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arXiv 2024年

作者： Ji, Yiming Liu, Yang Xie, Guanghu Ma, Boyu Xie, Zongwu Liu, Hong State Key Laboratory of Robotics and Systems Harbin Institute of Technology China

We propose NEDS-SLAM, a dense semantic SLAM system based on 3D Gaussian representation, that enables robust 3D semantic mapping, accurate camera tracking, and high-quality rendering in real-time. In the system, we propose a Spatially Consistent Feature Fusion model to reduce the effect of erroneous estimates from pre-trained segmentation head on semantic reconstruction, achieving robust 3D semantic Gaussian mapping. Additionally, we employ a lightweight encoder-decoder to compress the high-dimensional semantic features into a compact 3D Gaussian representation, mitigating the burden of excessive memory consumption. Furthermore, we leverage the advantage of 3D Gaussian splatting, which enables efficient and differentiable novel view rendering, and propose a Virtual Camera View Pruning method to eliminate outlier gaussians, thereby effectively enhancing the quality of scene representations. Our NEDS-SLAM method demonstrates competitive performance over existing dense semantic SLAM methods in terms of mapping and tracking accuracy on Replica and ScanNet datasets, while also showing excellent capabilities in 3D dense semantic mapping. Index Terms—3D Gaussian Splatting;Dense Semantic Mapping;Neural SLAM;3D Reconstruction. Copyright © 2024, The Authors. All rights reserved.

关键词： Mapping

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Research on Multisensor Fusion state Estimation of Automatic Navigation Vehicle Based on RNN Model 13th

Research on Multisensor Fusion State Estimation of Automatic...

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13th International Conference on Frontier Computing, FC 2023

作者： Zhang, Liyuan Cui, Zhiquan Wang, Honggang Harbin Institute of Technology Shandong Weihai264209 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819992980

Multi sensor fusion state estimation of autonomous navigation vehicle based on RNN model. Multi sensor fusion is a process of combining information from different sensors to estimate a single value. In this paper, we propose a recursive neural network (RNN) model to estimate the state of multiple sensors. This method uses RNN architecture with two hidden layers and one output layer to combine sensor data. The input data is first divided into a sequence and then input into the RNN model to predict the output. We use three types of sensors: IMU, LIDAR and GPS. First, the RNN model is trained using three sensors for the navigation system. Then, we use this trained model to estimate the current position using only one sensor data. Finally, we combine the data of all three sensors to obtain the final estimated position of the vehicle at any given time step. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2024.

关键词： Neural network models

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For Mega-Constellations: Edge Computing and Safety Management Based on Blockchain technology

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China Communications 2024年第2期21卷 59-73页

作者： Zhen Zhang Bing Guo Chengjie Li College of Computer Science Sichuan UniversityChengdu 610064China The Key Laboratory for Computer Systems of State Ethnic Affairs Commission School of Computer Science and TechnologySouthwest Minzu UniversityChengdu 610225China National Key Laboratory of Science and Technology on Communications University of Electronic Science and Technology of ChinaChengdu 611731China

In mega-constellation Communication systems, efficient routing algorithms and data transmission technologies are employed to ensure fast and reliable data transfer. However, the limited computational resources of satellites necessitate the use of edge computing to enhance secure *** edge computing reduces the burden on cloud computing, it introduces security and reliability challenges in open satellite communication channels. To address these challenges, we propose a blockchain architecture specifically designed for edge computing in mega-constellation communication systems. This architecture narrows down the consensus scope of the blockchain to meet the requirements of edge computing while ensuring comprehensive log storage across the network. Additionally, we introduce a reputation management mechanism for nodes within the blockchain, evaluating their trustworthiness, workload, and efficiency. Nodes with higher reputation scores are selected to participate in tasks and are appropriately incentivized. Simulation results demonstrate that our approach achieves a task result reliability of 95% while improving computational speed.

关键词： blockchain consensus mechanism edge computing mega-constellation reputation management

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Flight control of a large-scale flapping-wing flying robotic bird:System development and flight experiment

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Chinese Journal of Aeronautics 2022年第2期35卷 235-249页

作者： Wenfu XU Erzhen PAN Juntao LIU Yihong LI Han YUAN School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Large-scale flapping-wing flying robotic birds have huge application potential in outdoor tasks,such as military reconnaissance,environment exploring,disaster rescue and so *** this paper,a multiple modes flight control method and system are proposed for a large-scale robotic bird which has 2.3 m wingspan and 650 g *** from small flapping wing aerial vehicle,the mass of its wings cannot be neglected and the flapping frequency are much ***,the influence of transient aerodynamics instead of only mean value are considered in attitude estimation and controller ***,flight attitude and trajectory are highly coupled,and the robot has only three actuators----one for wings flapping and two for tail adjustment,it is very difficult to simultaneously control the attitude and ***,a fuzzy control strategy is addressed to determine the command of each actuator by considering the priority of attitude stabilization,trajectory tracking and the flight ***,the on-board controller is designed based on *** not only satisfies the strict restrictions on mass,size,power and space but also meets the autonomous,semi-autonomous and manual flight control ***,the developed control system was integrated to the robotic prototype,*** experiments under different environment conditions such as sunny and windy weather were completed to verify the control method and system.

