检索结果-内蒙古大学图书馆

Leader-follower:Human-centered intention-guided controller for novel SuperLimb with application to load-carrying scenarios

引用

Science China(Technological Sciences) 2025年第1期68卷 321-334页

作者： Qinghua ZHANG Xianglong LI Hongwei JING Kerui SUN Yuancheng LI Sikai ZHAO Lele LI Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG Jie ZHAO Yanhe ZHU The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China The Learning Algorithms and Systems Laboratory School of EngineeringÉcole Polytechnique Fédérale de LausanneLausanne CH 101510587Switzerland

Supernumerary robotic arms(SuperLimb)are a new type of wearable robot that works closely with humans as a third hand to augment human operation *** conveyance of wearers'intentions,allocation of roles,and humancentered interaction considerations are the key points in the process of human-SuperLimb *** paper proposes a human-centered intention-guided leader-follower controller that relies on the dynamic modeling of SuperLimb with application to load-carrying *** proposed leader-follower controller takes the human as the leader and the SuperLimb as the follower,achieving effective information communication,autonomous coordination,and good force compliance between SuperLimb,humans,and the environment under human safety ***,the human-SuperLimb dynamic system is modeled to achieve force interaction with the environment and ***,to achieve the precise intention extraction of humans,pose data from five visual odometry sensors are fused to capture the human state,the generalized position,the velocity of hands,and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer ***,based on the real-time distance detection between human and mechanical limbs,the security assurance and force-compliant interaction of the human-SuperLimb system are ***,the human hand muscle intention recognition,human-robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the SuperLimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories,and SuperLimb could well understand the wearer's intentions to switch different SuperLimb *** proposed sensor-based human-robot communication framework motivates future studies of other collaboration scenes fo

关键词： SuperLimb leader-follower human intention estimation human-robot safety human-robot communication

来源：评论

学校读者我要写书评

暂无评论

Suppressing high voltage chemo-mechanical degradation in single crystal nickel-rich cathodes for high-performance all-solid-state lithium batteries

引用

Journal of Energy Chemistry 2025年第3期102卷 377-385页

作者： Yirong Xiao Le Yang Chaoyuan Zeng Ze Hua Shuangquan Qu Niaz Ahmad Ruiwen Shao Wen Yang Key Laboratory of Cluster Science of Ministry of Education Beijing Key Laboratory of Photoelectronic/Electrophotonic Conversion MaterialsSchool of Chemistry and Chemical EngineeringBeijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Medical TechnologyBeijing Institute of TechnologyBeijing 100081China School of Chemistry and Chemical Engineering Key Laboratory of Ministry of Education for Advanced Materials in Tropical Island ResourcesCollaborative Innovation Center of Ecological CivilizationHainan UniversityHaikou 570228HainanChina

Sulfide-based all-solid-state lithium batteries suffer from electrochemo-mechanical damage to Ni-rich oxide-based cathode active materials(CAMs),primarily caused by severe volume changes,results in significant stress and strain,causes micro-cracks and interfacial contact loss at potentials>4.3 V(***/Li^(+)).Quantifying micro-cracks and voids in CAMs can reveal the degradation mechanisms of Ni-rich oxidebased cathodes during electrochemical ***,the origin of electrochemical-mechanical damage remains ***,We have developed a multifunctional PEG-based soft buffer layer(SBL)on the surface of carbon black(CB).This layer functions as a percolation network in the single crystal LiNi_(0.83)Co_(0.07)Mn_(0.1)O_(2)and Li_(6)PS_(5)Cl composite cathode layer,ensuring superior ionic conductivity,reducing void formation and particle cracking,and promoting uniform utilization of the cathode active material in all-solid-state lithium batteries(ASSLBs).High-angle annular dark-field STEM combined with nanoscale X-ray holo-tomography and plasma-focused ion beam scanning electron microscopy confirmed that the PEG-based SBL mitigated strain induced by reaction heterogeneity in the *** strain produces lattice stretches,distortions,and curved transition metal oxide layers near the surface,contributing to structural degradation at elevated ***,ASSLBs with a LiNi_(0.83)Co_(0.07)Mn_(0.1)O_(2)cathode containing LCCB-10(CB/PEG mass ratio:100/10)demonstrate a high areal capacity(2.53 mAh g^(-1)/0.32 mA g^(-1))and remarkable rate capability(0.58 mAh g^(-1)at 1.4 mA g^(-1)),with88%capacity retention over 1000 cycles.

