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ER‐Mapping: An extrinsic robust coloured mapping system using residual evaluation and selection

IET Cyber-Systems and Robotics 2024年第2期6卷 97-108页

作者： Changjian Jiang Zeyu Wan Ruilan Gao Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhouChina Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province HangzhouChina

The colour-enhanced point cloud map is increasingly being employed in fields such as robotics,3D reconstruction and virtual *** authors propose ER-Mapping(Extrinsic Robust coloured Mapping system using residual evaluation and selection).ER-Mapping consists of two components:the simultaneous localisation and mapping(SLAM)subsystem and the colouring *** SLAM subsystem reconstructs the geometric structure,where it employs a dynamic threshold-based residual selection in LiDAR-inertial odometry to improve mapping *** the other hand,the col-ouring subsystem focuses on recovering texture information from input images and innovatively utilises 3D–2D feature selection and optimisation methods,eliminating the need for strict hardware time synchronisation and highly accurate extrinsic *** were conducted in both indoor and outdoor *** results demonstrate that our system can enhance accuracy,reduce computational costs and achieve extrinsic robustness.

关键词： robot vision sensor fusion simultaneous localisation and mapping(robots)

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Novel 3D grid porous Li_(4)Ti_(5)O_(12) thick electrodes fabricated by 3D printing for high performance lithium-ion batteries

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Journal of Advanced Ceramics 2022年第2期11卷 295-307页

作者： Changyong LIU Yin QIU Yanliang LIU Kun XU Ning ZHAO Changshi LAO Jun SHEN Zhangwei CHEN Additive Manufacturing Institute College of Mechatronics&Control EngineeringShenzhen UniversityShenzhen 518060China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots College of Mechatronics&Control EngineeringShenzhen UniversityShenzhen 518060China

Three-dimensional(3D)grid porous electrodes introduce vertically aligned pores as a convenient path for the transport of lithium-ions(Li-ions),thereby reducing the total transport distance of Li-ions and improving the reaction *** there have been other studies focusing on 3D electrodes fabricated by 3D printing,there still exists a gap between electrode design and their electrochemical *** this study,we try to bridge this gap through a comprehensive investigation on the effects of various electrode parameters including the electrode porosity,active material particle diameter,electrode electronic conductivity,electrode thickness,line width,and pore size on the electrochemical *** numerical simulations and experimental investigations are conducted to systematically examine these effects.3D grid porous Li_(4)Ti_(5)O_(12)(LTO)thick electrodes are fabricated by low temperature direct writing technology and the electrodes with the thickness of 1085μm and areal mass loading of 39.44 mg·cm^(−2) are *** electrodes display impressive electrochemical performance with the areal capacity of 5.88 mAh·cm^(−2)@1.0 C,areal energy density of 28.95 J·cm^(−2)@1.0 C,and areal power density of 8.04 mW·cm^(−2)@1.0 *** study can provide design guidelines for obtaining 3D grid porous electrodes with superior electrochemical performance.

关键词： three-dimensional(3D)porous thick electrodes Li_(4)Ti_(5)O_(12)(LTO) 3D printing lithium-ion(Li-ion)battery

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Design of a High Precision Multichannel 3D Bioprinter

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Chinese Journal of Mechanical engineering 2023年第6期36卷 127-146页

作者： Jintao Li Bin Zhang Yichen Luo Huayong Yang State Key Laboratory of Fluid Power Transmission and Control School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China

