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4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019

作者： Xue, Hongxiang Wen, Shuhuan Yang, Chao Liu, Huaping Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Qinhuangdao066004 China Department of Computer Science and Technology State Key Laboratory of Intelligent Technology and System Tsinghua National Laboratory for Information Science and Technology Tsinghua University Beijing100084 China

ISBN: (纸本)9781728100647

Trajectory generation is a fundamental problem for successful robotic grasping. However, most of the existing work dealt with this problem using supervised learning with a prescribed model. It prevents the developed grasp strategies from being used for new unknown scenarios. In this paper, inspired by the success of the reinforcement learning method, we developed a new method which optimizes grasp trajectories using a policy search method. An important advantage of the proposed method is that the complicated 3D model could be used to generate the multi-dimensional grasp configurations. The developed algorithm has been validated on some typical robotic hand. The experimental results show that the proposed method achieves excellent performance. © 2019 IEEE.

关键词： Trajectories

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Sledge: Towards Efficient Live Migration of Docker Containers

Sledge: Towards Efficient Live Migration of Docker Container...

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IEEE International Conference on Cloud Computing, CLOUD

作者： Bo Xu Song Wu Jiang Xiao Hai Jin Yingxi Zhang Guoqiang Shi Tingyu Lin Jia Rao Li Yi Jizhong Jiang National Engineering Research Center for Big Data Technology and System Services Computing Technology and System Lab Cluster and Grid Computing Lab School of Computer Science and Technology Huazhong University of Science and Technology Wuhan China State Key Laboratory of Intelligent Manufacturing System Technology Beijing China The University of Texas at Arlington Arlington TX USA Alibaba Cloud Computing Co. Ltd. Hangzhou China

ISBN: (数字)9781728187808

ISBN: (纸本)9781728187815

Modern large-scale cloud platforms require live migration technique on Docker containers with stateful workload to support load balancing, host maintenance, and Quality of Service (QoS) improvement. Efficient and scalable Docker live migration is expected to guarantee the component-integrity (image, runtime, and management context) with negligible downtime. In this paper, we present a highly efficient live migration system called Sledge, which ensures the component-integrity by integrating both images and management context during runtime migration. The key insight is that the layered image can be leveraged to reduce the migration overhead, and appropriately selective migration of management context will effectively improve QoS with negligible downtime. To achieve good scalability, a lightweight container registry mechanism for end-to-end image migration is designed to avoid the redundant layers transmission. In addition, a dynamic context loading scheme is proposed to precisely load the management context into the running daemon, which can significantly reduce downtime. Experiments show that, compared with the state-of-the-art, Sledge reduces 57% of total migration time, 55% of image migration time, and 70% downtime.

关键词： Cloud computing Runtime Scalability Loading Quality of service Containers Maintenance engineering

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Stable Self-Charged Perovskite Quantum Rods for Liquid Laser with Near-Zero Threshold

arXiv

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arXiv 2025年

作者： Li, Jialu Han, Xue Wang, Wenjie Wang, Jinhui Zhang, Tingting Wu, Yuting Zhang, Guofeng Li, Bin Yang, Changgang Guo, Wenli Zhang, Mi Chen, Ruiyun Qin, Chengbing Hu, Jianyong Yang, Zhichun Liu, Shaoding Wang, Yue Gao, Yunan Ma, Jie Xiao, Liantuan Jia, Suotang State Key Laboratory of Quantum Optics Technologies and Devices Institute of Laser Spectroscopy Collaborative Innovation Center of Extreme Optics Shanxi University Taiyuan030006 China Key Lab of Advanced Transducers and Intelligent Control System of Ministry of Education Taiyuan University of Technology 79 Yingze Street Taiyuan030024 China School of Microelectronics College of Materials Science and Engineering Nanjing University of Science and Technology Nanjing210094 China State Key Laboratory for Mesoscopic Physics and Frontiers Science Center for Nano-optoelectronics School of Physics Peking University Beijing100871 China

