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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jiyu Yu Dongqi Wang Zhenghan Chen Ci Chen Shuangpeng Wu Yue Wang Rong Xiong State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou China Department of Engineering Mechanics Zhejiang University Hangzhou China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Legged robot proved their capability to cross complex terrain in recent research, yet the autonomy of robots on discrete terrain still needs to be enhanced since it requires a full stack framework. This paper introduces a real-time motion and foothold planning framework tailored for legged robots navigating uneven terrains, such as stepping stones. Our approach addresses the critical challenges of determining feasible global paths and local footholds to enhance autonomous mobility across complex landscapes. By using a sampling-based global path planner integrated with terrain segmentation and the robot’s kinematic model, our framework swiftly generates viable navigation paths. Concurrently, it utilizes a Mixed Integer Programming (MIP) methodology for real-time foothold optimization, ensuring the robot’s stability and safety through dynamic terrain interaction. Finally, an execution layer including Model Predictive control (MPC) and Whole-Body control (WBC) generates the robots’ motion. Simulation and real-world experiments demonstrate that our framework improves legged robots’ adaptability on discrete terrains.

关键词： Legged locomotion Visualization Navigation Real-time systems Stability analysis Planning Trajectory Safety Robots Predictive control

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Slow Feature Thermography for Non-Destructive Evaluation of Defects in Composite Materials 13

Slow Feature Thermography for Non-Destructive Evaluation of ...

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13th IEEE Data Driven control and Learning Systems Conference, DDCLS 2024

作者： Liu, Kaixin Zhong, Xin Chen, Ping Dai, Yun Liu, Yi North University of China The State Key Lab for Electronic Testing Technology China North University of China Department of Information and Communication Engineering Taiyuan030051 China College of Mechanical Engineering Nantong Vocational University Nantong226007 China Institute of Process Equipment and Control Engineering Zhejiang University of Technology Hangzhou310023 China

ISBN: (纸本)9798350361674

In recent years, various methods for processing and analyzing thermographic data have been applied in non-destructive testing to improve the visibility of defects. Representatively, traditional linear dimensionality reduction methods (e.g. principal component analysis) have achieved good results in thermographic data analysis. In this work, a slow feature thermography (SFT) method for non-destructive evaluation of defects in composite materials. Thermographic data can be regarded as a continuous time series generated by an infrared imager at different moments. Slow feature analysis algorithm is subsequently used to extract slow features of the thermal image sequence. Slow features refer to features that are unchanged or slowly changing in time-series data, such as the background of a thermal image. By extracting the slow features of data, the inhomogeneous background, noise and defect features contained in thermal images can be effectively distinguished. Test results on carbon fiber reinforced polymer specimens demonstrate the feasibility and effectiveness of the SFT method. © 2024 IEEE.

关键词： Carbon fiber reinforced plastics

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Distributed solver for linear matrix inequalities: an optimization perspective

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control Theory and technology 2021年第4期19卷 507-515页

作者： Weijian Li Wen Deng Xianlin Zeng Yiguang Hong Department of Automation University of Science and Technology of ChinaHefei 230027AnhuiChina Key Lab of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Department of Control Science and Engineering Tongji UniversityShanghai 201804China

In this paper,we develop a distributed solver for a group of strict(non-strict)linear matrix inequalities over a multi-agent network,where each agent only knows one inequality,and all agents co-operate to reach a consensus solution in the intersection of all the feasible *** formulation is transformed into a distributed optimization problem by introducing slack variables and consensus ***,by the primal–dual methods,a distributed algorithm is proposed with the help of projection operators and derivative ***,the convergence of the algorithm is analyzed,followed by illustrative simulations.