关键词： Autonomous flight control Flapping-wing Free RTOS HIT-Phoenix Robotic bird

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Research on Size Calibration Algorithm of Dark-field Flaw on Optics Surface Based on Convolutional Neural Network

Research on Size Calibration Algorithm of Dark-field Flaw on...

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2024 Applied Optics and Photonics China: Optical Sensing, Imaging technology, and Applications, AOPC 2024

作者： Wang, Bei Yin, Zhaoyang Zhou, Shicheng Zhao, Linjie Chen, Mingjun Cheng, Jian School of Mechatronics Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China

ISBN: (数字)9781510687820

ISBN: (纸本)9781510687813

Optics in high-power solid-state laser devices will be damaged and adhere to contaminates on the surface during manufacturing and operation, which reduces the service life. To facilitate the positioning and recognition of the flaw (damage and contaminates) in the process of automatic repair, the dark-field flaw size calibration algorithm was studied. In this paper, a flaw size calibration model based on convolutional neural network was established. The size, exposure time, and loss function of damage and contaminate were optimized respectively. The training parameter of the damage regression model is determined to be size of less than 500μm, 30ms of exposure time and SmoothL1 loss function, and the parameter of contaminate is 0-100μm, 20ms of exposure and SmoothL1 loss function. After data balancing, the calibration precision was improved. To improve the calibration consistency of the full-size segment, a comprehensive size calibration strategy is proposed. The CNN regression algorithm is used for small size, and the pixel-level calibration algorithm is used for large size. Compared with the single regression calibration algorithm, the relative error and absolute error of the calibration results of small damage ( © 2024 SPIE.

关键词： Solid state lasers

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High-energy-density lithium manganese iron phosphate for lithium-ion batteries:Progresses,challenges,and prospects

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Journal of Energy Chemistry 2025年第1期100卷 1-17页

作者： Bokun Zhang Xiaoyun Wang Shuai Wang Yan Li Libo Chen Handong Jiao Zhijing Yu Jiguo Tu State Key Laboratory of Advanced Metallurgy University of Science and Technology BeijingBeijing 100083China Research Institute for Intelligent Wearable Systems The Hong Kong Polytechnic University Hong Kong 9977China Institute of Advanced Structure Technology Beijing Institute of TechnologyBeijing 100081China

The soaring demand for smart portable electronics and electric vehicles is propelling the advancements in high-energy–density lithium-ion *** manganese iron phosphate(LiMn_(x)Fe_(1-x)PO_(4))has garnered significant attention as a promising positive electrode material for lithium-ion batteries due to its advantages of low cost,high safety,long cycle life,high voltage,good high-temperature performance,and high energy *** LiMn_(x)Fe_(1-x)PO_(4)has made significant breakthroughs in the past few decades,there are still facing great challenges in poor electronic conductivity and Li-ion diffusion,manganese dissolution affecting battery cycling performance,as well as low tap *** review systematically summarizes the reaction mechanisms,various synthesis methods,and electrochemical properties of LiMn_(x)Fe_(1-x)PO_(4)to analyze reaction processes accurately and guide material ***,the main challenges currently faced are concluded,and the corresponding various modification strategies are discussed to enhance the reaction kinetics and electrochemical performance of LiMn_(x)Fe_(1-x)PO_(4),including multi-scale particle regulation,heteroatom doping,surface coating,as well as microscopic morphology ***,in view of the current research challenges faced by intrinsic reaction processes,kinetics,and energy storage applications,the promising research directions are *** importantly,it is expected to provide key insights into the development of high-performance and stable LiMn_(x)Fe_(1-x)PO_(4)materials,to achieve practical energy storage requirements.

