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Path planning of hyper‐redundant manipulators for narrow spaces

IET Cyber-Systems and robotics 2022年第3期4卷 251-263页

作者： Haoxiang Su Manlu Liu Hongwei Liu Jianwen Huo Songlin Gou Qing Su School of Information Engineering Southwest University of Science and TechnologyMian YangChina Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Mian YangChina School of Manufacturing Science and Engineering Southwest University of Science and TechnologyMian YangChina

Compared with the traditional manipulator,the hyper‐redundant manipulator has the advantage of high flexibility,which is particularly suitable for all kinds of complex working ***,the complex space environment requires the hyper‐redundant manipulator to have stronger obstacle avoidance ability and *** order to solve the problems of a large amount of calculation and poor obstacle avoidance effects in the path planning of the hyper‐redundant manipulator,this paper introduces the‘backbone curve’approach,which transforms the problem of solving joint path points into the behaviour of determining the backbone *** the backbone curve approach is used to design the curve that meets the requirements of obstacle avoidance and the end pose,the least squares fitting and the improved space joint fitting are used to match the plane curve and the space curve respectively,and the angle value of each joint of the manipulator is limited by the ***,a fusion obstacle avoidance algorithm is proposed to obtain the joint path points of the hyper‐redundant *** with the classic Jacobian iteration method,this method can avoid obstacles better,has the advantages of simple calculation,high efficiency,and can fully reflect the geometric characteristics of the *** experiments have proven the feasibility of the algorithm.

关键词： convergence dexterous manipulators geometric algebra motion planning

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An Optimizing Method for Parameters of Cavity Filter for Approximate Estimation of Class Curve Fitting

An Optimizing Method for Parameters of Cavity Filter for App...

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2024 Photonics and Electromagnetics Research Symposium, PIERS 2024

作者： Wan, Junliang Cai, Qiang-Ming Cao, Xin Zhou, Longjian Li, Haoran Du, Zhen-Yong Li, Yixiang Zhu, Yuyu Zheng, Yu-Teng Pu, Bo Fan, Jun Southwest University of Science and Technology School of Information Engineering Mianyang China Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Mianyang China China Chengdu Juji Millimeter Wave Technology Co. Ltd Chengdu China DeTooLIC Technology Co. Ltd Zhejiang Ningbo China

ISBN: (纸本)9798350375909

In the design process of cavity filter, optimizing the geometric parameters of the cavity filter is a significant task. The electromagnetic field inside the cavity filter is difficult to calculate because of the complexity of filter structure, so the geometric parameters of the cavity filter cannot be directly calculated by mathematical formulas. In order to obtain the ideal S parameters of the filter, we often need to continuously optimize the geometric parameters in simulation software, which is a tedious task that usually takes a lot of time and is difficult to obtain the ideal S parameters. So it is necessary to adopt certain optimization algorithms. This article investigates a class curve fitting approximation estimation method to optimize the parameters of cavity filters. Due to the inability to obtain a mathematical expression for the mapping relationship between the geometric parameters of the cavity filter and the S parameters,polynomial functions is used to approach the mapping relationship between geometric parameters and S parameters of cavity filters. The algorithm samples values in a certain parameter range, obtaining the coefficients of the polynomial functions by solving matrix equations to obtain the approximation. The optimal solution within that parameter range is solved through the approximate function. A rectangular waveguide filter was designed in HFSS software and applied for parameter optimization. The ideal S parameters were obtained in a relatively short period of time. The advantage of this algorithm is that it can not only be used for parameter optimization alone, but also be combined with other optimization algorithms to improve the speed and efficiency of optimization. This algorithm is flexible to apply in optimization. © 2024 IEEE.

关键词： Waveguide filters

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Terahertz polarization modulator based on chiral metasurface integrated with vanadium dioxide

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Optics Letters 2025年第10期50卷 3345-3348页

作者： Luo, Li Zhou, Ling Zou, Yuxin Yang, Jiaqi Huo, Jiahui Yang, Xu Lv, Yuanyuan Bian, Jingjing Peng, Sui Liu, Bo Pan, Yudong He, Jin Li, Jie Yao, Jianquan Sichuan Province Key Laboratory of Optoelectronic Sensor Devices and Systems College of Optoelectronic Engineering Chengdu IC Valley Industrial College Chengdu University of Information Technology Chengdu610225 China Sichuan Meteorological Optoelectronic Sensor Technology and Application Engineering Research Center Chengdu University of Information Technology Chengdu610225 China Chengdu Advanced Metal Materials Industry Technology Research Institute Limited Company Chengdu610300 China School of Precision Instruments and Opto-Electronics Engineering Tianjin University Tianjin300072 China

