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arXiv 2023年

作者： Yu, Xuan Liu, Yili Mao, Sitong Zhou, Shunbo Xiong, Rong Liao, Yiyi Wang, Yue The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China College of Information Science and Electronic Engineering Zhejiang University Hangzhou China Huawei Cloud Computing Technologies Co. Ltd. Shenzhen China

LiDAR Mapping has been a long-standing problem in robotics. Recent progress in neural implicit representation has brought new opportunities to robotic mapping. In this paper, we propose the multi-volume neural feature fields, called NF-Atlas, which bridge the neural feature volumes with pose graph optimization. By regarding the neural feature volume as pose graph nodes and the relative pose between volumes as pose graph edges, the entire neural feature field becomes both locally rigid and globally elastic. Locally, the neural feature volume employs a sparse feature Octree and a small MLP to encode the signed distance function (SDF) of the submap with an option of semantics. Learning the map using this structure allows for end-to-end solving of maximum a posteriori (MAP) based probabilistic mapping. Globally, the map is built volume by volume independently, avoiding catastrophic forgetting when mapping incrementally. Furthermore, when a loop closure occurs, with the elastic pose graph based representation, only updating the origin of neural volumes is required without remapping. Finally, these functionalities of NF-Atlas are validated. Thanks to the sparsity and the optimization based formulation, NF-Atlas shows competitive performance in terms of accuracy, efficiency and memory usage on both simulation and real-world datasets. The project page is: https://***/NFAtlas/ Copyright © 2023, The Authors. All rights reserved.

关键词： Mapping

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Cold start control of solid oxide fuel cell-internal combustion engine system 5

Cold start control of solid oxide fuel cell-internal combust...

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5th CAA International Conference on Vehicular control and Intelligence, CVCI 2021

作者： Xu, Zhiyao Zhang, Yu Hou, Shengyan Gao, Bingzhao Gao, Jinwu Jilin University State Key Laboratory of Automotive Simulation and Control Department of Control Science Changchun China Suzhou Zhito Technology Co. Ltd. Suzhou China Clean Energy Automotive Engineering Center Tongji University Shanghai China

ISBN: (纸本)9781665408462

A solid oxide fuel cell (SOFC)-internal combustion engine (ICE) hybrid system is a recently-proposed distributed electric power generation system to achieve extremely high efficiency beyond that of current technologies. Unlike spark ignition (SI) engine, SOFC usually takes an hour to be warmed before working. In this work, an electrical heater is used to preheat SOFC and the power comes from ICE. Considering the hybrid system might frequently start and stop over several days, the economy of SOFC cold start is necessarily optimized. This paper establishes a simplified thermal model of SOFC-ICE system for SOFC cold start using MATLAB. The thermal dynamics is analyzed to improve the fuel economy with an equivalent fuel consumption minimum control strategy (ECMS) algorithm. © 2021 IEEE.

关键词： Fuel economy

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Quantum Approximate Optimization Algorithm in Non-Markovian Quantum Systems

arXiv

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arXiv 2022年

作者： Yue, Bo Xue, Shibei Pan, Yu Jiang, Min Department of Automation Shanghai Jiao Tong University The Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou310027 China School of Electronics and Information Engineering Soochow University Suzhou215006 China

Although quantum approximate optimization algorithm (QAOA) has demonstrated its quantum supremacy, its performance on Noisy Intermediate-Scale Quantum (NISQ) devices would be influenced by complicated noises, e.g., quantum colored noises. To evaluate the performance of QAOA under these noises, this paper presents a framework for running QAOA on non-Markovian quantum systems which are represented by an augmented system model. In this model, a non-Markovian environment carrying quantum colored noises is modelled as an ancillary system driven by quantum white noises which is directly coupled to the corresponding principal system;i.e., the computational unit for the algorithm. With this model, we mathematically formulate QAOA as piecewise Hamiltonian control of the augmented system, where we also optimize the control depth to fit into the circuit depth of current quantum devices. For efficient simulation of QAOA in non-Markovian quantum systems, a boosted algorithm using quantum trajectory is further presented. Finally, we show that non-Markovianity can be utilized as a quantum resource to achieve a relatively good performance of QAOA, which is characterized by our proposed exploration rate. Copyright © 2022, The Authors. All rights reserved.

