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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Chen, Yunle Shen, Xingjian Meng, Xianghe Xie, Hui Harbin Institute of Technology State key Laboratory of Robotics and Systems 2 Yikuang Nangang District Harbin150080 China

ISBN: (纸本)9781665481090

An important step before the implantation of an invasive brain-computer interface (BCI) is craniotomy, which provides direct access to the brain. During the craniotomy, the precision of cranial drilling is critical, as any deviation or exces-sive penetration can pose significant risks, potentially leading to severe brain injury. Traditional methods of force signal analysis lack effective feedback in complex situations, leading to a risk of over-drilling and potential brain damage. Here, we proposes a Long Short-Term Memory (LSTM) neural network to detect the break-through of the drill bit in real-time. Thrust force data from five drilling experiments on a fancy rat skull specimen are collected. The force data are then split into 0.2-second intervals corresponding to different stages of the drilling process. An LSTM network is trained with these labeled datasets to detect changes in the drilling stage, thereby determining the break-through point. The trained classicfication network gets a accuracy of 96%. Practical drilling experiments on a fancy rat skull specimen validates the feasibility and accuracy of the break-through detection algorithm. The experimental results demonstrate that the method can achieve an over-penetration distance within 15 μm, which is safe for performing craniotomy in rats. Given that this method ensures safety for the stringent requirements of rat craniotomy, it can be expected to provide even greater safety for human craniotomy procedures. © 2024 IEEE.

关键词： Risk assessment

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Nonlocal Huygens'meta-lens for high-qualityfactor spin-multiplexing imaging

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Light(Science & Applications) 2025年第3期14卷 695-702页

作者： Jin Yao Yubin Fan Yunhui Gao Rong Lin Zhihui Wang Mu Ku Chen Shumin Xiao Din Ping Tsai Department of Electrical Engineering City University of Hong KongKowloonHong Kong SARChina Centre for Biosystems Neuroscienceand NanotechnologyCity University of Hong KongKowloonHong Kong SARChina State Key Laboratory of Terahertz and Milimeter Waves City University of Hong KongKowloonHong Kong SARChina State Key Laboratory on Tunable Laser Technology Ministry of Industry and Information Technology Key Lab of Micro-Nano Optoelectronic Information SystemShenzhen Graduate SchoolHarbin Institute of TechnologyShenzhen 518055China Pengcheng Laboratory ShenzhenChina

Combining bright-feld and edge-enhanced imaging affords an effective avenue for extracting complex morphological information from objects,which is particularly beneficial for biological *** metalenses present promising candidates for achieving this ***,current multiplexing meta-lenses lack spectral modulation,and crosstalk between different wavelengths hampers the imaging quality,especilly for biological samples requiring precise wavelength ***,we experimentally demonstrate the nonlocal Huygens'meta-lens for high-quality-factor spin-multiplexing ***-bound states in the continuum(q-BlCs)are excited to provide a high quality factor of 90 and incident-angle *** generalized Kerker condition,driven by Fano-like interactions between q-BIC and in-plane Mie resonances,breaks the radiation symmetry,resulting in a transmission peak with a geometric phase for polarization-converted light,while unconverted light exhibits a transmission dip without a geometric *** polarization conversion efficiency of 65%is achieved,accompanied by a minimal unconverted value,surpassing the theoretical limit of traditional thin nonlocal *** these effects,the output polarization-converted state exhibits an efficient wavelengthselective focusing phase *** unconverted counterpart serves as an effective spatial frequency filter based on incident-angular dispersion,passing high-frequency edge ***-field imaging and edge detection are thus presented under two output spin *** work provides a versatile framework for nonlocal metasurfaces,boosting biomedical imaging and sensing applications.