Conventional optical polarization modulation depends on block birefringent devices, and currently there are still no commercial polarization modulation devices available for terahertz beams in free space. Metasurfaces present more opportunities for the manipulation of optical and terahertz waves, which are advantageous for highly efficient polarization modulation devices. In this paper, what we believe to be a new chiral metasurface for the polarization modulation of reflected terahertz waves is proposed that consists of vanadium dioxide (VO2) combined with metal patterns for active chiral meta-atoms. Through electric stimulation, dynamic modulation of the polarization state can be achieved. The results indicate that the metasurface shows a strong circular dichroism at an operating frequency of 0.192 THz. In the insulating state, the absorption of the right-circularly polarized (RCP) wave is significantly higher than that of the left-circularly polarized (LCP) wave. By adjusting the transition state of VO2, the chirality of the structure is reduced, enabling the reflected wave to be switched from a circularly polarized state to a linearly polarized one. The absorption and polarization of terahertz wave can also be controlled by the incident angle. This method is anticipated to promote the development of terahertz communication and imaging technologies. © 2025 Optica Publishing Group. All rights are reserved.

关键词： Circular polarization

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A Non-destructive Metal Classification System Based on Magnetic Induction and Mutual Impedance Measurement

A Non-destructive Metal Classification System Based on Magne...

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2024 Photonics and Electromagnetics Research Symposium, PIERS 2024

作者： Deng, Ji Tang, Jincheng Guo, Feng Cai, Qiang-Ming Cao, Xin Zhou, Longjian Li, Haoran Du, Zhen-Yong Li, Yixiang Zhu, Yuyu Pu, Bo Fan, Jun Southwest University of Science and Technology School of Information Engineering Mianyang China Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Mianyang China China Chengdu Juji Millimeter Wave Technology Co. Ltd Chengdu China DeTooLIC Technology Co. Ltd Zhejiang Ningbo China

ISBN: (纸本)9798350375909

This paper presents a non-destructive metal classification system, which is based on magnetic induction and mutual impedance measurement technology. The detection system mainly consists of a signal source, a power amplifier, an ADC acquisition module and a dual-coil sensor. In the dual-coil sensor, the primary coil is excited by low-frequency current, and it then produce a changing magnetic field. In the secondary coil, electromotive force is induced. The current and induced electromotive force are measured through ADC acquisition. And then, mutual impedance of the dual-coil sensor can be obtained by signal processing. The metal material, which is placed between the dual-coil sensor, can influence the measured mutual impedance, and this can be utilized in classification. A prototype was manufactured, and the measured and simulated results are also provided to demonstrate the validity of this non-destructive metal classification system. Additionally, for enhancing the robustness of the system, an RNN model is investigated to alleviate the influence of variations in metal material size. © 2024 IEEE.

关键词： Magnetic amplifiers

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Microstrip Ultra-wideband Omnidirectional Vertically Polarized Antenna

Microstrip Ultra-wideband Omnidirectional Vertically Polariz...

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2024 Photonics and Electromagnetics Research Symposium, PIERS 2024

作者： Zou, Chao Zhou, Longjian Cai, Qiang-Ming Cao, Xin Li, Haoran Du, Zhen-Yong Li, Yixiang Zhu, Yuyu Zheng, Yu-Teng Pu, Bo Fan, Jun School of Information Engineering Southwest University of Science and Technology Mianyang China Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Mianyang China China Chengdu Juji Millimeter Wave Technology Co. Ltd. Chengdu China DeTooLIC Technology Co. Ltd. Ningbo China

ISBN: (纸本)9798350375909

A microstrip ultra-wideband omnidirectional vertical polarization antenna is designed. The antenna consists of an elliptical ground, a metal fixator, a radome, a feed structure, and a radiator. Specifically, the relative dielectric constant of the antenna substrate is 4.4, the antenna substrate is fixed by a metal fixator and perpendicular to the metal base, On one side of the substrate, a slot is etched on the microstrip patch. On the opposite side of the substrate, a U-shaped microstrip structure is designed to feed the slot. A radome is added to the outside of the antenna, and the profile of the radome in the horizontal plane is elliptical. The overall streamlined structure of the radome makes the antenna applicable to aircraft, unmanned aerial vehicles, and other carriers. The size of the radome is 142.00 mm × 62 mm × 146.33 mm. The simulation results show that when the reflection coefficient is less than -10 dB, the bandwidth coverage is 0.69 ∼ 1.31 GHz. The relative bandwidth reaches 47.3%. The gain is relatively flat and greater than 3 dBi in the passband. The thickness of the substrate is only 1.6 mm. The antenna size is 0.270λmin × 0.246λmin, where λmin is the free-space wavelength at the lowest frequency of the operating band. The antenna has a low manufacturing cost and is suitable for a variety of broadband applications. © 2024 IEEE.