关键词： Lithiummanganese iron phosphate High energydensity Lithium-ionbatteries Reactionmechanism Tap density

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Insight into the effect of gel drying temperature on the structure and desulfurization performance of ZnO/SiO_(2)adsorbents

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Chinese Journal of Chemical Engineering 2023年第4期56卷 233-241页

作者： Chao Yang Zhelin Su Yeshuang Wang Huiling Fan Meisheng Liang Zhaohui Chen College of Environmental Science and Engineering Taiyuan University of TechnologyTaiyuan 030024China State Key Laboratory of Clean and Efficient Coal Utilization Taiyuan University of TechnologyTaiyuan 030024China State Key Laboratory of Multi-phase Complex Systems Institute of Process EngineeringChinese Academy of SciencesBeijing 100190China

A series of ZnO/SiO_(2) adsorbents were prepared by a sol-gel method using tetraethyl orthosilicate,ethylene glycol(EG)and nitrates as *** effect of gel drying temperature on the structure and desulfurization performance of the adsorbents were investigated in *** is found that the low drying temperature led to a weak interaction among EG,Si AOH/H_(2)O and the nitrates in the gel system,which caused the oxidation of EG by NO3-and formed zinc glyoxylate complex during the gel calcination process,whereas this oxidation process also occurred at a high drying temperature during the gel drying *** formed zinc glyoxylate complex promoted the generation of monodentate carbonate on the surface of Zn O,which resulted in the inferior desulfurization performance of adsorbents despite they have smaller Zn O *** gel dried at 120°C formed the hydrogen bonds between EG and Si AOH/H_(2)O and a strong interaction between zinc oxo-clusters and NO3-was also found in the gel system,which avoided the oxidation of EG by NO3-during the preparation process and the Zn O nanoparticles with sizes of 6 nm were formed by a combustion *** adsorbent affords a highest sulfur capacity of 104.9 mg·g^(-1) in this *** addition,the gel drying temperature has a significant influence on the textural properties of the adsorbents except their surface area.

关键词： Sol-gel method Drying temperature H_(2)S removal Zinc-silica composites Hydrogen bonds

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A Container Cloud Elastic Scaling Method Based on GRU Attention Mechanism 5

A Container Cloud Elastic Scaling Method Based on GRU Attent...

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5th International Conference on Computer Engineering and Intelligent Control, ICCEIC 2024

作者： Zhang, Yue Sun, Yong Song, Chunhe Gao, Pengpei Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China

ISBN: (纸本)9798331507992

In modern container cloud computing environments, achieving efficient elastic scaling is crucial to optimizing resource utilization and improving system performance. This paper proposes a new prediction model based on gated recurrent unit (GRU) and attention mechanism for load prediction and elastic scaling strategy optimization. The model uses the time series processing capability of GRU combined with the optimization characteristics of the attention mechanism to improve the accuracy and real-time performance of load prediction. Experimental results show that compared with traditional methods, the model can more accurately capture the load change trend and achieve more agile and efficient resource scheduling and management, thereby effectively reducing resource waste and improving service quality. This study provides a novel and effective solution for elastic scaling in container cloud environments. © 2024 IEEE.

关键词： Prediction models

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Hybrid Joint-space Control Strategies Analysis for One-redundant Cable Suspended Parallel Robots 1

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Qin, Zhiwei Liu, Zhen Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150000 China

ISBN: (数字)9789811993985

ISBN: (纸本)9789811993978

Hybrid joint-space control strategy, where some redundant cables are force control, while other cables perform the length control, has the ability to control the robots with small pose errors, and maintain all cables tensioned at the same time. In the cable-driven parallel robots with redundant drives, all the cable tensions have a predicable range, we called cable adjustable force (CAF) in this study. This work aims at investigating the relationships between the CAF of target force-controlled cables, and the pose errors under the hybrid joint-space control strategy. A simulation framework, considering interfering cable length and cable forces, is developed to analysis the characters of hybrid-input control strategy, based on a cable suspended with one redundant layout. We found that the CAF is related to the pose control error of the end-effector, and can be regard as a selection criteria for the target cable for the force control in the hybrid joint-space control strategy. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Cables

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Electronically enhancing the long-range nanopositioning accuracy of a Lorentz force actuator

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Frontiers of Information technology & Electronic Engineering 2023年第7期24卷 1080-1092页

作者： Bimal Jeet GOTEEA Qianjun ZHANG Wei DONG State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper presents a precision centimeter-range positioner based on a Lorentz force actuator using flexure *** additional digital-to-analog converter and an operational amplifier(op amp)circuit together with a suitable controller are used to enhance the positioning accuracy to the nanometer ***,a suitable coil is designed for the actuator based on the stiffness of the flexure guide *** flexure mechanism and actuator performance are then verified with finite element *** on these,a means to enhance the positioning performance electronically is presented together with the control ***,a prototype is fabricated,and the performance is *** positioner features a range of 10 mm with a resolution of 10 *** proposed scheme can be extended to other systems.

关键词： Nanopositioning Flexure guides Long range Voice coil motor Lorentz force actuator

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