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6th IEEE International Conference on Pattern Recognition and Artificial Intelligence, PRAI 2023

作者： Wang, You Wang, Zehao Wang, Jingchuan Guo, Rui Xiao, Peng Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Institute of Medical Robotics and Department of Automation Shanghai200240 China State Grid Intelligence Technology CO. LTD China

ISBN: (纸本)9798350325485

The motion primitive-based state lattice trajectory planning method has been widely used in the field of trajectory planning. However, due to the limitations of the search space and resolution of motion primitives, and the lack of consideration of scenario information during offline generation of motion primitives, the tractor-Trailer vehicles can easily fall into "jackknife phenomenon"when making large pose adjustments in narrow scenarios, which brings dilemma for trajectory planning. In this paper, a trajectory planning algorithm is proposed based on a general model of tractor-Trailer vehicle, which combines global planning and local optimization. The method first generates a series of motion primitives, including forward and backward driving conditions, and then an A based global state lattice planner is used to obtain a planning result, which is imported as the initial solution into the local trajectory optimizer based on PI2-CMA (Path Integral Policy Improvement with Covariance Matrix Adaptation) algorithm and dynamic potential method. Experiments show that this method significantly improves the performance in the obstacle avoidance, "jackknife phenomenon"avoidance and curvature compared to traditional motion primitive-based state lattice planning methods. © 2023 IEEE.

关键词： Trajectories

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10-Hertz squeezed light source generation on the cesium D_(2)line using single photon modulation

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Frontiers of physics 2023年第3期18卷 167-174页

作者： Guan-Hua Zuo Yu-Chi Zhang Gang Li Peng-Fei Zhang Peng-Fei Yang Yan-Qiang Guo Shi-Yao Zhu Tian-Cai Zhang State Key Laboratory of Quantum Optics and Quantum Optics Devices Collaborative Innovation Center of Extreme OpticsInstitute of Opto-ElectronicsShanxi UniversityTaiyuan 030006China College of Physics and Electronic Engineering Shanxi UniversityTaiyuan 030006China Department of Physics Zhejiang UniversityHangzhou 310027China Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi ProvinceCollege of Physics and OptoelectronicsTaiyuan University of TechnologyTaiyuan 030024China

Generation of squeezed light source is a promising technique to overcome the standard quantum limit in precision ***,we demonstrate an experimental generation of quadrature squeezing resonating on the cesium D_(2)line down to 10 Hz for the first *** maximum squeezing in audio frequency band is 5.57 ***,we have presented a singlephoton modulation locking to control the squeezing angle,while effectively suppressing the influence of laser noise on low-frequency *** whole system operates steadily for *** generated low-frequency squeezed light source can be applied in quantum metrology,light–matter interaction investigation and quantum memory in the audio frequency band and even below.

关键词： squeezed state optical parametric amplifier low-frequency squeezing

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Simulation of magnetization process and Faraday effect of magnetic bilayer films

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Chinese Physics B 2024年第9期33卷 590-597页

作者： Sheng Gao An Du Lei Zhang Tian-Guang Li Da-Cheng Ma Department of Basic and General Studies Shenyang Institute of Science and TechnologyShenyang 110167China College of Science Northeastern UniversityShenyang 110819China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern UniversityShenyang 110819China Office of Academic Research Shenyang Institute of Science and TechnologyShenyang 110167China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy ofSciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110016China

We described ferromagnetic film and bilayer films composed of two ferromagnetic layers coupled through antiferromagnetic interfacial interaction by classical Heisenberg model and simulated their magnetization state,magnetic permeability,and Faraday effect at zero and finite temperature by using the Landau–Lifshitz–Gilbert(LLG)*** results indicate that in a microwave field with positive circular polarization,the ferromagnetic film has one resonance peak while the bilayer film has two resonance ***,the resonance peak disappears in ferromagnetic film,and only one resonance peak emerges in bilayer film in the negative circularly polarized microwave *** the microwave field’s frequency exceeds the film’s resonance frequency,the Faraday rotation angle of the ferromagnetic film is the greatest,and it decreases when the thickness of the two halves of the bilayer is *** the microwave field’s frequency remains constant,the Faraday rotation angle fluctuates with temperature in the same manner as spontaneous magnetization *** a DC magnetic field is applied in the direction of the anisotropic axis of the film,the Faraday rotation angle varies with the DC magnetic field and shows a similar shape of the hysteresis loop.