关键词： Omnidirectional antennas

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Recent progress in nuclear astrophysics research and its astrophysical implications at the China Institute of Atomic Energy

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Nuclear Science and Techniques 2024年第12期35卷 376-408页

作者： Wei-Ping Liu Bing Guo Zhu An Bao-Qun Cui Xiao Fang Chang-Bo Fu Bin-Shui Gao Jian-Jun He Yu-Chen Jiang Chong Lv Er-Tao Li Ge-Xing Li Yun-Ju Li Zhi-Hong Li Gang Lian Wei-Ping Lin Yi-Hui Liu Wei Nan Wei-Ke Nan Yang-Ping Shen Na Song Jun Su Liang-Ting Sun Xiao-Dong Tang Luo-Huan Wang Shuo Wang You-Bao Wang Di Wu Xiao-Feng Xi Sheng-Quan Yan Li-Yong Zhang China Institute of Atomic Energy Beijing 102413China Department of Physics Southern University of Science and TechnologyShenzhen 518055China Jinping Deep Underground Frontier Science and Dark Matter Key Laboratory of Sichuan Province Liangshan 615000China School of Physics Xi’an Jiaotong UniversityXi’an 710049China Key Laboratory of Radiation Physics and Technology of the Ministry of Education Institute of Nuclear Science and TechnologySichuan UniversityChengdu 610064China Sino-French Institute of Nuclear Engineering and Technology Sun Yat-sen UniversityZhuhai 519082China Key Laboratory of Nuclear Physics and Ion-beam Application(MoE) Institute of Modern PhysicsFudan UniversityShanghai 200433China Joint Department for Nuclear Physics Institute of Modern PhysicsChinese Academy of Sciences and Lanzhou UniversityLanzhou 730000China CAS Key Laboratory of High Precision Nuclear Spectroscopy Institute of Modern PhysicsChinese Academy of SciencesLanzhou 73000China School of Nuclear Science and Technology University of Chinese Academy of SciencesBeijing 100049China Key Laboratory of Beam Technology of Ministry of Education College of Nuclear Science and TechnologyBeijing Normal UniversityBeijing 100875China College of Physics and Optoelectronic Engineering Shenzhen UniversityShenzhenChina Key Laboratory of Beam Technology and Material Modification of Ministry of Education College of Nuclear Science and TechnologyBeijing Normal UniversityBeijing 100875China Institute of Modern Physics Chinese Academy of SciencesLanzhou 730000China School of Mathematics and Physics Handan UniversityHandan 056005China Shandong Provincial Key Laboratory of Optical Astronomy and Solar-Terrestrial Environment Institute of Space SciencesShandong UniversityWeihai 264209China State Key Laboratory of Nuclear Physics and Technology School of PhysicsCAPTPeking UniversityBeijing 100871China

Nuclear astrophysics is a rapidly developing interdisciplinary feld of research that has received extensive attention from the scientifc community since the midtwentieth ***,it uses the laws of extremely small atomic nuclei to explain the evolution of the *** to the complexity of nucleosynthesis processes and our limited understanding of nuclear physics in astrophysical environments,several critical astrophysical problems remain *** achieve a better understanding of astrophysics,it is necessary to measure the cross sections of key nuclear reactions with the precision required by astrophysical *** measurement of nuclear reaction cross sections is an important method of investigating how nuclear reactions infuence stellar *** the challenges involved in measuring the extremely low crosssections of nuclear reactions in the Gamow peak and preparing radioactive targets,indirect methods,such as the transfer reaction,coulomb dissociation,and surrogate ratio methods,have been developed over the past several *** are powerful tools in the investigation of,for example,neutron-capture(n,r)reactions with short-lived radioactive ***,direct measurement is still preferable,such as in the case of reactions involving light and stable *** an essential part of stellar evolution,these low-energy stable nuclear reactions have been of particular interest in recent *** overcome the diffculties in measurements near or deeply within the Gamow window,the combination of an underground laboratory and high-exposure accelerator/detector complex is currently the optimal ***,underground experiments have emerged as a new and promising direction of *** addition,to better simulate the stellar environment in the laboratory,research on nuclear physics under laser-driven plasma conditions has gradually become a frontier *** recent years,the CIAE team conducted a series of distinctive nuclea