Three-dimensional(3D)printing technology is expected to solve the organ shortage ***,owing to the accuracy limitations,it is difficult for the current bioprinting technology to achieve an accurate control of the spatial position and distribution of a single cell or single component *** this study,to accurately achieve the directional deposition of different cells and biological materials in the spatial position for the construction of large transplantable tissues and organs,a high-precision multichannel 3D bioprinter with submicron-level motion accuracy is designed,and concurrent and synergistic printing methods are *** on the high-precision motion characteristics of the gantry structure and the requirements of concurrent and synergistic printing,a 3D bioprint-ing system with a set of 6 channels is designed to achieve six-in-one *** on the Visual C++environ-ment,a control system software that integrates the programmable multi-axis controller(PMAC)motion,pneumatic,and temperature control subsystems was developed and ***,based on measurements and experiments,the 3D bioprinter and its control system was verified to fulfil the requirements of multichannel,concurrent,and syn-ergistic printing with submicron-level motion accuracy,significantly shortening the printing time and improving the printing *** study not only provides an equipment basis for printing complex heterogeneous tissue structures,but also improves the flexibility and functionality of bioprinting,and ultimately makes the construction of complex multicellular tissues or organs possible.

关键词： 3D bioprinting High precision Concurrent and synergistic printing Multichannel control system Six-in-one printing

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Toward a rapid and convenient nanoplastic quantification method in laboratory-scale study based on fluorescence intensity

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Frontiers of Environmental Science & engineering 2024年第5期18卷 117-126页

作者： Ruiqi Yan Sen Lin Qian Ding Lei Zhang Xia Yu Wentao Zhao Qian Sui State Environmental Protection Key Laboratory of Environmental Risk Assessment and Control on Chemical Process School of Resources and Environmental EngineeringEast China University of Science and TechnologyShanghai200237China State Key Laboratory of Pollution Control and Resource Reuse College of Environmental Science and EngineeringTongji UniversityShanghai200092China Shanghai Institute of Pollution Control and Ecological Security Shanghai200092China

The thorough investigation of nanoplastics(NPs)in aqueous environments requires efficient and expeditious quantitative analytical methods that are sensitive to environmentally relevant NP concentrations and convenient to *** analysis-based quantitative methods have been acknowledged as effective and rapid approaches for quantifying NP concentrations in laboratory-scale ***,we compared three commonly used optical response indicators,namely fluorescence intensity(FI),ultraviolet absorbance,and turbidity,to assess their performance in quantifying ***,orthogonal experiments were conducted to evaluate the influence of various water quality parameters on the preferred indicator-based quantification *** results revealed that FI exhibits the highest correlation coefficient(>0.99)with NP ***,the limit of quantification(LOQ)for various types of NPs is exceptionally low,ranging from 0.0089 to 0.0584 mg/L in ultrapure water,well below environmentally relevant *** variations in water quality parameters such as pH,salinity,suspended solids(SS),and humic acid,a robust relationship between detectable FI and NP concentration was ***,an increased matrix,especially SS in water samples,results in an enhanced LOQ for ***,the quantitative method remains applicable in real water bodies,especially in drinking water,with NP LOQ as low as 0.0157–0.0711 mg/*** exceeds the previously reported detectable concentration for 100 nm NPs at 40µg/mL using surface-enhanced Raman *** study confirms the potential of FI as a reliable indicator for the rapid quantification of NPs in aqueous environments,offering substantial advantages in terms of both convenience and cost-effectiveness.

关键词： Nanoplastic quantification Fluorescence intensity Drinking water Limit of quantification(LOQ) Matrix effects

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Reduced-Order Observer-Based Resilient control for MASs with Time-Varying Delay Against DoS Attacks

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical Systems 2024年 2卷 51-59页

作者： Qiu, Xiaojie Meng, Wenchao Xu, Jinming Yang, Qinmin Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou310027 China

This paper concentrates on the resilient control issue in multi-agent systems (MASs) with the time-varying delay subjected to denial of service (DoS) attacks. To eliminate the impact of DoS attacks, a novel resilient control framework is constructed for MASs, where a variable following the Bernoulli distribution process is utilized to denote the behaviors of the attacker. Besides, we design a novel reduced-order (RO) observer with internal time-varying delay to estimate the unknown output of the system and compensate for lost data in the channels. Different from the general observers, the designed observer can ensure both the reduced-order observation errors and the full-order ones can converge to zero. Furthermore, an RO observer-based distributed protocol is devised such that the consensus errors of the closed-loop systems asymptotically converge to zero. Simulation comparisons are provided to validate the efficiency and superiority of our approach. © 2023 IEEE.