关键词： nonlocal Huygensmeta lens biological imagingmultiplexing metalenses bright field imaging edge enhanced imaging high quality factor spin multiplexing imaging extracting complex morphological information biological samples spectral modulationand

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Enhanced influence of the North Atlantic Oscillation on winter snowfall in northern China since 2000

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Science China Earth Sciences 2025年第4期68卷 1236-1244页

作者： Botao ZHOU Chuer GUO Yuepeng HU Wenxin XIE Bo SUN Tingting HAN Ning SHI State Key Laboratory of Climate System Prediction and Risk Management/Key Laboratory of Meteorological Disaster Ministry of Education/Collaborative Innovation Center on Forecast and Evaluation of Meteorological DisastersNanjing University of Information Science and TechnologyNanjing210044China School of Atmospheric Sciences Nanjing University of Information Science and TechnologyNanjing210044China Zhejiang Meteorological Observatory Hangzhou310002China

Because of the profound impacts of snowfall in northern China on the economy society and human lives,it is essential to understand the physical mechanisms behind the variability of snowfall in this *** on the observational and reanalysis data during 1961–2018,this study examines the relationship of winter snowfall over northern China with the North Atlantic Oscillation(NAO).The results show that their relationship experiences an interdecadal change around *** 2000–2018,the NAO is significantly and negatively correlated to winter snowfall in northern *** the NAO is in the negative phase,the East Asian subtropical jet and polar front jet tend to move northward and southward,respectively,concomitant with an anomalous cyclonic circulation from Lake Balkhash to Lake Baikal in the middle and lower *** an atmospheric background favors the increase of snowfall over northern China by empowering the interactions of cold air with moist airflows in the target ***,during 1981–1999,the association of the NAO with the above atmospheric circulations seems inconspicuous,thereby reducing its relation to winter snowfall in northern *** investigation suggests that the enhancement of the connection between the NAO and aforementioned atmospheric circulations may result from the westward displacement of the NAO southern center from the former period to the latter period.

关键词： Winter snowfall Northern China North Atlantic Oscillation Interdecadal change Atmospheric circulations

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Bug localization based on syntactical and semantic information of source code

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Journal of systems Engineering and Electronics 2023年第1期34卷 236-246页

作者： YAN Xuefeng CHENG Shasha GUO Liqin College of Computer Science Technology Nanjing University of Aeronautics and AstronauticsNanjing 211106China Collaborative Innovation Center of Novel Software Technology and Industrialization Nanjing 211106China State Key Laboratory of Intelligent Manufacturing System Technology Beijing Institute of Electronic System EngineeringBeijing 100854China

The existing software bug localization models treat the source file as natural language, which leads to the loss of syntactical and structure information of the source file. A bug localization model based on syntactical and semantic information of source code is proposed. Firstly, abstract syntax tree(AST) is divided based on node category to obtain statement sequence. The statement tree is encoded into vectors to capture lexical and syntactical knowledge at the statement ***, the source code is transformed into vector representation by the sequence naturalness of the statement. Therefore,the problem of gradient vanishing and explosion caused by a large AST size is obviated when using AST to the represent source code. Finally, the correlation between bug reports and source files are comprehensively analyzed from three aspects of syntax, semantics and text to locate the buggy code. Experiments show that compared with other standard models, the proposed model improves the performance of bug localization, and it has good advantages in mean reciprocal rank(MRR), mean average precision(MAP) and Top N Rank.

关键词： bug report abstract syntax tree code representation software bug localization

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Numerical simulation of the vacuum casting process of solid propellants 3

Numerical simulation of the vacuum casting process of solid ...

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2024 3rd International Conference on Acoustics, Fluid Mechanics and Engineering, AFME 2024

作者： Gao, Zhe Wei, Ming Li, Wensen Chen, Cunzhuang Li, Changle Zhao, Jie State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150000 China Hubei Institute of Aerospace Chemical Technology Xiangyang441003 China

Solid propellant is one of the main components of rocket engines, and the casting of low-viscosity propellant slurry usually uses a vacuum casting process. During the vacuum casting process, the rheological properties of solid propellant slurry are complex, and the theoretical analytical method cannot intuitively and accurately analyze its flow characteristics. Therefore, this paper numerically simulates the casting process through simulation software, uses the Herschel-Bulkley model to characterize the changes in the flow characteristics of solid propellant slurry during the vacuum casting process, and studies the effects of different hopper angles and anti-break vacuum plug shapes on the slurry's rheological properties. By analyzing parameters such as slurry mass flow rate, velocity, residual amount in the hopper, and surface pressure of the plug, the appropriate hopper angle and the bottom edge angle of the anti-break vacuum plug are selected. Finally, the slurry leveling characteristics under suitable hopper and plug conditions are analyzed. The results indicate that a hopper angle of 140° and an anti-break vacuum plug bottom angle of 120° are optimal. The entire vacuum casting process takes approximately 42 seconds, and the overall slurry leveling is good. As the casting progresses, the slurry gradually compacts and levels out, and the bubbles at the bottom of both sides of the combustion chamber gradually disappear. © Published under licence by IOP Publishing Ltd.