Colloidal quantum dots (QDs) are promising optical gain materials that require further threshold reduction to realize their full potential. While QD charging theoretically reduces the threshold to zero, its effectiveness has been limited by strong Auger recombination and unstable charging. Here we theoretically reveal the optimal combination of charging number and Auger recombination to minimize the lasing threshold. Experimentally, we develop stable self-charged perovskite quantum rods (QRs) as an alternative to QDs via state engineering and Mn-doping strategy. An unprecedented two-order-of-magnitude reduction in nonradiative Auger recombination enables QRs to support a sufficient charging number of up to 6. The QR liquid lasing is then achieved with a near-zero threshold of 0.098 using quasi-continuous pumping of nanosecond pulses, which is the lowest threshold among all reported QD lasers. These achievements demonstrate the potential of the specially engineered QRs as an excellent gain media and pave the way for their prospective applications. Copyright © 2025, The Authors. All rights reserved.

关键词： Optical pumping

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A TPAA-SBFE Based Partitioning Algorithm for Structural Viscoelastic Dynamic Analysis With Cyclic Symmetry

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International Journal for Numerical Methods in Engineering 2025年第11期126卷

作者： Yang Yu Chongshuai Wang Ean Tat Ooi Sundararajan Natarajan Haitian Yang State Key Laboratory of Structural Analysis Optimization and CAE Software for Industrial Equipment Department of Engineering Mechanics International Research Centre for Computational Mechanics Dalian University of Technology Dalian China College of Civil Engineering Jilin Jianzhu University Changchun China State Key Laboratory of Intelligent Power Distribution Equipment and System School of Electrical Engineering Hebei University of Technology Tianjin China Institute of Innovation Science and Sustainability Federation University Australia Ballarat Australia Integrated Modelling and Simulation Lab Department of Mechanical Engineering Indian Institute of Technology Chennai India

An innovative and efficient reduced order algorithm is proposed for the dynamic analysis of 2-D and 3-D viscoelastic structures featuring cyclic symmetry, which is applicable to complete cyclically symmetric structures with or without common nodes, as well as incomplete cyclically symmetric structures. The proposed algorithm is developed on a recursive platform based on TPAA-SBFEM and inherits all the advantages of TPAA-SBFEM. For complete cyclically symmetric structures with or without common nodes, the global stiffness and mass matrices are proved to be block-circulant and can be generated via a cyclically symmetric part instead of the whole domain. And then a recursive partitioning algorithm is rendered, such that the solution scale and computational cost can be efficiently reduced via solving a series of independent problems with small scales. For incomplete cyclically symmetric structures, the complete cyclic symmetry and Woodbury formula are utilized to reduce computational expense. Four numerical examples are provided to elucidate the effectiveness and efficiency of the proposed approach with satisfactory results.

关键词： cyclically symmetric dynamic analysis partitioning algorithm scaled boundary finite element method (SBFEM) viscoelasticity Woodbury formula

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Several classes of linear codes with few weights derived from Weil sums

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Finite Fields and Their Applications 2025年 108卷

作者： Zhao Hu Mingxiu Qiu Nian Li Xiaohu Tang Liwei Wu Key Laboratory of Intelligent Sensing System and Security (Hubei University) Ministry of Education the Hubei Provincial Engineering Research Center of Intelligent Connected Vehicle Network Security School of Cyber Science and Technology Hubei University Wuhan 430062 China State Key Laboratory of Integrated Service Networks Xi'an 710071 China Hubei Key Laboratory of Applied Mathematics Faculty of Mathematics and Statistics Hubei University Wuhan 430062 China Information Coding & Transmission Key Lab of Sichuan Province CSNMT Int. Coop. Res. Centre (MoST) Southwest Jiaotong University Chengdu 610031 China Wuhan Maritime Communication Research Institute China

Linear codes with few weights have applications in secret sharing, authentication codes, association schemes and strongly regular graphs. In this paper, several classes of t -weight linear codes over F q are presented with the defining sets given by the intersection, difference and union of two certain sets, where t = 3 , 4 , 5 , 6 and q is an odd prime power. By using Weil sums and Gauss sums, the parameters and weight distributions of these codes are determined completely. Moreover, three classes of optimal codes meeting the Griesmer bound are obtained, and computer experiments show that many (almost) optimal codes can be derived from our constructions.