关键词： Single crystal nickel-rich oxide cathode Lattice stretches and distortions Reaction heterogeneity Percolation network All-solid-state lithium batteries

来源：评论

学校读者我要写书评

暂无评论

Propagation criterion of hydraulic fracture in rock based on the rock micro-cracking mechanism

引用

International Journal of Mining Science and technology 2025年第3期35卷 433-449页

作者： Qingwang Cai Bingxiang Huang Xinglong Zhao Yuekun Xing School of Resources Environment and Safety Engineering University of South ChinaHengyang 421001 China State Key Laboratory for Fine Exploration and Intelligent Development of Coal Resources China University of Mining and TechnologyXuzhou 221116 China

Hydraulic fracture(HF)formed in rock significantly helps with the development of geo-energy and *** HF formation condition was challenging to understand,with obscure rock micro-cracking mechanisms being a key *** rock micro-cracking mechanism under gradient pore water pressure was analyzed on the scale of mineral particles and it was combined with macroscopic boundary conditions of rock hydraulic fracturing,obtaining the propagation criterion of HF in rock based on the rock micro-cracking mechanism which was verified by *** results show that the disturbed skeleton stress induced by the disturbance of gradient pore water pressure in rock equals the pore water pressure *** overall range of the defined mechanical shape factor a/b is around 1,but greater *** the combined influence of pore water pressure differences and macroscopic boundary stresses on the rock micro-cracking,micro-cracks form among rock mineral particles,micro-cracks connect to form micro-hydraulic fracture surfaces,and micro-hydraulic fracture surfaces open to form macrohydraulic *** begins to form at the micro-cracking initiation pressure(MCIP),which was tested by keeping the HF tip near the initiation *** theoretical value of MCIP calculated by the proposed propagation criterion is close to MCIP tested.

关键词： Hydraulic fracture Propagation criterion Micro-cracking mechanism Pore pressure Stress singularity

来源：评论

学校读者我要写书评

暂无评论

Toward High-Accuracy and Low-Latency Group Vehicle Trajectory Prediction With Linear UNet-Enhanced Fully Connected Spatial–Temporal Graph Neural Network

引用

IEEE Internet of Things Journal 2025年第9期12卷 11797-11811页

作者： Zhang, Zirui Huang, Xumin Yu, Rong Wu, Maoqiang Kang, Jiawen Xie, Shengli Guangdong University of Technology School of Automation Key Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of Education Guangdong Provincial Key Laboratory of Intelligent Systems and Optimization Integration Guangzhou510006 China South China Normal University School of Electronic Science and Engineering Foshan528225 China Guangdong University of Technology School of Automation 111 Center for Intelligent Batch Manufacturing Based on IoT Technology Guangdong-Hong Kong-Macao Joint Laboratory for Smart Discrete Manufacturing Guangzhou510006 China

