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arXiv 2025年

作者： Liu, Jian Sun, Wei Yang, Hui Deng, Pengchao Liu, Chongpei Sebe, Nicu Rahmani, Hossein Mian, Ajmal National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering School of Robotics State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha410082 China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China Department of Information Engineering and Computer Science University of Trento Trento38123 Italy School of Computing and Communications Lancaster University LA1 4YW United Kingdom Department of Computer Science The University of Western Australia WA6009 Australia

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization to intra-class unknown objects. However, these methods require manual collection and labeling of large-scale real-world training data. To address this problem, we introduce a diffusion-based paradigm for domain-generalized category-level 9-DoF object pose estimation. Our motivation is to leverage the latent generalization ability of the diffusion model to address the domain generalization challenge in object pose estimation. This entails training the model exclusively on rendered synthetic data to achieve generalization to real-world scenes. We propose an effective diffusion model to redefine 9-DoF object pose estimation from a generative perspective. Our model does not require any 3D shape priors during training or inference. By employing the Denoising Diffusion Implicit Model, we demonstrate that the reverse diffusion process can be executed in as few as 3 steps, achieving near real-time performance. Finally, we design a robotic grasping system comprising both hardware and software components. Through comprehensive experiments on two benchmark datasets and the real-world robotic system, we show that our method achieves state-of-the-art domain generalization performance. Our code will be made public at https://***/CNJianLiu/Diff9D. Copyright © 2025, The Authors. All rights reserved.

关键词： Augmented reality

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Velocity Control of a Bounding Quadruped via Energy Control and Vestibular Reflexes

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Journal of Bionic Engineering 2014年第4期11卷 556-571页

作者： Xin Wang Mantian Li Wei Guo Pengfei Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Department of Advanced Robotics (Fondazione) Istituto Italiano di Tecnologia Genova 16163 Italy

In this paper a bio-inspired approach of velocity control for a quadruped robot running with a bounding gait on compliant legs is set up. The dynamic properties ofa sagittal plane model of the robot are investigated. By analyzing the stable fixed points based on Poincare map, we find that the energy change of the system is the main source for forward velocity adjustment. Based on the analysis of the dynamics model of the robot, a new simple linear running controller is proposed using the energy control idea, which requires minimal task level feedback and only controls both the leg torque and ending impact angle. On the other hand, the functions of mammalian vestibular reflexes are discussed, and a reflex map between forward velocity and the pitch movement is built through statistical regression analysis. Finally, a velocity controller based on energy control and vestibular reflexes is built, which has the same structure as the mammalian nervous mechanism for body posture control. The new con- troller allows the robot to run autonomously without any other auxiliary equipment and exhibits good speed adjustment capa- bility. A series simulations and experiments were set to show the good movement agility, and the feasibility and validity of the robot system.

关键词： legged robots biologically-inspired robots biomimetics energy control vestibular reflexes

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Review and prospects on the low-voltage Na_(2)Ti_(3)O_(7) anode materials for sodium-ion batteries

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Journal of Energy Chemistry 2024年第1期88卷 446-460,I0011页

作者： Jun Dong Yalong Jiang Ruxing Wang Qiulong Wei Qinyou An Xiaoxing Zhang Hubei Key Laboratory for High-efficiency Utilization of Solar Energy and Operation Control of Energy Storage System Hubei University of TechnologyWuhan 430068HubeiChina State Key Laboratory of New Textile Materials and Advanced Processing Technologies Wuhan Textile UniversityWuhan 430200HubeiChina Xiamen Key Laboratory of High-Performance Metals and Materials College of MaterialsXiamen UniversityXiamen 361005FujianChina State Key Laboratory of Advanced Technology for Materials Synthesis and Processing Wuhan University of TechnologyWuhan 430070HubeiChina