关键词： White noise

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Development of surface reconstruction algorithms for optical interferometric measurement

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Frontiers of Mechanical engineering 2021年第1期16卷 1-31页

作者： Dongxu WU Fengzhou FANG Centre of Micro/Nano Manufacturing Technology(MNMT-Dublin) University College DublinDublin 4Ireland School of Control Engineering Northeastern University at QinhuangdaoQinhuangdao 066004China State Key Laboratory of Precision Measuring Technology and Instruments Centre of Micro/Nano Manufacturing Technology(MNMT)Tianjin UniversityTianjin 300072China

Optical interferometry is a powerful tool for measuring and characterizing areal surface topography in precision manufacturing.A variety of instruments based on optical interferometry have been developed to meet the measurement needs in various applications,but the existing techniques are simply not enough to meet the ever-increasing requirements in terms of accuracy,speed,robustness,and dynamic range,especially in on-line or on-machine *** paper provides an in-depth perspective of surface topography reconstruction for optical interferometric ***,configurations,and applications of typical optical interferometers with different capabilities and limitations are *** background and recent advances of fringe analysis algorithms,including coherence peak sensing and phase-shifting algorithm,are *** new developments in measurement accuracy and repeatability,noise resistance,self-calibration ability,and computational efficiency are *** paper also presents the new challenges that optical interferometry techniques are facing in surface topography *** address these challenges,advanced techniques in image stitching,on-machine measurement,intelligent sampling,parallel computing,and deep learning are explored to improve the functional performance of optical interferometry in future manufacturing metrology.

关键词： surface topography measurement optical interferometry coherence envelope phase-shifting algorithm

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NanoNeRF: Robot-assisted Nanoscale 360° reconstruction with neural radiance field under scanning electron microscope

NanoNeRF: Robot-assisted Nanoscale 360° reconstruction with...

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

作者： Xiang Fu Yifan Xu Shudong Wang Haojian Lu Jiaqi Li Youfu Li Hu Su Song Liu School of Information Science and Technology ShanghaiTech University Shanghai China School of Electrical Engineering Xian Jiaotong University and With State Key Laboratory of Electrical Insulation and Power Equipment Xi an School of the College of Control Science and Engineering Zhejiang University China Institute of Cyber-Systems and Control Hangzhou Department of Mechanical Engineering City University of Hong Kong Kowloon HK Institute of Automation Chinese Academy of Sicence Beijing China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The pursuit of 3D reconstruction from 2D images for nanomanipulation under scanning electron microscopy stands as a critical research endeavor. Previous methods either necessitates additional lighting which is difficult in standard SEM devices or relies on feature matching with low resolution and precision, further constraining reconstruction performance. In this paper, we propose a novel robot-assisted nanoscale 360° reconstruction approach, which simplifies SEM setups and maximizes the utilization of robot motion and feedback. By harnessing a nanorobotic system, we capture 360°multi-view images automatically with precise mapping information and camera postures. Sequentially, neural radiance field reconstruct the pixel-wise structure and synthesizing images from diverse perspectives. Experimental results using two real datasets demonstrates our approach’s efficacy, achieving PSNR of 28.1 and SSIM of 0.93 for nanotube reconstruction, and PSNR of 32.8 and SSIM of 0.98 for AFM cantilever reconstruction. These results validate the reliability and robustness of our proposed robot-assisted reconstruction method.

关键词： Robot motion Scanning electron microscopy Three-dimensional displays Robot kinematics Robot vision systems Neural radiance field Robustness Nanoscale devices Image reconstruction Standards

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Evolution Law of Frost-Heaving Pressure of Frozen Circles in Surrounding Rock around Water-Rich Tunnels in Cold Regions

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Zhongguo Gonglu Xuebao/China Journal of Highway and Transport 2022年第9期35卷 340-351页

作者： Zheng, Xin-Yu Xu, Fei Sun, Hao-Kai Gao, Yang Wei, Li-Yuan Geotechnical and Structural Engineering Research Center Shandong University Shandong Jinan250061 China Key Laboratory of Large Structure Health Monitoring and Control Shijiazhuang Tiedao University Hebei Shijiazhuang050043 China State Key Laboratory for Geomechanics & Deep Underground Engineering China University of Mining and Technology Jiangsu Xuzhou221116 China School of Civil Engineering Southwest Jiaotong University Sichuan Chengdu610031 China