关键词： Hoppers

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RAM-NAS: Resource-aware Multiobjective Neural Architecture Search Method for Robot Vision Tasks

RAM-NAS: Resource-aware Multiobjective Neural Architecture S...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Shouren Mao Minghao Qin Wei Dong Huajian Liu Yongzhuo Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Neural architecture search (NAS) has shown great promise in automatically designing lightweight models. However, conventional approaches are insufficient in training the supernet and pay little attention to actual robot hardware resources. To meet such challenges, we propose RAM-NAS, a resource-aware multi-objective NAS method that focuses on improving the supernet pretrain and resource-awareness on robot hardware devices. We introduce the concept of subnets mutual distillation, which refers to mutually distilling all subnets sampled by the sandwich rule. Additionally, we utilize the Decoupled Knowledge Distillation (DKD) loss to enhance logits distillation performance. To expedite the search process with consideration for hardware resources, we used data from three types of robotic edge hardware to train Latency Surrogate predictors. These predictors facilitated the estimation of hardware inference latency during the search phase, enabling a unified multi-objective evolutionary search to balance model accuracy and latency trade-offs. Our discovered model family, RAM-NAS models, can achieve top-1 accuracy ranging from 76.7% to 81.4% on ImageNet. In addition, the resource-aware multi-objective NAS we employ significantly reduces the model’s inference latency on edge hardware for robots. We conducted experiments on downstream tasks to verify the scalability of our methods. The inference time for detection and segmentation is reduced on all three hardware types compared to MobileNetv3-based methods. Our work fills the gap in NAS for robot hardware resource-aware.

关键词： Training Accuracy Image edge detection Scalability Robot vision systems Predictive models Hardware Neural architecture search Robots Testing

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JHT-EXO: A Soft Ankle Exosuit for Assisting Walking in Patients with Post-Stroke Foot Inversion

JHT-EXO: A Soft Ankle Exosuit for Assisting Walking in Patie...

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IEEE International Conference on robotics and Biomimetics

作者： Haotian Ju Zihang Guan Songhao Guo Zedong Liu Qinghua Zhang Tianjiao Zheng Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Stroke often leads to foot inversion, seriously affecting the patients' walking ability. In this paper, a lightweight, soft exosuit, JHT-EXO, is proposed for correcting foot inversion to help patients' gait rehabilitation. JHT-EXO mainly consists of two cable driving modules, two foot feedback modules, and a control module, with a total weight of no more than 2.5 kg. The cable driving module can pre-tighten the cable with a designed constant torque spring to prevent the cable from falling off. When the motor is not energized, it can still assist the person in stabilizing the walking gait and reducing power consumption. Customized foot pressure sensors recognize human gait, and IMUs on the feet measure the ankle angle used by the controller to change the output force of the exosuit. The constant torque spring was calibrated and tested, and the experimental results showed that the average output force of the constant torque spring was 20.0 N, with a maximum error of 5.6% compared to the theoretically calculated results. The ground walking test of the exosuit was performed by three subjects in three conditions: wearing the exosuit powered up, wearing the exosuit unpowered, and not wearing the exosuit. The test results showed that JHT-EXO could effectively reduce the ankle inversion angle by $22.11^\circ$ compared to not wearing the exosuit. JHT-EXO is feasible in preventing foot drop and stabilizing flip, and its high mobility and portability show potential for gait rehabilitation of foot inversion patients.