关键词： Nuclear astrophysics Indirect method Underground laboratory Direct measurement Lowenergy nuclear reaction

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Machine learning assisted prediction of dielectric temperature spectrum of ferroelectrics

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Journal of Advanced Ceramics 2023年第9期12卷 1793-1804页

作者： Jingjin He Changxin Wang Junjie Li Chuanbao Liu Dezhen Xue Jiangli Cao Yanjing Su Lijie Qiao Turab Lookman Yang Bai Beijing Advanced Innovation Center for Materials Genome Engineering University of Science and Technology BeijingBeijing 100083China Institute for Advanced Material and Technology University of Science and Technology BeijingBeijing 100083China Faculty of Materials Science and Engineering Kunming University of Science and TechnologyKunming 650093China Sichuan Province Key Laboratory of Information Materials and Devices Application College of Optoelectronic EngineeringChengdu University of Information TechnologyChengdu 610225China School of Materials Science and Technology University of Science and Technology BeijingBeijing 100083China State Key Laboratory for Mechanical Behavior of Materials Xi’an Jiaotong UniversityXi’an 710049China AiMaterials Research LLC Santa FeNM 87501USA

In material science and engineering,obtaining a spectrum from a measurement is often time-consuming and its accurate prediction using data mining can also be *** this work,we propose a machine learning strategy based on a deep neural network model to accurately predict the dielectric temperature spectrum for a typical multi-component ferroelectric system,i.e.,(Ba_(1−x−y)Ca_(x)Sr_(y))(Ti_(1−u−v−w)Zr_(u)Sn_(v)Hf_(w))O_(3).The deep neural network model uses physical features as inputs and directly outputs the full spectrum,in addition to yielding the octahedral factor,Matyonov–Batsanov electronegativity,ratio of valence electron to nuclear charge,and core electron distance(Schubert)as four key *** to the physically meaningful features,our model exhibits better performance and generalization ability in the broader composition space of BaTiO3-based solid *** the prediction accuracy is superior to traditional machine learning models that predict dielectric permittivity values at each ***,the transition temperature and the degree of dispersion of the ferroelectric phase transition are easily extracted from the predicted spectra to provide richer physical *** prediction is also experimentally validated by typical samples of(Ba_(0.85)Ca_(0.15))(Ti_(0.98–x)Zr_(x)Hf_(0.02))O_(3).This work provides insights for accelerating spectra predictions and extracting ferroelectric phase transition information.

关键词： machine learning(ML) dielectric temperature spectrum ferroelectrics phase transition information

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Structure,far-infrared spectroscopy,microwave dielectric properties,and improved low-temperature sintering characteristics of tri-rutile Mg_(0.5)Ti_(0.5)TaO_(4) ceramics

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Journal of Advanced Ceramics 2023年第2期12卷 296-308页

作者： Hongyu YANG Liang CHAI Guangchao LIANG Mengjiang XING Zixuan FANG Xing ZHANG Tianying QIN Enzhu LI Academy of Advanced Interdisciplinary Research Xidian UniversityXi’an 710071China National Engineering Research Center of Electromagnetic Radiation Control Materials University of Electronic Science and Technology of ChinaChengdu 610054China Key Laboratory of Multi-Spectral Absorbing Materials and Structures of Ministry of Education University of Electronic Science and Technology of ChinaChengdu 610054China Yangtze Delta Region Institute(Huzhou) University of Electronic Science and Technology of ChinaHuzhou 313001China School of Materials and Energy University of Electronic Science and Technology of ChinaChengdu 611731China Sichuan Province Key Laboratory of Information Materials and Devices Application Chengdu University of Information TechnologyChengdu 610225China

