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International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

作者： Yuxin Jin Franco Pinan Basualdo Antonio Marino Yongfeng Mei Paolo Robuffo Giordano Claudio Pacchierotti Sarthak Misra Department of Biomechanical Engineering Surgical Robotics Laboratory University of Twente Enschede AE The Netherlands Université de Rennes CNRS Inria IRISA - Rennes France Department of Materials Science & State Key Laboratory of Molecular Engineering of Polymers Fudan University Shanghai P. R. China International Institute of Intelligent Nanorobots and Nanosystems Fudan University Shanghai P. R. China Shanghai Frontiers Science Research Base of Intelligent Optoelectronics and Perception Fudan University Shanghai P. R. China CNRS Université de Rennes Inria IRISA-Rennes France Department of Biomaterials and Biomedical Technology Engineering Surgical Robotics Laboratory University of Groningen and University Medical Centre Groningen Groningen GZ The Netherlands

ISBN: (数字)9798350376807

ISBN: (纸本)9798350376814

Micro-surgical robotic systems are gaining prominence in minimally invasive surgery within the medical field. However, accurately tracking the position of the moving agents at the micro-scale remains a significant challenge, particularly for multi-agent systems operating in cluttered and unknown environments. Traditional image analysis methods can falter when confronted with issues such as mutual and obstacle occlusion, especially in dynamic and unstructured scenarios. In order to address this issue, this study introduces a graph-based multi-agent 3D tracking algorithm for a micro-agent control system. This algorithm integrates image information with the control inputs used to navigate the micro agents. We combine the power of Convolutional Neural Networks and Graph Neural Networks to effectively extract features from image sources, and combine them with historical data and control inputs. The primary novelty of this algorithm is its ability to make predictions when the target is occluded in the 2D detection results. The proposed system achieved a tracking error of 0.15 mm, outperforming standard model-based tracking techniques.

关键词： Three-dimensional displays Target tracking Heuristic algorithms Prediction algorithms Feature extraction Control systems Robots

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Joint Task Offloading and Resource Allocation in Aerial-Terrestrial UAV Networks with Edge and Fog Computing for Post-Disaster Rescue

arXiv

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arXiv 2023年

作者： Sun, Geng He, Long Sun, Zemin Wu, Qingqing Liang, Shuang Li, Jiahui Niyato, Dusit Leung, Victor C.M. The College of Computer Science and Technology Jilin University Changchun130012 China The Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun130012 China The Department of Electronic Engineering Shanghai Jiao Tong University Shanghai China The School of Information Science and Technology Northeast Normal University Changchun130024 China Pillar of Engineering Systems and Design Singapore University of Technology and Design 487372 Singapore The School of Computer Science and Engineering Nanyang Technological University Singapore639798 Singapore The College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China The Department of Electrical and Computer Engineering University of British Columbia VancouverBCV6T 1Z4 Canada

Unmanned aerial vehicles (UAVs) play an increasingly important role in assisting fast-response post-disaster rescue due to their fast deployment, flexible mobility, and low cost. However, UAVs face the challenges of limited battery capacity and computing resources, which could shorten the expected flight endurance of UAVs and increase the rescue response delay during performing mission-critical tasks. To address this challenge, we first present a three-layer post-disaster rescue computing architecture by leveraging the aerial-terrestrial edge capabilities of mobile edge computing (MEC) and vehicle fog computing (VFC), which consists of a vehicle fog layer, a UAV client layer, and a UAV edge layer. Moreover, we formulate a joint task offloading and resource allocation optimization problem (JTRAOP) with the aim of maximizing the time-average system utility. Since the formulated JTRAOP is proved to be NP-hard, we propose an MEC-VFC-aided task offloading and resource allocation (MVTORA) approach, which consists of a game theoretic algorithm for task offloading decision, a convex optimization-based algorithm for MEC resource allocation, and an evolutionary computation-based hybrid algorithm for VFC resource allocation. Simulation results validate that the proposed approach can achieve superior system performance compared to the other benchmark schemes, especially under heavy system workloads. Copyright © 2023, The Authors. All rights reserved.