关键词： Legged locomotion Ankle Pressure sensors Torque Force Stroke (medical condition) Pressure measurement Springs Robots Foot

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Towards optimized tensor code generation for deep learning on sunway many-core processor

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Frontiers of Computer Science 2024年第2期18卷 1-15页

作者： Mingzhen LI Changxi LIU Jianjin LIAO Xuegui ZHENG Hailong YANG Rujun SUN Jun XU Lin GAN Guangwen YANG Zhongzhi LUAN Depei QIAN State Key Laboratory of Software Development Environment Beijing 100191China School of Computer Science and Engineering Beihang UniversityBeijing 100191China National University of Singapore Singapore 119077Singapore State Key Laboratory of Mathematical Engineering and Advanced Computing Wuxi 214000China Science and Technology on Special System Simulation Laboratory Beijing Simulation Center Beijing 100854China Department of Computer Science and Technology Tsinghua UniversityBeijing 100084China

The flourish of deep learning frameworks and hardware platforms has been demanding an efficient compiler that can shield the diversity in both software and hardware in order to provide application *** the existing deep learning compilers,TVM is well known for its efficiency in code generation and optimization across diverse hardware *** the meanwhile,the Sunway many-core processor renders itself as a competitive candidate for its attractive computational power in both scientific computing and deep learning *** paper combines the trends in these two ***,we propose swTVM that extends the original TVM to support ahead-of-time compilation for architecture requiring cross-compilation such as *** addition,we leverage the architecture features during the compilation such as core group for massive parallelism,DMA for high bandwidth memory transfer and local device memory for data locality,in order to generate efficient codes for deep learning workloads on *** experiment results show that the codes generated by swTVM achieve 1.79x improvement of inference latency on average compared to the state-of-the-art deep learning framework on Sunway,across eight representative *** work is the first attempt from the compiler perspective to bridge the gap of deep learning and Sunway processor particularly with productivity and efficiency in *** believe this work will encourage more people to embrace the power of deep learning and Sunwaymany-coreprocessor.

关键词： sunway processor deep learning compiler code generation performance optimization

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Uptrend of the Western North Pacific Tropical Cyclone Outflow Height during 1959-2021

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Journal of Meteorological Research 2024年第2期38卷 339-350页

作者： Yuan SUN Zhihao FENG Wei ZHONG Panmao ZHAI Yanluan LIN Shuo LYU College of Advanced Interdisciplinary Studies National University of Defense TechnologyNanjing 211100 College of Meteorology and Oceanography National University of Defense TechnologyChangsha 410073 State Key Laboratory of Severe Weather Chinese Academy of Meteorological SciencesChina Meteorological AdministrationBeijing 100081 Ministry of Education Key Laboratory for Earth System Modeling Department of Earth System ScienceTsinghua UniversityBeijing 100084

Relatively little is known about the impact of global warming on the tropical cyclone(TC)outflow,despite its large contribution to TC *** this study,based on the International Best Track Archive for Climate Stewardship(IBTrACS)dataset and ERA5 reanalysis data,we show that the TC outflow height has risen significantly(48.20±22.18 m decades-1)in the past decades(1959-2021)over the western North Pacific,and the rising trend tends to be sharper for stronger TCs(the uptrend of severe typhoon is 61.09±40.92 m decades-1).This rising trend of the outflow height explains the contradiction between the decrease trend of the TC outflow temperature and the increase trend of the atmospheric troposphere ***,possible contribution of the TC outflow height uptrend to TC intensity has also been *** results show that the rise of outflow height leads to the decrease of outflow temperature,and thus an increased difference between underlying sea surface temperature(SST)and TC outflow temperature,which eventually favors the increase of TC intensity.

关键词： tropical cyclone outflow height global warming western North Pacific

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PMM-Net: Single-stage Multi-agent Trajectory Prediction with Patching-based Embedding and Explicit Modal Modulation

arXiv

引用

arXiv 2024年

作者： Liu, Huajian Dong, Wei Fan, Kunpeng Wang, Chao Gao, Yongzhuo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Analyzing and forecasting trajectories of agents like pedestrians plays a pivotal role for embodied intelligent applications. The inherent indeterminacy of human behavior and complex social interaction among a rich variety of agents make this task more challenging than common time-series forecasting. In this letter, we aim to explore a distinct formulation for multi-agent trajectory prediction framework. Specifically, we proposed a patching-based temporal feature extraction module and a graph-based social feature extraction module, enabling effective feature extraction and cross-scenario generalization. Moreover, we reassess the role of social interaction and present a novel method based on explicit modality modulation to integrate temporal and social features, thereby constructing an efficient single-stage inference pipeline. Results on public benchmark datasets demonstrate the superior performance of our model compared with the state-of-the-art methods. The code is available at: ***/TIB-K330/pmm-net. Copyright © 2024, The Authors. All rights reserved.

关键词： Economic and social effects

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