The frost-heaving evolution mechanism of frozen circles in surrounding rock around water-rich tunnel is a key scientific problem that affects the operation safety in cold regions. To explore the evolution law of frost-heaving pressure in frozen circles in such surrounding rock, scaled three-dimensional geomechanical model tests were carried out. In these tests, freezing of a water-bearing surrounding rock at low temperature was considered. The temperature field distribution characteristics of surrounding rock at the tunnel portal section was simulated by introducing ambient air into the tunnel for cooling. Micro-pressure sensors were employed to dynamically monitor the frost-heaving pressure in real time. The spatial and temporal evolution curves of the frost-heaving pressure were obtained for various water content and thickness in surrounding rock. The fitting formulas for parameters such as the frost-heaving rate of surrounding rock, thickness of the frozen circles, and water content were established utilizing multiple regression analysis. Based on this, a theoretical solution for the frost-heaving pressure of the frozen circles in surrounding rock under plain strain state was derived considering the influence of water content and proportion index of surrounding rock. The thermal stress method was used to simulate the evolution characteristics of frost-heaving pressure. Combined with numerical simulations, the test method and theoretical solution were further verified by comparing the predicted frost-heaving pressure with the theoretical and test values. The results indicate that the temperature field of surrounding rock undergoes changes in three stages. This is similar to a regular spoon with a handle-like evolution process;the temperature field of the water-bearing surrounding rock exhibits a non-linear distribution in the descending stage;the temperature field of surrounding rock shows a lagging characteristic relative to the environmental temperature. The sha

关键词： Temperature

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Elevated Co2 Exacerbates Effects of Tio2 Nanoparticles on Rice (Oryza Sativa L. Cv. Yongyou) Leaf Transcriptome and Soil Bacteria

SSRN

引用

SSRN 2022年

作者： Ma, Wenqian Du, Wenchao Gu, Kaihua Xu, Meiling Yin, Ying Sun, Yuanyuan Wu, Jichun Zhu, Jianguo Guo, Hongyan State Key Laboratory of Pollution Control and Resource Reuse School of Environment Nanjing University Nanjing210023 China School of Environment Nanjing Normal University Nanjing210023 China State Key Laboratory of Pollution Control and Resource Reuse Key Laboratory of Surficial Geochemistry School of Earth Sciences and Engineering Nanjing University Nanjing210023 China State Key Laboratory of Soil and Sustainable Agriculture Institute of Soil Science Chinese Academy of Science Nanjing210008 China

Elevated CO 2 affects the plant rhizosphere and can therefore affect the fate and toxicity of soil contaminants. However, little is known about how elevated CO 2 affects the responses of plants and their associated soil bacteria to nanoparticles. A free-air CO 2 enrichment system with two CO 2 levels (ambient, 370 μ mol/mol;elevated, 570 μ mol/mol) was used to investigate the responses of rice ( Oryza Sativa L. cv. Yongyou) and soil bacteria to titanium dioxide nanoparticles (nano-TiO 2 , 0 and 200 mg kg −1 ). Results showed that nano-TiO 2 alone did not significantly affect rice growth but affected soil bacteria involved in the carbon and sulfur cycles. Elevated CO 2 alone increased rice plant biomass and up-regulated genes related to ribosomes, but its combination with nano-TiO 2 down-regulated genes related to photosynthesis and photosynthetic antennae. Elevated CO 2 also exacerbated the disturbance by nano-TiO 2 to soil bacteria involved in carbon and nitrogen cycles. The rice cultivars were shown a decisive factor affecting rice response to elevated CO 2 and nano-TiO 2 . These findings provide a reference for screening high-quality varieties to better adapt to climate change and soil pollution. © 2022, The Authors. All rights reserved.

关键词： TiO2 nanoparticles

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Towards Precise 3D Human Pose Estimation with Multi-Perspective Spatial-Temporal Relational Transformers

arXiv

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arXiv 2024年

作者： Jiao, Jianbin Cheng, Xina Chen, Weijie Yin, Xiaoting Shi, Hao Yang, Kailun School of Artificial Intelligence Xidian University China State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University China School of Robotics Hunan University China National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University China

3D human pose estimation captures the human joint points in three-dimensional space while keeping the depth information and physical structure. That is essential for applications that require precise pose information, such as human-computer interaction, scene understanding, and rehabilitation training. Due to the challenges in data collection, mainstream datasets of 3D human pose estimation are primarily composed of multi-view video data collected in laboratory environments, which contains rich spatial-temporal correlation information besides the image frame content. Given the remarkable self-attention mechanism of transformers, capable of capturing the spatial-temporal correlation from multi-view video datasets, we propose a multi-stage framework for 3D sequence-to-sequence (seq2seq) human pose detection. Firstly, the spatial module represents the human pose feature by intra-image content, while the frame-image relation module extracts temporal relationships and 3D spatial positional relationship features between the multi-perspective images. Secondly, the self-attention mechanism is adopted to eliminate the interference from non-human body parts and reduce computing resources. Our method is evaluated on Human3.6M, a popular 3D human pose detection dataset. Experimental results demonstrate that our approach achieves state-of-the-art performance on this dataset. The source code will be available at https://***/WUJINHUAN/3D-human-pose. Copyright © 2024, The Authors. All rights reserved.