Group vehicle trajectory prediction (GVTP) is important for analyzing the traffic states and optimizing the traffic management. However, existing studies have performance bottlenecks in the prediction accuracy and inference latency. To tackle the problems, we propose a linear UNet-enhanced fully connected spatial–temporal GNN (LUFC-STGNN) for GVTP. First, a spatial graph is constructed by integrating prior-based and data-driven methods to capture both explicit and implicit spatial interactions between the vehicles. After that, a comprehensive temporal graph is created to capture the varying strengths of temporal interactions between all vehicles throughout historical timestamps. Furthermore, a fully connected spatial–temporal graph combining the spatial and temporal graphs is introduced to extract the effective spatial–temporal interaction features of the vehicles through the graph convolution operation. Finally, a linear UNet-based temporal dependency encoder (LU-TDE) is designed to further enhance the model’s ability of capturing the potential temporal patterns in the vehicle interactions. The encoder with linear complexity explores the multiscale temporal dependencies from the spatial–temporal interaction features but also reducing the inference latency. Experiments results based on real-world datasets show that compared to state-of-the-art models, our model reduces the average root mean square error over the 5-s prediction horizon by 31% and 10% on the NGSIM and HighD datasets, while reducing the inference latency by at least 1.26 times. © 2014 IEEE.

关键词： Prediction models

来源：评论

学校读者我要写书评

暂无评论

Fuzzy-based risk assessment and collision avoidance strategy for unmanned surface vessels near offshore wind farm 6th

Fuzzy-based risk assessment and collision avoidance strategy...

引用

6th International Conference on Renewable Energies Offshore, RENEW 2024

作者： Hashali, S.D. Yang, S.L. Wu, H. Xiang, X.B. Huazhong University of Science and Technology Wuhan China State Key Laboratory of Intelligent Manufacturing Equipment and Technology Wuhan China

ISBN: (纸本)9781032905570

The safety and efficiency of Unmanned Surface Vessels (USVs) are paramount in the increasingly complex maritime environments surrounding offshore wind farms. This paper proposes a novel fuzzy logic-based risk assessment and collision avoidance model specifically designed for USVs operating near offshore wind farms. The model utilizes the fuzzy analytic hierarchy process to accurately weigh and evaluate key factors, including the Distance to Closest Point of Approach (DCPA), Time to Closest Point of Approach (TCPA), relative distance, relative heading, and relative speed. By integrating these factors, the model provides a more precise assessment of collision risks and enhances the decision-making process for collision avoidance. The framework is aligned with the International Regulations for Preventing Collisions at Sea (COLREGS) and is validated through MATLAB simulations. The results demonstrate the model’s effectiveness in preventing collisions with multiple dynamic obstacles, significantly improving the navigation safety of USVs in challenging and confined maritime environments. © 2025 The Author(s).

关键词： Offshore wind farms

来源：评论

学校读者我要写书评

暂无评论

LACO: A Latency-Constraint Offline Neural Network Scheduler towards Reliable Self-Driving Perception 24

LACO: A Latency-Constraint Offline Neural Network Scheduler ...

引用

43rd International Conference on Computer-Aided Design, ICCAD 2024

作者： Tan, Zhanhong Zhu, Zijian Wu, Mengdi Ma, Kaisheng State Key Laboratory of Intelligent Vehicle Safety Technology Chongqing China Tsinghua University Beijing China

ISBN: (纸本)9798400710773

Perception is a crucial and compute-intensive self-driving stage where multiple DNN models periodically process image and point-cloud inputs with constant intervals as latency constraints. This scenario is similar to the multistream scenario in the MLPerf benchmark but with more than one query sequence of diverse intervals from different sensors, and each query also evokes more than one model. In this paper, we call this scenario multi-multistream (M2stream). Because the periodic inputs arrive continuously, the neural network processor should process them in time to avoid information dropping and maintain self-driving safety. To this end, this paper aims to explore throughput optimization under constant deadlines for the M2-stream scenario in self-driving perception. We propose LACO, a novel LAtency-COnstraint scheduler, to optimize the task throughput under the predetermined deadline constraints. Considering that the task arrivals are known with constant intervals, we can employ an offline scheduling method. Specifically, we turn the scheduling space exploration into the Satisfiability problem (SAT) and tackle it using an off-the-shelf SAT solver. Our experiments demonstrate that LACO achieves 1.2×~2.4× throughput improvement against the baselines on an 8×8-core accelerator. LACO also shows consistent superiority in various hardware scales and input resolutions. © 2024 Copyright is held by the owner/author(s).

