), data curation (79%), and post-processing (66%). The “typical” lead of a winning team is a computer scientist with a doctoral degree, five years of experience in biomedical image analysis, and four years of experience in deep learning. Two core general development strategies stood out for highly-ranked teams: the reflection of the metrics in the method design and the focus on analyzing and handling failure cases. According to the organizers, 43% of the winning algorithms exceeded the state of the art but only 11% completely solved the respective domain problem. The insights of our study could help researchers (1) improve algorithm development strategies when approaching new problems, and (2) focus on open research questions revealed by this work.

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