Due to its low cost and natural abundance of sodium,Na-ion batteries(NIBs)are promising candidates for large-scale energy storage *** development of ultralow voltage anode materials is of great significance in improving the energy density of ***-voltage anode materials,however,are severely lacking in *** all the reported insertion oxides anodes,the Na_(2)Ti_(3)O_(7) has the lowest operating voltage(an average potential of 0.3 V ***^(+)/Na)and is less likely to deposit sodium,which has excellent potential for achieving NIBs with high energy densities and high *** significant progress has been made,achieving Na_(2)Ti_(3)O_(7) electrodes with excellent performance remains a severe *** paper systematically summarizes and discusses the physicochemical properties and synthesis methods of Na_(2)Ti_(3)O_(7).Then,the sodium storage mechanisms,key issues and challenges,and the optimization strategies for the electrochemical performance of Na_(2)Ti_(3)O_(7) are classified and further ***,remaining challenges and future research directions on the Na_(2)Ti_(3)O_(7) anode are *** review offers insights into the design of high-energy and high-safety NIBs.

关键词： Sodium-ion batteries Low-voltage anode materials Na_(2)Ti_(3)O_(7) Electrochemical performances Electrochemical mechanism

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A thermal perspective on battery safety

Nature Reviews Clean Technology

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Nature Reviews Clean Technology 2025年 1-14页

作者： Zhonghao Rao ( Xuning Feng ( Hebei Engineering Research Center of Advanced Energy Storage Technology and Equipment School of Energy and Environmental Engineering Hebei University of Technology Tianjin China State Key Laboratory of Intelligent Power Distribution Equipment and System Hebei University of Technology Tianjin China State Key Laboratory of Intelligent Green Vehicle and Mobility Tsinghua University Beijing China

Electrochemical energy storage is one of the primary technologies for energy storage, making batteries essential in applications such as electric vehicles and energy storage stations. For the battery itself, achieving resistance to extreme temperatures is a critical objective. However, there are no battery materials or systems that can be deemed absolutely safe or performance-temperature-independent. In this Perspective, we discuss battery safety from a thermal point of view and emphasize the importance of battery thermal management. Battery thermal management ensures that electrochemical reactions occur within an optimal temperature range, suppressing side reactions and delaying or even preventing thermal runaway. This equilibrium is essential for improving battery efficiency and extending its operational lifespan. When absolute safety cannot be assured in battery materials and systems, thermal management becomes the primary barrier to battery thermal risks. However, owing to the extremely rapid rate of exothermic side reactions, the importance of fire suppression becomes evident when thermal runaway cannot be contained, leading to fire accidents. The control of heat generation, effective thermal management and robust fire suppression strategies are key to ensure battery thermal safety and will have a crucial role in the development and large-scale application of batteries.

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Innovative design and optimization of a two-dimensional deployable nine-grid planar antenna mechanism with a flat reflection surface

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Chinese Journal of Aeronautics 2023年第11期36卷 529-550页

作者： Bo CHEN Ze JIANG Xinlu WEI Luyao GUO Xin ZHOU Yundou XU Junjie QIAN Yongsheng ZHAO Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China Space Structure and Mechanism Technology Laboratory of China Aerospace Science and Technology Group Co.Ltd Shanghai 201109China Aerospace System Engineering Shanghai Shanghai 201109China

With the development of the aerospace industry,space missions are becoming more complicated and diversified,and there is a demand for antenna mechanisms with a larger physical *** this paper,a planar deployable mechanism is proposed,which can form a flat reflection surface with a small gap between *** this end,a novel large-scale two-dimensional deployable nine-grid planar antenna mechanism is ***,two antenna folding schemes and four supporting mechanism schemes are *** comparison analysis,the antenna configuration scheme with the best comprehensive performance is selected.A kinematic model of the deployable mechanism is established,and its kinematic characteristics are ***,the correctness of the kinematic model is verified by comparing the analytical and simulation results of the kinematic ***,a finite element model of the antenna is *** on the response surface method,the structural parameters of the support rods of the antenna are optimized,and a set of optimized solutions with lightweight and high fundamental frequency characteristics are ***,a prototype of the proposed nine-grid planar antenna is *** feasibility of the deployment principle and the rationality of the designed mechanism are verified by deployment experiments.