关键词： Deep neural networks

来源：评论

学校读者我要写书评

暂无评论

Improving Multi-task GNNs for Molecular Property Prediction via Missing Label Imputation

引用

Machine Intelligence Research 2025年第1期22卷 131-144页

作者： Fenyu Hu Dingshuo Chen Qiang Liu Shu Wu University of Chinese Academy of Sciences Beijing100190China Center for Research on Intelligent Perception and Computing State Key Laboratory of Multimodal Artificial Intelligence SystemsInstitute of AutomationChinese Academy of SciencesBeijing100190China

The prediction of molecular properties is a fundamental task in the field of drug ***,graph neural networks(GNNs)have been gaining prominence in this *** a molecule tends to have multiple correlated properties,there is a great need to develop the multi-task learning ability of ***,limited by expensive and time-consuming human annotations,collecting complete labels for each task is *** a result,most existing benchmarks involve many missing labels in training data,and the performance of GNNs is impaired due to the lack of sufficient supervision *** overcome this obstacle,we propose to improve multi-task molecular property prediction by missing label ***,a bipartite graph is first introduced to model the molecule-task co-occurrence ***,the imputation of missing labels is transformed into predicting missing edges on this bipartite *** predict the missing edges,a graph neural network is devised,which can learn the complex molecule-task co-occurrence *** that,we select reliable pseudo labels according to the uncertainty of the prediction *** with enough and reliable supervision information,our approach achieves state-of-the-art performance on a variety of real-world datasets.

关键词： Graph classification imbalance learning prediction bias mixture of experts multiview representations

来源：评论

学校读者我要写书评

暂无评论

Collaborative Pushing and Grasping in Complex Scenarios via a Generator-Evaluator Network with Multiple Action Primitives 17th

Collaborative Pushing and Grasping in Complex Scenarios vi...

引用

17th International Conference on intelligent Robotics and Applications, ICIRA 2024

作者： Zuo, Guoyu Wang, Zihao Luo, Yongkang Yu, Shuangyue Zhao, Min School of Information Science and Technology Beijing University of Technology Beijing100124 China Beijing Key Laboratory of Computing Intelligence and Intelligent Systems Beijing100124 China The State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9789819607761

As robotic technologies advance, robotic arm manipulation tasks in complex environments become increasingly important. This paper presents a new collaborative pushing and grasping strategy to address two major challenges robotic arms encounter in complex environments: invisibility and tight enclosure of target objects. We propose a generator-evaluator network architecture based on multiple action primitives, incorporating hierarchical reinforcement learning and Double DQN techniques to optimize the operational efficiency of the robotic arm. By introducing a new action primitive to prioritize pushing operations around the topmost objects in space, our approach effectively reveals and locates obscured target objects. Additionally, utilizing the Spatial Correlation Test (SCT), our method explores all possible collision-free operational positions in the action space, selecting the optimal position from among them. Experimental results demonstrate that our approach achieves high efficiency and success rates in scenarios with randomly distributed objects, objects tightly enclosed by others, and invisible objects. This strategy enhances the speed and accuracy of tasks and improves the robot’s adaptability to complex environments. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Robotic arms

来源：评论

学校读者我要写书评

暂无评论

Simulation and Experimental Analysis of Contactless Chip Pickup Process Based on a Vortex Flow Gripper

引用

IEEE Transactions on Semiconductor Manufacturing 2025年第2期38卷 324-331页

作者： Zhai, Peiran Xu, Zhoulong Yin, Zhouping Li, Xiaohang Xie, Bin Wu, Hao Institute for Advanced Electronics Manufacturing State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China Wuhan Chiplet Technology Company Ltd. Wuhan430074 China King Abdullah University of Science and Technology Advanced Semiconductor Laboratory Thuwal23955 Saudi Arabia Institute for Advanced Electronics Manufacturing State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Integrated Circuits Huazhong University of Science and Technology School of Mechanical Science and Engineering Wuhan430074 China