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Development of an assist upper limb exoskeleton for manual handling task

Development of an assist upper limb exoskeleton for manual h...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Yan, Zefeng Yi, Haoyuan Du, Zihao Huang, Tiantian Han, Bin Zhang, Lufeng Peng, Ansi Wu, Xinyu State Key Laboratory of Digital Manufacturing Equipment and Technology School of Mechanical Science and Engineering Huazhong University of Science and Technology China CAS Key Laboratory of Human-Manchine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Science Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China

ISBN: (纸本)9781728163215

In this paper we describe the construction of a wearable upper arm exoskeleton to provide support for industrial workers who engaged in repetitive handling tasks and patients who full or partial loss of function in their upper limb due to accident injuries, spinal cord and strokes. We use flexible rope driven by a motor to realize the shoulder and elbow joints linkage, use ball screw to realize the self-locking in any position to providing assist for users. This novel design not only saves energy but also make the whole system portable. The total weight of the prototype is only 2 kg. The exoskeleton is connected upper limb with 3 bandages, and users take about 30 seconds to put it on and 20 seconds to put the exoskeleton off without any help. The PD adaptive control method is applied to the proposed exoskeleton to track expected trajectories. Five healthy people participated in data acquisition. Upper limb muscle integrated electromyography (IEMG) of the deltoid muscle(DM), the biceps femoris muscle (BFW), the femoral muscle (FM), the femoral wrist flexor (FWF) were compared in continuous handling for four different loads (0, 1.5, 3, 4.5kg). The average assistance efficiency were 39.1%, 41.5%, 36.5% and 40.6% for the DM, BFM, FM and FWF respectively. The experimental data show that the upper limb exoskeleton can provide assist for workers and protect their upper limbs injuries in long-term handling task. © 2019 IEEE.

关键词： Muscle

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Broadband Electromagnetic Wave Tunneling with Transmuted Material Singularity

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Physical Review Letters 2020年第20期125卷 207401-207401页

作者： Yichao Liu Fei Sun Yibiao Yang Zhihui Chen Jianzhong Zhang Sailing He Yungui Ma Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi Province College of Physics and Optoelectronics Taiyuan University of Technology Taiyuan 030024 China State Key Lab of Modern Optical Instrumentation Centre for Optical and Electromagnetic Research College of Optical Science and Engineering International Research Center for Advanced Photonics Zhejiang University Hangzhou 310058 China Department of Electromagnetic Engineering School of Electrical Engineering Royal Institute of Technology (KTH) S-100 44 Stockholm Sweden

Subwavelength channels filled with near-zero-index (NZI) media can realize extraordinary optical functionalities, for example, tunneling electromagnetic wave without reflections, but usually confined in a narrow wavelength band due to the material singularity (refractive index n≈0), which seriously limits the practical potentials. In this Letter, we show this limit can be fundamentally overcome by an alternative, named near-zero-index-featured (NZIF) structure, with the singularity transmuted via a controlled optical conformal mapping, enabling the device implementation with nonmagnetic normal dielectrics (i.e., relative permittivity >1). Their equivalence is strictly examined through a subwavelength tunneling waveguide. Classic wave tunneling features in a broad frequency range are revealed in various confined geometries. These properties are robust against the disturbance of several kinds of structural defects benefited from the infinite effective local wavelength. The broadband and lossless NZIF medium proposed here provides a promising way to pursue the fascinating light controlling functionalities as initially enabled by singular NZI materials.

关键词： Transformation optics Waveguides

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Real-world Robot Reaching Skill Learning Based on Deep Reinforcement Learning

Real-world Robot Reaching Skill Learning Based on Deep Reinf...