关键词： Design optimization Kinematics Planar antenna Structural design Two-dimensional expansion

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High-performance self-powered ultraviolet to near-infrared photodetector based on WS_(2)/InSe van der Waals heterostructure

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Nano Research 2023年第5期16卷 7851-7857页

作者： Jinping Chen Zhen Zhang Yi Ma Jiying Feng Xiaoyu Xie Xiaoxuan Wang Aoqun Jian Yuanzheng Li Zhuxin Li Heng Guo Yizhi Zhu Qiannan Cui Zengliang Shi Chunxiang Xu State Key Laboratory of Bioelectronics School of Biological Science and Medical EngineeringSoutheast UniversityNanjing 210096China Micro Nano System Research Center Key Laboratory of Advanced Transducers and Intelligent Control System of the Ministry of Education&College of Information Engineering and ComputerTaiyuan University of TechnologyTaiyuan 030024China Key Laboratory of UV-Emitting Materials and Technology of Ministry of Education Northeast Normal UniversityChangchun 130024China

van der Waals heterostructures(vdWHs)based on two-dimensional(2D)materials without the crystal lattice matching constraint have great potential for high-performance optoelectronic ***,a WS_(2)/InSe vdWH photodiode is proposed and fabricated by precisely stacking InSe and WS_(2)flakes through an all-dry transfer *** WS_(2)/InSe vdWH forms an n–n heterojunction with strong built-in electric field due to their intrinsic n-type semiconductor characteristics and energy-band alignments with a large Fermi level offset between WS_(2)and *** a result,the device displays excellent photovoltaic behavior with a large open voltage of 0.47 V and a short-circuit current of 11.7 nA under 520 nm light ***,a fast rising/decay time of 63/76μs,a large light on/off ratio of 105,a responsivity of 61 mA/W,a high detectivity of 2.5×10^(11) Jones,and a broadband photoresponse ranging from ultraviolet to near-infrared(325–980 nm)are achieved at zero *** study provides a strategy for developing high-performance self-powered broadband photodetectors based on 2D materials.

关键词： two-dimensional materials van der Waals heterostructure self-powered photodetector photocurrent

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1780-km Reach Extension with Equalization-Enhanced Phase Noise Compensation Using 3-MHz LO for WDM Coherent Transmission

1780-km Reach Extension with Equalization-Enhanced Phase Noi...

引用

2024 Asia Communications and Photonics Conference, ACP 2024 and International Conference on Information Photonics and Optical Communications, IPOC 2024

作者： Zhu, Yixiao Fang, Xiansong Cai, Xiang Hu, Yimin Hu, Weisheng Zhang, Fan State Key Laboratory of Advanced Optical Communication System and Networks Shanghai Jiao Tong University Shanghai China State Key Laboratory of Advanced Optical Communication System and Networks School of Electronics Peking University Beijing China State Key Laboratory of Advanced Optical Communication System and Networks School of Electronics Shanghai Jiao Tong University Shanghai China Pengcheng Laboratory Shenzhen China

ISBN: (纸本)9798350379266

We propose and experimentally demonstrate an efficient equalization-enhanced phase noise compensation scheme for long-haul coherent transmission. The distance is extended by 1780km and 470km for 788.4-Gb/s/λ and 968.4-Gb/s/λ line rate WDM transmission, respectively, using 3-MHz LO and receiver-side dispersion compensation. © 2024 IEEE.

关键词： Dispersion compensation

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Wafer-Scale Synthesis of WS_(2)Films with In Situ Controllable p-Type Doping by Atomic Layer Deposition

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Research 2021年第1期2021卷 1424-1432页

作者： Hanjie Yang Yang Wang Xingli Zou Rongxu Bai Zecheng Wu Sheng Han Tao Chen Shen Hu Hao Zhu Lin Chen David W.Zhang Jack C.Lee Xionggang Lu Peng Zhou Qingqing Sun Edward T.Yu Deji Akinwande Li Ji State Key Laboratory of ASIC and System School of MicroelectronicsFudan UniversityShanghai 200433China State Key Laboratory of Advanced Special Steel School of Materials Science and EngineeringShanghai UniversityShanghai 200444China Microelectronics Research Center Department of Electrical and Computer EngineeringThe University of Texas at AustinAustin78758 TexasUSA