关键词： magnetic bilayer films magnetic permeability hysteresis loop Faraday effect Landau-Lifshitz-Gilbert(LLG)equation

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Design of a Novel Autonomous Docking system With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Dong, Huijie Zhao, Chunyang Qiao, Tiezhu Wang, Jian Chen, Di Meng, Yan Yu, Junzhi Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Chinese Academy of Sciences Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Beijing100190 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Guangdong Ocean University College of Electronics and Information Engineering Zhanjiang524088 China

ISBN: (纸本)9798350327182

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named 'CourierFish'. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks. © 2023 IEEE.

关键词： Fish

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Design and Wave Propagation Characterization of Starchiral Metamaterials

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Acta Mechanica Solida Sinica 2022年第2期35卷 215-227页

作者： Yajun Xin Han Wang Cong Wang Jinxin Yao Qian Ding Haoqiang Gao Shuliang Cheng Yongtao Sun Key Laboratory of Green Construction and Intelligent Maintenance for Civil Engineering of Hebei Province Yanshan UniversityQinhuangdao 060000China Hebei Province Low-Carbon and Clean Building Heating Technology Innovation Center Yanshan UniversityQinhuangdao 060000China Department of Mechanics and Tianjin Key Laboratory of Nonlinear Dynamics and Control Tianjin UniversityTianjin 300072China State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures Shijiazhuang Tiedao UniversityShijiazhuang 050043China

Metamaterials with simple artificial topological properties made from industrially produced single-phase materials have extraordinary innovation and *** this paper,we investigated wave propagation characteristics of a hexastarchiral lattice metamaterial with periodic assemblies and used the finite element(FE)method to study the band gap ***,in order to understand the mechanism of band gaps,we discussed the mode shapes of unit cells and found that the bending of the ligament and the overall rotation have a high correlation with the generation of omnidirectional band *** relationships bet ween geometric parameters and band gap properties have also been systematically studied,which demonstrated that the band gaps of the proposed metamaterial could be reasonably predicted through the evolution of geometric ***,the transmission characteristics of finite sandwich panel structures composed of periodic unit cells were calculated to verify the correctness of the band gap simulation results,which proved that the proposed artificial metastructure has potential application value in vibration and noise reduction projects.

关键词： Hexastarchiral lattice metamaterials Band gap properties Finite element method Rotational resonance

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Variation of sEMG with Muscle Fatigue for Lower Limb Stroke Patient During Walking

Variation of sEMG with Muscle Fatigue for Lower Limb Stroke ...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Shang, Wenze Huang, Ruisen Liao, Wei-Hsin Wu, Xinyu Gao, Fei Southern University of Science and Technology Shenzhen518005 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong999077 Hong Kong

ISBN: (纸本)9781665481090

SEMG signal is widely used and explored in control strategies of powered assistive human-robot interaction systems due to its non-invasive nature and ability to estimate motion intention well. However, prolonged use of the sEMG-based systems leads to muscle fatigue, contributing to unstable sEMG signals and regarding the performance of sEMG-based control strategies. In this study, three subjects, including two healthy subjects and one stroke subject, participated in our experiment, and the time domain, frequency domain, and complex features extracted from their sEMG signals were utilized to evaluate muscle fatigue. The results indicate that sEMG from the stroke side of the stroke subject contains more non-linear and chaotic parts, and the statistical differences between different trials are more significant, indicating that stroke has a more significant impact on the stroke side of the stroke subject. This study suggests that RMS in the stroke side of stroke subjects is less than that in others, whereas FuzzyEn in the stroke side of stroke subjects is greater than that in others, indicating that stroke leads to different motion patterns and more susceptibility to muscle fatigue. © 2024 IEEE.

关键词： Human robot interaction

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ERC-Fusion: Fusing Enhanced 4D Radar and Camera for 3D Object Detection 4

ERC-Fusion: Fusing Enhanced 4D Radar and Camera for 3D Objec...

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4th IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2024

作者： Fan, Lili Wang, Junhao Wang, Yutong Meng, Zonglin Cao, Dongpu Beijing Institute of Technology School of Automation Beijing China Dalian Minzu University School of Science Dalian China Chinese Academy of Sciences Institute of Automation Beijing China University of California Department of Civil and Environmental Engineering Los AngelesCA United States Tsinghua University State Key Laboratory of Intelligent Green Vehicle and Mobility Beijing China

ISBN: (纸本)9798350349252

In autonomous driving, the fusion of camera and 4D millimeter-wave radar point clouds significantly enhances perception robustness and accuracy in harsh environments and off-road scenarios by combining high-resolution vision with precise radar data. This improves target detection and environment modeling capabilities, thereby ensuring the vehicle's safe and efficient operation. However, the sparsity of point clouds presents significant challenges for multimodal fusion in terms of data density and resolution matching, affecting the accuracy of environmental perception. To address this issue, we have built a framework called ERC-Fusion, which specifically includes: we designed a KNN-based point cloud augmentation algorithm to enhance the density of sparse point clouds and increase the amount of information. Additionally, we developed a double-voxel feature fusion enhancement module, which constructs sparse voxels at different scales from the raw data to capture detailed target features and reduce data noise. We validated the performance of ERC-Fusion on the View-of-Delft dataset. Experimental results show that ERC-Fusion effectively alleviates the sparsity issue of radar point clouds and successfully extracts detailed features, thereby improving 3D object detection performance. © 2024 IEEE.