关键词： Distributed computation Distributed optimization Linear matrix inequalities Primal-dual method

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Interleg coordination in free-walking bug Erthesina fullo(Hemiptera:Pentatomidae)

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Insect science 2025年第2期32卷 649-661页

作者： Qingfei Han Yuyu Chen Huan Shen Wei Wang Xuefei Liu Shikun Wen Qian Qi Zhendong Dai Zhiwei Yu Stanislav N.Gorb Aihong Ji Lab of Locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina Laboratory of Intelligent Machines School of Energy SystemsLappeenranta-Lahti University of TechnologyLappeenrantaFinland School of Marine Engineering Equipment Zhejiang Ocean UniversityZhoushanZhejiang ProvinceChina Department of Functional Morphology and Biomechanics Kiel UniversityKielGermany Jiangsu Key Laboratory of Bionic Materials and Equipment NanjingChina State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjingChina

Insects can adapt their walking patterns to complex and varied environments and retain the ability to walk even after significant changes in their physical attributes,such as *** the interleg coordination of intact insects has been widely described in previous studies,the adaptive walking patterns in free-walking insects with amputation of 1 or more legs are still *** pentatomid bug Erthesina fullo exhibits a tripod gait,when walking freely on horizontal substrates,like many other *** this study,amputations were performed on this species to investigate changes in interleg *** walking parameters were analyzed,such as the locations of touchdown and liftoff,cycle period,walking speed,and head displacement of intact and amputated *** results show that *** displays adaptive interleg coordination in response to *** 1 amputated leg,bugs changed to a 3-unit gait,whereas with 2 amputated legs they employed a wave *** data are helpful in exploring the motion mode control in walking insects and provide the theoretical basis for the gait control strategy of robots,when leg failure occurs.

关键词： gait insect interleg coordination leg amputation Pentatomidae walking

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Variable stiffness design optimization of fiber-reinforced composite laminates with regular and irregular holes considering fiber continuity for additive manufacturing

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Chinese Journal of Aeronautics 2025年第3期38卷 334-354页

作者： Yi LIU Zunyi DUAN Chunping ZHOU Yuan SI Chenxi GUAN Yi XIONG Bin XU Jun YAN Jihong ZHU School of Mechanics Civil Engineering&ArchitectureNorthwestern Polytechnical UniversityXi’an 710072China Research&Development Institute of Northwestern Polytechnical University in Shenzhen Shenzhen 518063China Key Lab for Airborne Hi-performance Electro-magnetic Window RISACJinan 130012China School of System Design and Intelligent Manufacturing Southern University of Science and TechnologyShenzhen 518055China State Key Laboratory of Structural Analysis for Industrial Equipment Department of Engineering MechanicsInternational Research Center for Computational MechanicsDalian University of TechnologyDalian 116024China State IJR Center of Aerospace Design and Additive Manufacturing MIIT Lab of Metal Additive Manufacturing and Innovative DesignNorthwestern Polytechnical UniversityXi’an 710072China

Fiber-reinforced composites are an ideal material for the lightweight design of aerospace structures. Especially in recent years, with the rapid development of composite additive manufacturing technology, the design optimization of variable stiffness of fiber-reinforced composite laminates has attracted widespread attention from scholars and industry. In these aerospace composite structures, numerous cutout panels and shells serve as access points for maintaining electrical, fuel, and hydraulic systems. The traditional fiber-reinforced composite laminate subtractive drilling manufacturing inevitably faces the problems of interlayer delamination, fiber fracture, and burr of the laminate. Continuous fiber additive manufacturing technology offers the potential for integrated design optimization and manufacturing with high structural performance. Considering the integration of design and manufacturability in continuous fiber additive manufacturing, the paper proposes linear and nonlinear filtering strategies based on the Normal Distribution Fiber Optimization (NDFO) material interpolation scheme to overcome the challenge of discrete fiber optimization results, which are difficult to apply directly to continuous fiber additive manufacturing. With minimizing structural compliance as the objective function, the proposed approach provides a strategy to achieve continuity of discrete fiber paths in the variable stiffness design optimization of composite laminates with regular and irregular holes. In the variable stiffness design optimization model, the number of candidate fiber laying angles in the NDFO material interpolation scheme is considered as design variable. The sensitivity information of structural compliance with respect to the number of candidate fiber laying angles is obtained using the analytical sensitivity analysis method. Based on the proposed variable stiffness design optimization method for complex perforated composite laminates, the numerical examples cons