关键词： Fog computing

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FusionPlanner: A Multi-task Motion Planner for Mining Trucks via Multi-sensor Fusion

arXiv

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arXiv 2023年

作者： Teng, Siyu Li, Luxi Li, Yuchen Hu, Xuemin Li, Lingxi Ai, Yunfeng Chen, Long Department of Computer Science Hong Kong Baptist University Hong Kong Department of Computer Science BNU-HKBU United International College Zhuhai China The School of Artificial Intelligence Hubei University Wuhan China Waytous Inc. Haidian Distinct Beijing China Indianapolis United States School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

In recent years, significant achievements have been made in motion planning for intelligent vehicles. However, as a typical unstructured environment, open-pit mining attracts limited attention due to its complex operational conditions and adverse environmental factors. A comprehensive paradigm for unmanned transportation in open-pit mines is proposed in this research. Firstly, we propose a multi-task motion planning algorithm, called FusionPlanner, for autonomous mining trucks by the multi-sensor fusion method to adapt both lateral and longitudinal control tasks for unmanned transportation. Then, we develop a novel benchmark called MiningNav, which offers three validation approaches to evaluate the trustworthiness and robustness of well-trained algorithms in transportation roads of open-pit mines. Finally, we introduce the Parallel Mining Simulator (PMS), a new high-fidelity simulator specifically designed for open-pit mining scenarios. PMS enables the users to manage and control open-pit mine transportation from both the single-truck control and multi-truck scheduling perspectives. The performance of FusionPlanner is tested by MiningNav in PMS, and the empirical results demonstrate a significant reduction in the number of collisions and takeovers of our planner. We anticipate our unmanned transportation paradigm will bring mining trucks one step closer to trustworthiness and robustness in continuous round-the-clock unmanned transportation. Copyright © 2023, The Authors. All rights reserved.

关键词： Motion planning

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Research and practice of lightweight digital twin speeding up the implementation of flexible manufacturing systems 1

Research and practice of lightweight digital twin speeding u...

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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Zhang, Xiaodong Hu, Bin Xiong, Gang Liu, Xinjie Dong, Xisong Li, Dongjia School of Information Engineering Yantai Institute of Technology Yantai China Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex Systems Beijing China Qingdao Academy of Intelligent Industries Chinese Academy of Sciences Beijing China Yantai University Department of Mechanical and Electrical Engineering Yantai China School of Artificial Intelligence Yantai Institute of Technology Yantai China

ISBN: (纸本)9781665433372

Parallel manufacturing in Industry 5.0 requires digital twin to digitize physical systems, building virtual models to open up channels connecting physical systems, information systems, and social systems, and transforming the physical models of the existing production environment to achieve two-way feedback of virtual and real is the current research direction. This paper proposes the modeling idea of lightweight digital twin, extracts core dimensions and performs digital virtual simulation, so as to quickly realize the complete process of two-way feedback, and realize a set of chess flexible parallel manufacturing production lines as a practice for the design of complete lightweight digital twin. © 2021 IEEE.

关键词： Industrial research

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Store-Load Phased Array Antenna for Tracking and Communication with LEO Satellites

Store-Load Phased Array Antenna for Tracking and Communicati...

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International Symposium on Networks, computers and Communications (ISNCC)

作者： Yong Zhang Lidong Zhu Chengjie Li Xu Deng Huazhi Feng Institute of Advanced Technology on Communication Chengdu Technological University Chengdu China National Key Laboratory of Science and Technology on Communication University of Electronic Science and Technology of China Chengdu China The Key Laboratory for Computer Systems of State Ethnic Affairs Commission School of Computer Science and Technology Southwest Minzu University Chengdu China Department of Electronic and Information Engineering The Hong Kong Polytechnic University Hongkong China

This paper discusses the issue of multi-beam forming for ground station (GS) in LEO satellite communication system. A store-load phased array structure is proposed, which doesn’t require complicated real-time computation. Meanwhile, for generating the pre-stored array pattern, a synthesis approach of array pattern for multi-beam is proposed. Based on a reference pattern designed by using Chebyshev method, the second-order cone programming (SOCP) constraint is applied to obtain optimized array patterns. Numerical simulations have been conducted in our unified platform containing Matlab and SeDuMi tool. The results show that the proposed approach can effectively synthesize array pattern with two beams and keep constant beamwidth at different directions and frequencies.