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第32届中国控制与决策会议

作者： Naijun Liu Tao Lu Yinghao Cai Rui Wang Shuo Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences Center for Excellence in Brain Science and Intelligence Technology of the Chinese Academy of Sciences

Traditional programming method can achieve certain manipulation tasks with the assumption that robot environment is known and ***,with robots gradually applied in more domains,robots often encounter working scenes which are complicated,unpredictable,and *** overcome the limitation of traditional programming method,in this paper,we apply deep reinforcement learning(DRL) method to train robot agent to obtain skill *** policy trained with DRL on real-world robot is time-consuming and costly,we propose a novel and simple learning paradigm with the aim of training physical robot ***,our method train a virtual agent in an simulated environment to reach random target position from random initial ***,virtual agent trajectory sequence obtained with the trained policy,is transformed to real-world robot command with coordinate transformation to control robot performing reaching *** show that the proposed method can obtain self-adaptive reaching policy with low training cost,which is of great benefits for developing intelligent and robust robot manipulation skill system.

关键词： Robot reaching skill learning deep reinforcement learning

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Adaptive Neural Network Control for a Lower-Limb Exoskeleton using Variable Stiffness Transferring

Adaptive Neural Network Control for a Lower-Limb Exoskeleton...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Longbin Zhang Yingbai Hu Hang Su Jiehao Li Salih Ertug Ovur KTH MoveAbility Lab and KTH BioMEx Center KTH Royal Institute of Technology Stockholm Sweden Technical University of Munich Munich Germany Politecnico di Milano Milano Italy State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Lower-limb exoskeletons are increasingly used in gait assistance applications to assist patients with locomotive disorders in rehabilitation and daily life. To provide assistance based on the user's variable joint stiffness with human-like characteristics is a growing and challenging field. This paper proposed an adaptive controller for a lower-limb exoskeleton with time-varying delay using variable stiffness transferring strategy. Neural network compensation was applied to estimate the nonlinearity caused by the time-varying delay and the model uncertainties in the lower-limb exoskeleton systems. To compensate for the delay, an integral Lyapunov function was introduced and an adaptive Lyapunov-based control structure was constructed. In the controller design, a variable stiffness transferring strategy was integrated and the stiffness was transferred from an able-bodied individual estimated with muscle forces and musclotendinous stiffness. By utilizing the proposed adaptive neural network control strategy and adaptive Lyapunov-based control structure, the global stability of lower-limb exoskeleton system was guaranteed and the tracking errors converged to the zero. The proposed control strategy was validated on 2-DOFs knee and ankle lower limb exoskeleton in simulation, demonstrating effective results in trajectories tracking, and thus is crucial for determining strategies for exoskeleton control.

关键词： Exoskeletons Robots Muscles Adaptive systems Force Mathematical model Mechatronics

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Globally optimal consensus maximization for robust visual inertial localization in point and line map

Globally optimal consensus maximization for robust visual in...

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2020 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Yanmei Jiao Yue Wang Bo Fu Qimeng Tan Lei Chen Minhang Wang Shoudong Huang Rong Xiong State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou P.R. China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing P.R. China Minhang Wang is with the Application Lab Huawei Incorporated Company P.R. China Shoudong Huang is with the Center for Autonomous Systems (CAS) the University of Technology Sydney Australia

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose from a set of 3D-2D feature correspondences, of which the main challenge is the presence of outliers, especially in changing environment. In this paper, we propose a robust solution based on efficient global optimization of the consensus maximization problem, which is insensitive to high percentage of outliers. We first introduce translation invariant measurements (TIMs) for both points and lines to decouple the consensus maximization problem into rotation and translation subproblems, allowing for a two-stage solver with reduced search space. Then we show that (i) the rotation can be estimated by minimizing TIMs using only 1-dimensional branch-and-bound (BnB), (ii) the translation can be estimated by running 1-dimensional search for each of the three axes with prioritized progressive voting. Compared with the popular randomized solver, our solver achieves deterministic global convergence without requiring an initial value. Furthermore, ours is exponentially faster compared with existing BnB based methods. Finally, our experiments on both simulation and real-world datasets demonstrate that the proposed method gives accurate pose estimation even in the presence of 90% outliers (only 2 inliers).

关键词： Location awareness Visualization Pose estimation Search problems state estimation Optimization Rotation measurement

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