关键词： Human computer interaction

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EnsembleFollower: A Hybrid Car-Following Framework Based On Reinforcement Learning and Hierarchical Planning

arXiv

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arXiv 2023年

作者： Han, Xu Chen, Xianda Zhu, Meixin Cai, Pinlong Zhou, Jianshan Chu, Xiaowen Guangzhou China Guangzhou China Guangdong Provincial Key Lab of Integrated Communication Sensing and Computation for Ubiquitous Internet of Things China The Shanghai Artificial Intelligence Laboratory Shanghai China State Key Laboratory of Intelligent Transportation Systems Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems & Safety Control School of Transportation Science and Engineering Beihang University Beijing100191 China

Car-following models have made significant contributions to our understanding of longitudinal driving behavior. However, they often exhibit limited accuracy and flexibility, as they cannot fully capture the complexity inherent in car-following processes, or may falter in unseen scenarios due to their reliance on confined driving skills present in training data. It is worth noting that each car-following model possesses its own strengths and weaknesses depending on specific driving scenarios. Therefore, we propose EnsembleFollower, a hierarchical planning framework for achieving advanced human-like car-following. The EnsembleFollower framework involves a high-level Reinforcement Learning-based agent responsible for judiciously managing multiple low-level car-following models according to the current state, either by selecting an appropriate low-level model to perform an action or by allocating different weights across all low-level components. Moreover, we propose a jerk-constrained kinematic model for more convincing car-following simulations. We evaluate the proposed method based on real-world driving data from the HighD dataset. The experimental results illustrate that EnsembleFollower yields improved accuracy of human-like behavior and achieves effectiveness in combining hybrid models, demonstrating that our proposed framework can handle diverse car-following conditions by leveraging the strengths of various low-level models. Copyright © 2023, The Authors. All rights reserved.

关键词： Motion planning

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Efficient Degradation of Ciprofloxacin in Wastewater by Cufe2O4/Cus Photocatalyst Activated Peroxynomosulfate

SSRN

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SSRN 2023年

作者： Jia, Xinyu Zhang, Jinhui Huang, Qinglin Xiong, Chunyu Ji, Haixia Ren, Qifang Jin, Zhen Chen, Shaohua Wanmi, Guo Jing, Chen Ge, Yao Ding, Yi Anhui Advanced Building Materials Engineering Laboratory Anhui Jianzhu University Anhui Hefei230601 China Anhui Provincial Key Laboratory of Environmental Pollution Control and Resource Reuse Anhui Jianzhu University China Key Laboratory of Huizhou Architecture in Anhui Province Anhui Jianzhu University Anhui Hefei230022 China State Key Laboratory of Silica Sand Resources Utilization Anhui Hefei230022 China

In this study, CuFe2O4/CuS composite photocatalysts were successfully synthesized for the activation of peroxynomosulfate to remove ciprofloxacin from wastewater. The structural composition and morphology of the materials were analyzed by XRD, SEM, TEM and Raman spectroscopy. The electrochemical properties of the samples were tested by electrochemical workstation. The band gap of the samples was calculated by DFT and compared with the experimental values. The effects of different catalysts, oxidant PMS concentration and coexisting ions on the experiments were investigated. The reusability and stability of the photocatalysts were also investigated. The mechanism of the photocatalytic degradation process was proposed based on the free radical trapping experiment. The intermediates in the degradation process were tested by liquid chromatography-mass spectrometry (LC-MS), and the molecular structure characteristics of ciprofloxacin were analyzed by combining with DFT calculations, and the possible degradation pathways of pollutants were proposed. This study reveals the important application of the photocatalyst CuFe2O4/CuS in the activation of PMS for the degradation of ciprofloxacin wastewater. © 2023, The Authors. All rights reserved.

关键词： Antibiotics

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