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Matching Using Sufficient Dimension Reduction for Heterogeneity Causal Effect Estimation

arXiv

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arXiv 2023年

作者： Zhao, Haoran Zhang, Yinghao Cheng, Debo Li, Chen Feng, Zaiwen College of Science Huazhong Agricultural University Wuhan430070 China College of Computer Science and Engineering Guangxi Normal University Guilin541000 China STEM University of South Australia Australia Department of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka820-8502 Japan College of Informatics Huazhong Agricultural University Wuhan430070 China Hubei Key Laboratory of Agricultural Bioinformatics Huazhong Agricultural University Wuhan430070 China Hubei Hongshan Laboratory Huazhong Agricultural University Wuhan430070 China National Key Laboratory of Crop Genetic Improvement Huazhong Agricultural University Wuhan430070 China State Key Laboratory of Hybrid Rice Wuhan University 299 Bayi Rd Wuhan430070 China Macro Agricultural Research Institute Huazhong Agricultural University Wuhan430070 China

Causal inference plays an important role in understanding the underlying mechanisation of the data generation process across various domains. It is challenging to estimate the average causal effect and individual causal effects from observational data with high-dimensional covariates due to the curse of dimension and the problem of data sufficiency. The existing matching methods can not effectively estimate individual causal effect or solve the problem of dimension curse in causal inference. To address this challenge, in this work, we prove that the reduced set by sufficient dimension reduction (SDR) is a balance score for confounding adjustment. Under the theorem, we propose to use an SDR method to obtain a reduced representation set of the original covariates and then the reduced set is used for the matching method. In detail, a non-parametric model is used to learn such a reduced set and to avoid model specification errors. The experimental results on real-world datasets show that the proposed method outperforms the compared matching methods. Moreover, we conduct an experiment analysis and the results demonstrate that the reduced representation is enough to balance the imbalance between the treatment group and control group individuals. Copyright © 2023, The Authors. All rights reserved.

关键词： Machine learning

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Long-term transformation in China’s steel sector for carbon capture and storage technology deployment

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Nature Communications 2025年第1期16卷 1-13页

作者： Wang, Yihan Wen, Zongguo Xu, Mao Doh Dinga, Christian Department of Civil Engineering The University of Hong Kong Hong Kong Research Center for Industry of Circular Economy School of Environment Tsinghua University Beijing China State Key Laboratory of Iron and Steel Industry Environmental Protection Beijing China Faculty of Electrical Engineering Mathematics and Computer Science Delft University of Technology Delft Netherlands

Carbon capture and storage (CCS) has substantial potential for deep decarbonization of the steel sector. However, long-term transformations within this sector lead to significant changes in steel units, posing challenges for CCS deployment. Here, we integrate sector-level transformation pathways by 2060 to simulate the distribution of China’s steel units and generate optimal CCS deployment schemes using a source-sink matching model. Results indicate that CCS accounts for 31.4-40.7% of carbon mitigation effects in China’s steel sector by 2060. Following the sector-level pathways, over 650 steel units will either be eliminated or retrofitted. The optimal CCS deployment schemes can achieve carbon mitigation effects of 472.4-609.6 Mt at levelized costs of 187.4-193.5 Chinese Yuan t⁻¹ CO₂, demonstrating cost-effectiveness under future carbon price levels. Nevertheless, the proposed schemes will lead to energy and water consumption of 951.0-1427.3 PJ and 1.60-1.69 million m³, respectively, posing a risk of resource scarcity. These insights inform the development of CCS implementation strategies in China’s steel sector and beyond, promoting deep decarbonization throughout society. © The Author(s) 2025.

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Specialty optical fibers for advanced sensing applications

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Opto-Electronic science 2023年第2期2卷 1-26页

作者： Huanhuan Liu Dora Juan Juan Hu Qizhen Sun Lei Wei Kaiwei Li Changrui Liao Bozhe Li Cong Zhao Xinyong Dong Yuhan Tang Yihong Xiao Gerd Keiser Perry Ping Shum Guangdong Key Laboratory of Integrated Optoelectronics Intellisense Department of Electronic and Electrical EngineeringSouthern University of Science and TechnologyShenzhen 518055China Institute for Infocomm Research(I2R) Agency for ScienceTechnology and Research(A*STAR)1 Fusionopolis Way#21-01Connexis South TowerSingapore 138632Singapore School of Electrical and Electronic Engineering Nanyang Technological University50 Nanyang AvenueSingapore 639798Singapore School of Optical and Electronic Information National Engineering Laboratory for Next Generation Internet Access SystemWuhan National Laboratory for OptoelectronicsHuazhong University of Science and TechnologyWuhan 430074China Key Laboratory of Bionic Engineering of Ministry of Education Jilin UniversityChangchun 130022China Key Laboratory of Optoelectronic Devices and Systems of Ministry of Education/Guangdong Province College of Physics and Optoelectronic EngineeringShenzhen UniversityShenzhen 518060China Shenzhen Key Laboratory of Photonic Devices and Sensing Systems for Internet of Things Guangdong and Hong Kong Joint Research Centre for Optical Fibre SensorsShenzhen UniversityShenzhen 518060China Guangdong Laboratory of Artificial Intelligence and Digital Economy(SZ) Shenzhen 518107China Guangdong Provincial Key Laboratory of Information Photonics Technology School of Information EngineeringGuangdong University of TechnologyGuangzhou 510006China Department of Electrical&Computer Engineering Boston UniversityBoston 02215USA Pengcheng Laboratory Shenzhen 518055China