关键词： Variable stiffness composite laminates Discrete material interpolation scheme Normal distribution fiber optimization Discrete fiber continuous filtering strategy Additive manufacturing of composite laminates

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Oxidation of emerging organic contaminants by in-situ H_(2)O_(2) fenton system

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Green Energy & Environment 2024年第3期9卷 417-434页

作者： Yuqin Ni Chuxiang Zhou Mingyang Xing Yi Zhou State Environmental Protection Key Lab of Environmental Risk Assessment and Control on Chemical Processes School of Resources&Environmental EngineeringEast China University of Science and TechnologyShanghai200237China Key Laboratory for Advanced Materials and Institute of Fine Chemicals National Engineering Laboratory for Industrial Wastewater TreatmentSchool of Chemistry and Molecular EngineeringEast China University of Science and Technology130 Meilong RoadShanghai200237China Department of Applied Natural Sciences Technische Hochschule LubeckMonkhofer Weg 23923562 LubeckGermany

The existence and risk of emerging organic contaminants(EOCs)have been under consideration and paid much effort to degrade these *** system is one of the most widely used technologies to solve this *** original Fenton system relies on the hydroxyl radicals produced by Fe(Ⅱ)/H_(2)O_(2) to oxidize the organic ***,the application of the Fenton system is limited by its low iron cycling efficiency and the high risks of hydrogen peroxide transportation and *** introduction of external energy(including light and electricity etc.)can effectively promote the Fe(Ⅲ)/Fe(Ⅱ)cycle and the reduction of oxygen to produce hydrogen peroxide in *** review introduces three in-situ Fenton systems,which are electro-Fenton,Photo-Fenton,and chemical *** mechanism,influencing factors,and catalysts of these three in-situ Fenton systems in degrading EOCs are discussed *** review strengthens the understanding of Fenton and in-situ Fenton systems in degradation,offering further insight into the real application of the in-situ Fenton system in the removal of EOCs.

关键词： In-situ H_(2)O_(2)production Fenton Emerging organic contaminants Photocatalysis Electrocatalysis

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Effectiveness of coal mine dust control:A new technique for preparation and efficacy of self-adaptive microcapsule suppressant

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International Journal of Mining science and technology 2022年第6期32卷 1181-1196页

作者： Bo Ren Liang Yuan Gang Zhou Shuailong Li Qunzhi Meng Kai Wang Bingyou Jiang Guofeng Yu School of Emergency Management and Safety Engineering China University of Mining and Technology–BeijingBeijing 100083China State Key Laboratory of Deep Coal Mining&Environment Protection Huainan Mining Group Co.LTD.Huainan 232001China Key Laboratory of Industrial Dust Control and Occupational Health Ministry of EducationAnhui University of Science and TechnologyHuainan 232001China College of Safety and Environmental Engineering Shandong University of Science and TechnologyQingdao 266590China Department of Civil and Environmental Engineering University of AlbertaEdmonton T6G 2R3Canada