Wafer-scale synthesis of p-type TMD films is critical for its commercialization in next-generation electro/*** this work,wafer-scale intrinsic n-type WS_(2)films and in situ Nb-doped p-type WS_(2)films were synthesized through atomic layer deposition(ALD)on 8-inchα-Al_(2)O_(3)/Si wafers,2-inch sapphire,and 1 cm^(2)GaN substrate *** Nb doping concentration was precisely controlled by altering cycle number of Nb precursor and activated by ***_(2)n-FETs and Nb-doped p-FETs with different Nb concentrations have been fabricated using CMOS-compatible processes.X-ray photoelectron spectroscopy,Raman spectroscopy,and Hall measurements confirmed the effective substitutional doping with *** on/off ratio and electron mobility of WS_(2)n-FET are as high as 105 and 6.85 cm^(2)V^(-1)s^(-1),*** WS_(2)p-FET with 15-cycle Nb doping,the on/off ratio and hole mobility are 10 and 0.016 cm^(2)V^(-1)s^(-1),*** p-n structure based on n-and p-type WS_(2)films was proved with a 10^(4)rectifying *** realization of controllable in situ Nb-doped WS_(2)films paved a way for fabricating wafer-scale complementary WS_(2)FETs.

关键词： sapphire doping realization

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A Cyclic Constitutive Model Based on Crystal Plasticity for Body-Centered Cubic Cyclic Softening Metals

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Acta Mechanica Solida Sinica 2024年第1期37卷 33-42页

作者： Xuehong Ren Wenjie Zhao Shaopu Yang Guilin Wen State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan UniversityChangsha 410082China School of Mechanical Engineering Tianjin Sino-German University of Applied SciencesTianjin 300350China State Key Laboratory of Mechanical Behavior in Traffic Engineering Structure and System Safety Shijiazhuang Tiedao UniversityShijiazhuang 050043China

Under the framework of the small deformation crystal plasticity theory,a crystal plastic cyclic constitutive model for body-centered cubic(BCC)cyclic softening polycrystalline metals is *** constitutive model introduces the isotropic softening rule that includes two different mechanisms:namely softening under monotonic deformation and softening under cyclic deformation on each slip ***,a modified Armstrong-Frederick nonlinear kinematic hardening rule is *** appropriate explicit scale transition rule is selected to extend the single crystal constitutive model to the polycrystalline constitutive *** the model is used to predict the uniaxial and multiaxial ratcheting deformation of BCC axle steel EA4T to verify the rationality of the proposed *** simulation results indicate that the newly established crystal plasticity model can not only describe the cyclic softening characteristics of BCC axle steel EA4T well,but also reasonably describe the evolution laws of uniaxial ratcheting and nonproportional multiaxial ratcheting ***,the established crystal plastic cyclic constitutive model can reasonably predict the ratcheting behavior of BCC single crystal as well.

关键词： Crystal plasticity Constitutive model Softening Ratcheting

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Experimental Scheme of 633 nm and 1359 nm Good-Bad Cavity Dual-Wavelength Active Optical Frequency Standard

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Chinese Physics Letters 2015年第8期32卷 57-61页

作者：许志超潘多庄伟陈景标 State Key Laboratory of Advanced Optical Communication System and Network Institute of Quantum Electronics School of Electronics Engineering & Computer Science Peking University Beijing 100871 National Institute of Metrology Beijing 100013

The experimental scheme of 633 nm and 1359 nm good-bad cavity dual-wavelength active optical frequency stan- dard is proposed, where He-Ne 633nm and Cs 1359nm stimulated emissions are working at good-cavity and bad-cavity regimes, respectively. The cavity length is stabilized by locking the 633nm output frequency to a super-cavity with the Pound Drever-Hall （PDH） technique. The frequency stability of 1359 nm bad-cavity stim- ulated emission output is then expected to be further improved by at least 1 order of magnitude than the 633nm PDH system due to the suppressed cavity pulling effect of active optical clock, and the quantum limited linewidth of 1359nm output is estimated to be 72.5 mHz.

关键词： length Experimental Scheme of 633 nm and 1359 nm Good-Bad Cavity Dual-Wavelength Active Optical Frequency Standard

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