关键词： Multi agent systems

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Experimental and modeling study of surface topography generation considering tool-workpiece vibration in high-precision turning

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Chinese Journal of Aeronautics 2023年第7期36卷 194-212页

作者： Xingying ZHOU Henan LIU Tianyu YU Ruiyang GUO Guangzhou WANG Yazhou SUN Mingjun CHEN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China

High-precision turning(HPT)is a main processing method for manufacturing rotary high-precision components,especially for metallic ***,the generated vibration between tool tip and workpiece during turning may seriously deteriorate the surface ***,exploring the effect of vibration on turning surface morphology and quality of copper parts using 3D surface topography regeneration model is crucial for predicting HPT *** developed model can update the machined surface topology in real *** this study,the effects of tool arc radius,feed rate,radial vibration,axial vibration and tangential vibration on the surface topography and surface roughness were *** results show that the effect of radial vibration on surface topography is greater than that of axial vibration and tangential *** radial vibration frequency is also *** vibration frequency changes,the surface topography profile presents three different types:the standard sinusoidal curve,the sinusoidal curve whose lowfrequency signal envelopes high-frequency signal,and the oscillation curve whose low-frequency signal superimposes high-frequency *** addition,HPT experiment was carried out to validate the developed *** surface roughness obtained in the experiment was Ra=53 nm,while the roughness obtained by the simulation was Ra=46 nm,achieving a prediction accuracy of 86.7%.Received 4 September 2022;revised 3 October 2022;accepted 17 October 2022.

关键词： High-precision turning Machining vibration Modeling Surface roughness Surface topography

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Web Layout Design of Large Cavity Structures Based on Topology Optimization

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Computer Modeling in engineering & Sciences 2024年第3期138卷 2665-2689页

作者： Xiaoqiao Yang Jialiang Sun Dongping Jin State Key Laboratory ofMechanics and Control for Aerospace Structures College of Aerospace EngineeringNanjing University of Aeronautics and AstronauticsNanjing210016China

Large cavity structures are widely employed in aerospace engineering, such as thin-walled cylinders, blades andwings. Enhancing performance of aerial vehicles while reducing manufacturing costs and fuel consumptionhas become a focal point for contemporary researchers. Therefore, this paper aims to investigate the topologyoptimization of large cavity structures as a means to enhance their performance, safety, and efficiency. By usingthe variable density method, lightweight design is achieved without compromising structural strength. Theoptimization model considers both concentrated and distributed loads, and utilizes techniques like sensitivityfiltering and projection to obtain a robust optimized configuration. The mechanical properties are checked bycomparing the stress distribution and displacement of the unoptimized and optimized structures under the sameload. The results confirm that the optimized structures exhibit improved mechanical properties, thus offering keyinsights for engineering lightweight, high-strength large cavity structures.

关键词： Topology optimization lightweight design web layout design cavity structure

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Unmanned aerial vehicle orthogonal laser localization by Gaussian mixture model‐based map representation

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IET Cyber-Systems and Robotics 2023年第3期5卷 37-44页

作者： Zeyu Wan Changjian Jiang Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhouChina

Localization is a core problem in mobile robot *** localization and mapping(SLAM)costs much for an unmanned aerial vehicle(UAV).This research aims to design an orthogonal laser scan device for localization and to save computation *** on disturbance analysis,residual influences on sensor state are quantitative,and they are related to uncertainty and *** research applied the residual selection method to a *** feature point detection utilises multi‐scale and Gaussian model fitting techniques to guarantee true *** map is represented by Gaussian Mixture Models(GMM)with lower memory *** orthogonal laser scan device is composed and placed on a UAV for real‐time three‐dimensional localization,whose er-rors are at the centimeter level.