As the preceding process of chip-to-wafer (C2W) hybrid bonding, die pick-up, and transfer are critical in 3D heterogeneous integration (3D HI) technique. Especially, with the ever-shrinking die thickness and ever-increasing bumps on the die surface, mechanical scratches and electrostatic interference on chips caused by the traditional contact-type pickup process cannot be tolerated. Therefore, it is the trend to implement contactless pickup head to realize damage-free chip transfer. Herein, a contactless, pneumatic pickup head based on vortex flow was designed for the efficient and contactless grab of 50 μm ultrathin chips. A baffle structure on the four corners of pickup head was designed, which can achieve stable noncontact pickup of target chip and maintain the position under multiangle loading conditions. Furthermore, we optimized baffle structure to reduce the oscillation of the chip by more than 50%. We explored the underlying mechanism of pneumatic noncontact pickup through computational fluid dynamics (CFD) simulation by three turbulence models. Further, a high-precision vortex platform was built to investigate the pickup force characteristics, radial pressure distribution, and oscillations for different intake pressure and their influence on the noncontact pickup effect. Eventually, the simulation and experimental results indicate that the optimal intake pressure for stable non-contact pickup is between 20 and 30 kPa. This study provides design and optimization methods for stable noncontact picking of microchips, offering theoretical and experimental basis for selecting the optimal air intake pressure in practical applications. © 1988-2012 IEEE.

关键词： Vortex flow

来源：评论

学校读者我要写书评

暂无评论

Multi-model ensemble learning for battery state-of-health estimation:Recent advances and perspectives

引用

Journal of Energy Chemistry 2025年第1期100卷 739-759页

作者： Chuanping Lin Jun Xu Delong Jiang Jiayang Hou Ying Liang Zhongyue Zou Xuesong Mei State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong UniversityXi’an 710049ShaanxiChina Shaanxi Key Laboratory of Intelligent Robots School of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049ShaanxiChina Department of Electrical Engineering and Automation Luoyang Institute of Science and TechnologyLuoyang 471023HenanChina School of Mechanical Engineering Hangzhou Dianzi UniversityHangzhou 310018ZhejiangChina

The burgeoning market for lithium-ion batteries has stimulated a growing need for more reliable battery performance monitoring. Accurate state-of-health(SOH) estimation is critical for ensuring battery operational performance. Despite numerous data-driven methods reported in existing research for battery SOH estimation, these methods often exhibit inconsistent performance across different application scenarios. To address this issue and overcome the performance limitations of individual data-driven models,integrating multiple models for SOH estimation has received considerable attention. Ensemble learning(EL) typically leverages the strengths of multiple base models to achieve more robust and accurate outputs. However, the lack of a clear review of current research hinders the further development of ensemble methods in SOH estimation. Therefore, this paper comprehensively reviews multi-model ensemble learning methods for battery SOH estimation. First, existing ensemble methods are systematically categorized into 6 classes based on their combination strategies. Different realizations and underlying connections are meticulously analyzed for each category of EL methods, highlighting distinctions, innovations, and typical applications. Subsequently, these ensemble methods are comprehensively compared in terms of base models, combination strategies, and publication trends. Evaluations across 6 dimensions underscore the outstanding performance of stacking-based ensemble methods. Following this, these ensemble methods are further inspected from the perspectives of weighted ensemble and diversity, aiming to inspire potential approaches for enhancing ensemble performance. Moreover, addressing challenges such as base model selection, measuring model robustness and uncertainty, and interpretability of ensemble models in practical applications is emphasized. Finally, future research prospects are outlined, specifically noting that deep learning ensemble is poised to advance ens

关键词： Lithium-ion battery state-of-health estimation Data-driven Machine learning Ensemble learning Ensemble diversity

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：