Optical fiber technology has changed the world by enabling extraordinary growth in world-wide communications and *** rapid development and wide deployment of optical fiber sensors are driven by their excellent sensing performance with outstanding flexibility,functionality,and ***,the research on specialty optical fibers is playing a critical role in enabling and proliferating the optical fiber sensing *** paper overviews recent developments in specialty optical fibers and their sensing *** specialty optical fibers are reviewed based on their innovations in special structures,special materials,and technologies to realize lab in/on a *** overview of sensing applications in various fields is *** prospects and emerging research areas of specialty optical fibers are also discussed.

关键词： specialty optical fibers photonic crystal fiber multifunctional multi-material fibers lab in/on fiber

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Challenges and perspectives for the perovskite module research

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Chem 2025年

作者： Li, Runda Yao, Libing Sun, Jingyi Sun, Zengyi Zhang, Kai Xue, Jingjing Wang, Rui State Key Laboratory of Silicon and Advanced Semiconductor Materials School of Materials Science and Engineering Zhejiang University Hangzhou 310027 China Department of Materials Science and Engineering School of Engineering Westlake University and Institute of Advanced Technology Westlake Institute for Advanced Study Hangzhou 310024 China Shangyu Institute of Semiconductor Materials Shaoxing China Division of Solar Energy Conversion and Catalysis at Westlake University Zhejiang Baima Lake Laboratory Co. Ltd Hangzhou China Zhejiang Provincial Key Laboratory of Intelligent Low-Carbon Biosynthesis Westlake University Hangzhou China

With rapid technological advancements, perovskite photovoltaics are approaching the final stage of commercialization. However, challenges arise due to differences between the fabrication processes for large-scale perovskite solar modules (PSMs) and laboratory-scale perovskite solar cells (PSCs). In this perspective, we highlight key obstacles in the transition from PSCs to PSMs across three main fabrication stages: precursor solution preparation, large-scale perovskite deposition, and post-treatment procedures for modules. Beyond addressing long-term stability, we emphasize critical yet often overlooked factors: reproducibility, cost, quality control, and sustainability in PSM manufacture. Finally, we provide our outlook by posing three controversial questions: which type of PSMs will be finally commercialized, how to balance the device area and lateral resistance, and how to realize a stable supply of raw materials. We hope that this effort may provide insights into targeted scientific strategies that can bridge these gaps and facilitate the commercialization of perovskite photovoltaics. © 2025 Elsevier Inc.

关键词： SDG7: Affordable and clean energy

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Nonparaxiality-triggered Landau-Zener transition in spoof plasmonic waveguides

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Physical Review B 2022年第17期106卷 174301-174301页

作者： An Xie Shaodong Zhou Kelei Xi Li Ding Yiming Pan Yongguan Ke Huaiqiang Wang Songlin Zhuang Qingqing Cheng School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology Shanghai 200093 China Physics Department and Solid State Institute Technion Haifa 32000 Israel Guangdong Provincial Key Laboratory of Quantum Metrology and Sensing & School of Physics and Astronomy Sun Yat-Sen University (Zhuhai Campus) Zhuhai 519082 China National Laboratory of Solid State Microstructures School of Physics Nanjing University Nanjing 210093 China State Key Laboratory of Terahertz and Millimeter Waves City University of Hong Kong Hong Kong 999077 China

Photonic lattices have been widely used for simulating quantum physics, owing to the similar evolutions of paraxial waves and quantum particles. However, nonparaxial wave propagations in photonic lattices break the paradigm of the quantum-optical analogy. Here we reveal that nonparaxiality exerts stretched and compressed forces on the energy spectrum in the celebrated Aubry-André-Harper model. By exploring the minigaps induced by the finite size of the different effects of nonparaxiality, we experimentally present that the expansion of one band gap supports the adiabatic transfer of boundary states while Landau-Zener transition occurs at the narrowing of the other gap, whereas identical transport behaviors are expected for the two gaps under paraxial approximation. Our results not only leverage nonparaxial transitions as a new degree of freedom, but also serve as a foundation for future studies of dynamic state transfer.

关键词： Landau-Zener effect Topological effects in photonic systems Waveguide arrays Tight-binding model

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