关键词： indoor positioning mobile robots unmanned aerial vehicle

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Electrical tree degradation of MgO/epoxy resin composites at different voltage frequencies

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High Voltage 2024年第3期9卷 581-590页

作者： Yunxiao Zhang Wenxin Lin Yuanxiang Zhou Weiwei Xing Jiayu Cheng Chenyuan Teng College of Electrical Engineering and Automation Fuzhou UniversityFujian Key Laboratory of New Energy Generation and Power ConversionFuzhouChina State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electrical EngineeringTsinghua UniversityBeijingChina

Electrical tree degradation is one of the main causes of insulation failure in high-frequency *** tree degradation is studied on pure epoxy resin(EP)and MgO/EP composites at frequencies ranging from 50 Hz to 130 *** results show that the tree initiation voltage of EP decreases,while the growth rate and the expansion coefficient increase with ***,the bubble phenomenon at high frequencies in EP composites is *** with trap distribution character-istics within the material,the intrinsic mechanism of epoxy composites to inhibit the growth of the electrical tree at different frequencies is *** can be concluded that more deep traps and blocking effect are introduced by doping nano-MgO into EP bulks,which can improve the electrical tree resistance performance of EP composites in a wide frequency range.

关键词： composites tree Electrical

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Effects of aggregate size distribution and carbon nanotubes on the mechanical properties of cemented gangue backfill samples under true triaxial compression

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International Journal of Minerals,Metallurgy and Materials 2025年第2期32卷 311-324页

作者： Qian Yin Fan Wen Zhigang Tao Hai Pu Tianci Deng Yaoyao Meng Qingbin Meng Hongwen Jing Bo Meng Jiangyu Wu State Key Laboratory of Intelligent Construction and Healthy Operation and Maintenance of Deep Underground Engineering China University of Mining and TechnologyXuzhou 221116China State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines Anhui University of Science and TechnologyHuainan 232001China State Key Laboratory for Geomechanics&Deep Underground Engineering China University of Mining and Technology(Beijing)Beijing 100083China Key Laboratory of Xinjiang Coal Resources Green Mining Ministry of EducationXinjiang Institute of EngineeringUrumqi 830023China

The mechanical behavior of cemented gangue backfill materials(CGBMs)is closely related to particle size distribution(PSD)of aggregates and properties of cementitious ***,the true triaxial compression tests,CT scanning,SEM,and EDS tests were conducted on cemented gangue backfill samples(CGBSs)with various carbon nanotube concentrations(P_(CNT))that satisfied fractal theory for the PSD of *** mechanical properties,energy dissipations,and failure mechanisms of the CGBSs under true triaxial compression were systematically *** results indicate that appropriate carbon nanotubes(CNTs)effectively enhance the mechanical properties and energy dissipations of CGBSs through micropore filling and microcrack bridging,and the optimal effect appears at P_(CNT)of 0.08wt%.Taking PSD fractal dimension(D)of 2.500 as an example,compared to that of CGBS without CNT,the peak strength(σ_(p)),axial peak strain(ε_(1,p)),elastic strain energy(Ue),and dissipated energy(U_(d))increased by 12.76%,29.60%,19.05%,and90.39%,***,excessive CNTs can reduce the mechanical properties of CGBSs due to CNT agglomeration,manifesting a decrease inρ_(p),ε_(1,p),and the volumetric strain increment(Δε_(v))when P_(CNT)increases from 0.08wt%to 0.12wt%.Moreover,the addition of CNTs improved the integrity of CGBS after macroscopic failure,and crack extension in CGBSs appeared in two modes:detour and pass through the ***σ_(p)and U_(d)firstly increase and then decrease with increasing D,and porosity shows the opposite ***ε_(1,p)andΔε_(v)are negatively correlated with D,and CGBS with D=2.150 has the maximum deformation parameters(ε_(1,p)=0.05079,Δε_(v)=0.01990)due to the frictional slip effect caused by coarse *** increasing D,the failure modes of CGBSs are sequentially manifested as oblique shear failure,"Y-shaped"shear failure,and conjugate shear failure.

关键词： cemented gangue backfill materials particle size distribution true triaxial compression test carbon nanotubes mechanical properties failure modes

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