This study aims to make full use of the agricultural waste peanut shells to lower material costs and achieve cleaner production at the same *** nanofibrils(CNF)extracted from peanut shells were mixed with acrylic acid(AA)and dimethyl diallyl ammonium chloride(DMDAAC)to prepare a new type of capsule core(dust suppressant).Then,the self-adaptive AA-DM-CNF/CA microcapsules were prepared under the action of calcium *** infrared spectroscopy and X-ray diffraction analysis results suggest that AA,DMDAAC and CNF have experienced graft copolymerization which leads to the formation of an amorphous *** scanning electron microscopy analysis results demonstrate that the internal dust suppressant can expand and break the wall after absorbing water,featuring a self-adaptive ***,the laser particle size analysis results show that the microcapsules,inside which the encapsulated dust suppressant can be observed clearly,maintain a good *** product performance experimental results reveal that the capsule core and the capsule wall achieve synergistic dust suppression,thus lengthening the dust suppression *** product boasts good dust suppression,weather resistance,degradation and synergistic combustion ***,this study,as the first report on the development and analysis of dust-suppressing microcapsules,fills in the research gap on the reaction mechanism between dust-suppressing microcapsules and coal by MS *** proposed AA-DM-CNF/CA dust-suppressing microcapsules can effectively lower the dust concentration in the space and protect the physical and mental health of coal *** general,this research provides a new insight into the structure control and performance enhancement of dust *** the application range of microcapsules is of crucial economic and social benefits.

关键词： Waste peanut shell AA-DM-CNF/CA Self-adaptive Dust suppression microcapsule Molecular dynamics simulation

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On the Approximation of the Quotient of Two Gaussian Densities for Multiple-Model Smoothing 26

On the Approximation of the Quotient of Two Gaussian Densiti...

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26th International Conference on Information Fusion, FUSION 2023

作者： Liu, Yi Li, Xi Yang, Le Mihaylova, Lyudmila Xue, Yanbo University of Canterbury Department of Electrical and Computer Engineering Christchurch New Zealand National University of Defense Technology State Key Lab of Complex Electromagnetic Environment Effects on Electronics and Information Systems Changsha China University of Sheffield Department of Automatic Control and System Engineering Sheffield United Kingdom Career Science Lab Beijing China

ISBN: (纸本)9798890344854

The quotient of two multivariate Gaussian densities can be written as an unnormalized Gaussian density, which has been applied in some recently developed multiple-model fixed-interval smoothing algorithms. However, this expression is invalid if instead of being positive definite, the covariance of the unnormalized Gaussian density is indefinite (i.e., it has both positive and negative eigenvalues) or undefined (i.e., computing it requires inverting a singular matrix). This paper considers approximating the quotient of two Gaussian densities in this case using two different approaches to mitigate the caused numerical problems. The first approach directly replaces the indefinite covariance of the unnormalized Gaussian density with a positive definite matrix nearest to it. The second approach computes the approximation through solving, using the natural gradient, an optimization problem with a Kullback-Leibler divergence-based cost function. This paper illustrates the application of the theoretical results by incorporating them into an existing smoothing method for jump Markov systems and utilizing the obtained smoothers to track a maneuvering target. © 2023 International Society of Information Fusion.

关键词： Cost functions

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Biochar technology cannot offset land carbon emissions in Guangdong province, China

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Carbon Research 2024年第1期3卷 1-14页

作者： Wang, Funing Zhou, Wenneng Wang, Xili Zhao, Qing Han, Mengjie State Key Lab of Clean Energy Utilization Institute of Carbon Neutrality State Environmental Protection Engineering Center for Coal-Fired Air Pollution Control Zhejiang University Hangzhou310027 China Jiaxing Research Institute Zhejiang University Jiaxing314000 China Guangdong Provincial Key Laboratory of Water Quality Improvement and Ecological Restoration for Watersheds School of Ecology Environment and Resources Guangdong University of Technology Guangzhou510006 China Economic & amp Information center Zhejiang310006 China Department of Earth System Science Ministry of Education Key Laboratory for Earth System Modeling Institute for Global Change Studies Tsinghua University Beijing100084 China Guangdong Key Laboratory of Integrated Agro-environmental Pollution Control and Management Institute of Eco-environmental and Soil Sciences Guangdong Academy of Sciences Guangzhou510650 China National-Regional Joint Engineering Research Center for Soil Pollution Control and Remediation in South China Guangzhou510650 China