关键词： Off road vehicles

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Simulation and Optimization of In-Situ Integration Ultraviolet HEMT-LED Enabled by P-GaN Selective Epitaxy Growth

Simulation and Optimization of In-Situ Integration Ultraviol...

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SID International Symposium Digest of Technical Papers, 2023

作者： Zhang, Jingyang Huang, Wei Liu, Zhaojun Department of Electronic and Electrical Engineering Southern University of Science and Technology Guangdong Shenzhen518055 China A State Key Laboratory of ASIC and System Shanghai Institute of Intelligent Electronics and Systems School of Microelectronics Fudan University Shanghai200433 China

Based on previous work, the ultraviolet HEMT-LED we fabricated by selective epitaxy growth, this paper further performed simulation to explore the most appropriate p-GaN selection size. P-GaN grown by Selective Epitaxy Growth (SEG) can not only be employed as a junction termination to reduce the electric field crowding of the gate of HEMT, but also form an active region by contacting with 2-dimentional electron gas (2DEG). The simulation results provide an effective reference for the design of p-GaN grown by SEG, and further pave the way for the realization of the idea of integration through the selection of growth methods. © 2023, John Wiley and Sons Inc. All rights reserved.

关键词： Gallium nitride

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Design and Simulation of Integrated Ultraviolet HEMT-LED enabled by P-GaN Selective Epitaxy Growth

Design and Simulation of Integrated Ultraviolet HEMT-LED ena...

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The 2023 International Conference on Display technology, (ICDT 2023)

作者： Zhang, Jingyang Huang, Wei Liu, Zhaojun Department of electronic and electrical engineering Southern University of Science and Technology Guangdong Shenzhen518055 China A State Key Laboratory of ASIC and System Shanghai Institute of Intelligent Electronics & Systems School of Microelectronics Fudan University Shanghai200433 China

Based on previous work, the ultraviolet HEMT-LED we fabricated by selective epitaxy growth, this paper further performed simulation to explore the most appropriate p-GaN selection size. P- GaN grown by Selective Epitaxy Growth (SEG) can not only be employed as a junction termination to reduce the electric field crowding of the gate of HEMT, but also form an active region by contacting with 2-dimentional electron gas (2DEG). The simulation results provide an effective reference for the design of p-GaN grown by SEG, and further pave the way for the realization of the idea of integration through the selection of growth methods. © 2023, John Wiley and Sons Inc. All rights reserved.

关键词： Gallium nitride

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Adaptive Fake Audio Detection with Low-Rank Model Squeezing

Adaptive Fake Audio Detection with Low-Rank Model Squeezing

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2023 Workshop on Deepfake Audio Detection and Analysis, DADA 2023

作者： Zhang, Xiaohui Yi, Jiangyan Tao, Jianhua Wang, Chenglong Xu, Le Fu, Ruibo State Key Laboratory of Multimodal Artificial Intelligence System Institute of Automation Chinese Academy of Sciences China School of Computer and Information Technology Beijing Jiaotong University China University of Science and Technology of China China Department of Automation Tsinghua University China School of Artificial Intelligence University of Chinese Academy of Sciences China

The rapid advancement of spoofing algorithms necessitates the development of robust detection methods capable of accurately identifying emerging fake audio. Traditional approaches, such as finetuning on new datasets containing these novel spoofing algorithms, are computationally intensive and pose a risk of impairing the acquired knowledge of known fake audio types. To address these challenges, this paper proposes an innovative approach that mitigates the limitations associated with finetuning. We introduce the concept of training low-rank adaptation matrices tailored specifically to the newly emerging fake audio types. During the inference stage, these adaptation matrices are combined with the existing model to generate the final prediction output. Extensive experimentation is conducted to evaluate the efficacy of the proposed method. The results demonstrate that our approach effectively preserves the prediction accuracy of the existing model for known fake audio types. Furthermore, our approach offers several advantages, including reduced storage memory requirements and lower equal error rates compared to conventional finetuning methods, particularly on specific spoofing algorithms. © 2023 CEUR-WS. All rights reserved.

关键词： Fake detection

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