In this study,tri-rutile type Mg_(0.5)Ti_(0.5)TaO_(4) ceramics were synthesized,where the structure–property relationship,especially the structural configuration and intrinsic dielectric origin of Mg_(0.5)Ti_(0.5)TaO_(4) ceramics,and the low-firing characteristics were *** is found that the tri-rutile structural type is unambiguously identified through the Rietveld refinement analysis,the selected area electron diffraction(SAED),and the high-resolution transmission electron microscopy(HRTEM)along the[110]zone *** the increase in sintering temperature,the densification and uniformity of crystal growth play important roles in regulating the microwave dielectric properties of Mg_(0.5)Ti_(0.5)TaO_(4) ***,theoretical dielectric properties calculated by the far-infrared reflective spectra approached the experimental values,indicating the importance of structural features to dielectric ***,a glass additive with high matching relevance with ceramics has been developed to decrease the high sintering temperature of Mg_(0.5)Ti_(0.5)TaO_(4) ceramics,where 2–4 wt%Li_(2)O–MgO–ZnO–B_(2)O_(3)–SiO_(2)(LMZBS)glass frit was adopted to reduce the suitable temperature from 1275 to 1050℃ without significantly deteriorating the microwave dielectric ***,Mg_(0.5)Ti_(0.5)TaO_(4) ceramics containing 2 wt% glass addition sintered at 1050℃for 4 h possess excellent microwave dielectric properties:dielectric constant(ε_(r))=44.3,quality factor multiplied by resonant frequency(Q×f)=23,820 GHz(f=6.2 GHz),and the temperature coefficient of resonant frequency(τ_(f))=123.2 ppm/℃.

关键词： Mg0.5Ti0.5TaO4 ceramics crystal structure low-temperature sintering

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Optimal Subband Adaptive Filtering Algorithm Over Functional Link Neural Network 33

Optimal Subband Adaptive Filtering Algorithm Over Functional...

引用

33rd IEEE International Workshop on Machine Learning for Signal Processing, MLSP 2023

作者： Ye, Jianhong Yu, Yi Chen, Badong Zheng, Zongsheng Southwest University of Science and Technology School of Information Engineering Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Mianyang621010 China Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an710049 China Sichuan University School of Electrical Engineering Chengdu610065 China

ISBN: (纸本)9798350324112

Recently, to overcome the slow convergence of the functional link neural network (FLNN) for highly auto-correlated input signals, the delayless multi-sampled multiband-structured subband over FLNN (DMSFLNN) algorithm was proposed. However, this algorithm exists a performance tradeoff between convergence and steady-state behaviors, due to the fact that it uses a fixed step-size. Therefore, to obtain fast convergence and low steady-state misadjustment at the same time, this paper develops an optimal DMSFLNN (ODMSFLNN) algorithm that minimizes the trace of the covariance matrix of the weight deviation vector. Intrinsically, the ODMSFLNN algorithm is an extension of the Kalman filtering theory over the subband-based FLNN structure. In addition, we design the vectorized implementation of the ODMSFLNN algorithm to reduce the computational complexity from O(L2) to O(L). Simulations on nonlinear system identification and nonlinear acoustic echo cancellation have been conducted to demonstrate that the proposed ODMSFLNN algorithm outperforms the existing state-of-art algorithms. © 2023 IEEE.

关键词： Covariance matrix

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Study on Shielding Efficiency of Metal Wire Mesh for Cable Joints

Study on Shielding Efficiency of Metal Wire Mesh for Cable J...

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2024 Photonics and Electromagnetics Research Symposium, PIERS 2024

作者： Jiang, Quanfeng Cai, Qiang-Ming Tang, Jincheng Lin, Guangjin Guo, Haiyan Cao, Xin Zhou, Longjian Li, Haoran Du, Zhen-Yong Li, Yixiang Zhu, Yuyu Pu, Bo Fan, Jun Southwest University of Science and Technology School of Information Engineering Mianyang China Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Mianyang China Tianfu Institute of Research and Innovation China Chengdu Juji Millimeter Wave Technology Co. Ltd Chengdu China DeTooLIC Technology Co. Ltd Ningbo China

ISBN: (纸本)9798350375909

In this paper, the shielding effectiveness (SE) of metal wire mesh made of different materials, single and double mesh is studied. For engineering application, through theoretical calculation and simulation, the shielding efficiency of single-layer shielding brass wire mesh, single-layer shielding steel wire mesh, and double-layers shielding wire mesh constructed by one-layer brass wire mesh and one-layer steel wire mesh for cable joints is investigated. The results show that the SE of double-layers brass/steel wire mesh is higher than that of single-layer brass/steel wire mesh, with the same specification. In order to further illustrate this conclusion above, the shield of an energy storage converter is designed by using these wire meshes. It demonstrates that the double-layers of brass and steel wire mesh is suitable for shielding the electromagnetic fields of the connecting cable joints at low frequency, reducing or eliminating the electromagnetic interference. © 2024 IEEE.

关键词： Cable shielding

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