As a highly developed region, Guangdong province has substantial industrial emissions. Its subtropical monsoon climate, characterized by abundant hydrothermal conditions, contributes to a substantial biomass potential. The adoption of potential biomass-based carbon dioxide removal (CDR) technologies, such as biochar, presents an opportunity to mitigate emissions and work towards carbon neutrality in the future. However, the current state of the land carbon balance and the CDR potential of biochar in Guangdong province remains unclear. We first calculated the land carbon balance based on inventory data. Then we estimated the CDR potential of biochar derived from agricultural residues, forestry residues, and bioenergy crops cultivated on marginal lands in Guangdong province using life cycle analysis (LCA). Results show that Guangdong province has not yet achieved carbon neutrality, with a net emission (carbon emissions remaining after offsetting by carbon sinks) of 925.63 Tg CO2e (CO2 equivalent, 1Tg = 106 t) in 2021. Emissions from energy consumption account for the highest proportion, contributing 83.8% of total emissions. In the highest biomass utilization scenario, the maximum CDR potential of biochar derived from all biomass types reaches 84.30 Tg CO2e yr-1, which could offset 9.11% of net carbon emissions in Guangdong province. Our findings provide crucial guidance for setting emission reduction targets and implementing effective mitigation strategies in Guangdong province under temperature warming. Graphical Abstract: (Figure presented.) © The Author(s) 2024.

关键词： Carbon capture and utilization

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Chiral quantum heating and cooling with an optically controlled ion

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Light(science & Applications) 2024年第7期13卷 1393-1400页

作者： Jin-Tao Bu Jian-Qi Zhang Ge-Yi Ding Jia-Chong Li Jia-Wei Zhang Bin Wang Wen-Qiang Ding Wen-Fei Yuan Liang Chen Qi Zhong Ali Keçebaş Şahin KÖzdemir Fei Zhou Hui Jing Mang Feng State Key Laboratory of Magnetic Resonance and Atomic and Molecular Physics Wuhan Institute of Physics and MathematicsInnovation Academy of Precision Measurement Science and TechnologyChinese Academy of Sciences430071 WuhanChina. University of the Chinese Academy of Sciences 100049 BeijingChina. Research Center for Quantum Precision Measurement Guangzhou Institute of Industry Technology511458 GuangzhouChina. Department of Engineering Science and Mechanics and Materials Research InstitutePennsylvania State UniversityUniversity ParkState CollegePA 16802USA. Key Laboratory of Low-Dimensional Quantum Structures and Quantum Control of Ministry of Education Department of Physics and Synergetic Innovation Center for Quantum Effects and ApplicationsHunan Normal University410081 ChangshaChina. Department of Physics Zhejiang Normal University321004 JinhuaChina

Quantum heat engines and refrigerators are open quantum systems,whose dynamics can be well understood using a non-Hermitian formalism.A prominent feature of non-Hermiticity is the existence of exceptional points(EPs),which has no counterpart in closed quantum *** has been shown in classical systems that dynamical encirclement in the vicinity of an EP,whether the loop includes the EP or not,could lead to chiral mode ***,we show that this is valid also for quantum systems when dynamical encircling is performed in the vicinity of their Liouvillian EPs(LEPs),which include the effects of quantum jumps and associated noise—an important quantum feature not present in previous *** demonstrate,using a Paul-trapped ultracold ion,the first chiral quantum heating and refrigeration by dynamically encircling a closed loop in the vicinity of an *** witness the cycling direction to be associated with the chirality and heat release(absorption)of the quantum heat engine(quantum refrigerator).Our experiments have revealed that not only the adiabaticity breakdown but also the Landau–Zener–Stückelberg process play an essential role during dynamic encircling,resulting in chiral thermodynamic *** observations contribute to further understanding of chiral and topological features in non-Hermitian systems and pave a way to exploring the relation between chirality and quantum thermodynamics.

关键词： quantum chiral dynamical

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