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Gecko-Like Dry Adhesive Surfaces and Their Applications: A Review

Journal of Bionic Engineering 2021年第5期18卷 1011-1044页

作者： Wei Wang Yang Liu Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Gecko has the ability to climb flexibly on various natural surfaces because of its fine layered adhesion system of foot,which has motivated researchers to carry out a lot of researches on *** progresses have been made in the gecko-like dry adhesive surfaces in the past 2 decades,such as the mechanical measurement of adhesive characteristics,the theoretical modeling of adhesive mechanism and the production of synthetic dry adhesive *** application researches have been carried out as *** paper focuses on the investigations made in recent years on the gecko-like dry adhesive surfaces,so as to lay the foundation for further research ***,the adhesion system of gecko’s foot and its excellent adhesive characteristics are reviewed,and the adhesive models describing the gecko adhesion are summarily reviewed according to the diff erent contact ***,some gecko-like dry adhesive surfaces with outstanding adhesive characteristics are ***,some application researches based on the gecko-like dry adhesive surfaces are ***,the full text is summarized and the problems to be solved on the gecko-like dry adhesive surfaces are prospected.

关键词： Gecko adhesion Gecko-like dry adhesive surfaces Climbing robot Robot gripper Medical adhesive tape

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Multi-task learning andjoint refinement between camera localization and object detection

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Computational Visual Media 2024年第5期10卷 993-1011页

作者： Junyi Wang Yue Qi State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and EngineeringBeihang UniversityBeijing 100191China Peng Cheng Laboratory Shenzhen 518052China Qingdao Research Institute of Beihang University Qingdao 266104China School of Computer Science and Technology Shandong UniversityQingdaoChina

Visual localization and object detection both play important roles in various *** many indoor application scenarios where some detected objects have fixed positions,the two techniques work closely ***,few researchers consider these two tasks simultaneously,because of a lack of datasets and the little attention paid to such *** this paper,we explore multi-task network design and joint refinement of detection and *** address the dataset problem,we construct a medium indoor scene of an aviation exhibition hall through a semi-automatic *** dataset provides localization and detection information,and is publicly available at https://***/drive/folders/1U28zk0N4_I0db zkqyIAK1A15k9oUKOjI?usp=sharing for benchmarking localization and object detection *** this dataset,we have designed a multi-task network,JLDNet,based on YOLO v3,that outputs a target point cloud and object bounding *** dynamic environments,the detection branch also promotes the perception of *** includes image feature learning,point feature learning,feature fusion,detection construction,and point cloud ***,object-level bundle adjustment is used to further improve localization and detection *** test JLDNet and compare it to other methods,we have conducted experiments on 7 static scenes,our constructed dataset,and the dynamic TUM RGB-D and Bonn *** results show state-of-the-art accuracy for both tasks,and the benefit of jointly working on both tasks is demonstrated.

关键词： visual localization object detection joint optimization multi-task learning

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An adjustment-free laser resonator based on micron-scale corner cube array

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Chinese Physics B 2025年第3期34卷 382-387页

作者： Pengyuan Chang Xinrong Huang Caolei Fu Aiping Liu Duo Pan Zhiyang Wang Jingbiao Chen Institute of Quantum Information and Technology Nanjing University of Posts and TelecommunicationsNanjing 210003China State Key Laboratory of Advanced Optical Communication Systems and Networks Institute of Quantum ElectronicsSchool of ElectronicsPeking UniversityBeijing 100087China Hefei National Laboratory Hefei 230088China

The topic of improving the mechanical stability of external cavity diode lasers(ECDLs)has recently attracted widespread attention and *** use of corner-cube-array(CCA)-based resonators provides a potential solution for this purpose,although continuous oscillation at super large incident angle remains *** this work,we employ the CCA resonator to generate continuous oscillation within±20°angular misalignment of cavity mirror in *** the basis of retroreflection theory,the retroreflectivity of a CCA is analyzed by using optical simulation ***,the experiment verifies the advantage of using a CCA over a plane mirror in laser resonator,thereby providing a promising approach for *** threshold characteristic curves measured at different incident angles in the experiment verify that the CCA possesses an obvious anti-angle misalignment *** research introduces an alternative solution of using CCA resonator instead of parallel plane cavity,thereby realizing an adjustment-free ECDL with enhanced mechanical stability.

关键词： laser resonant cavity corner cube array external cavity diode laser threshold curve

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Effect of Retained Austenite on Corrosion Behavior of Ultrafine Bainitic Steel in Marine Environment

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Acta Metallurgica Sinica(English Letters) 2023年第5期36卷 717-731页

作者： Xian Zhang Li Gong Yanpeng Feng Zhihui Wang Miao Yang Lin Cheng Jing Liu Kaiming Wu Hubei Province Key Laboratory of Systems Science in Metallurgical Process The State Key Laboratory of Refractories and MetallurgyCollaborative Innovation Center for Advanced SteelsWuhan University of Science and TechnologyWuhan430081China School of Chemistry Chemical Engineering and Life SciencesWuhan University of TechnologyWuhan430070China

In this study,the impact of retained austenite on corrosion initiation,propagation,and resistance of ultrafine bainitic steels in marine environments based on the one-step and two-step bainitic isothermal transformation was investigated using a combination of theoretical calculations and experimental *** to the results,the microstructure of ultrafine bainitic steels was composed of parallel arranged bainite ferrite(BF)and retained austenite(RA).The fraction of the block RA was significantly reduced,whereas the amount of the film RA increased through the two-step bainitic *** the initial stage of corrosion,micro-galvanic effects occurred between the multiphases due to the difference in nobility,leading to the selective dissolution of BF sheaves,which is adjacent to the block RA in the one-step bainitic ***,uniformly distributed film RA in the two-step bainitic steel acted as a barrier against corrosion *** electrochemical measurements and neutral salt spray tests revealed a relatively lower corrosion rate for the two-step bainitic steel,indicating a higher corrosion resistance than the one-step bainitic *** corrosion products layer mainly consisted ofα-FeOOH,γ-FeOOH,and Fe_(3)O_(4),which were stable and favorable for the formation of a protective rust layer.

关键词： Ultrafine bainitic steel Retained austenite Marine environment Corrosion behavior First principle modeling

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Repaired morphology of CO_(2)laser rapid ablation mitigation of fused silica and its influence on downstream light modulation

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Science China(Technological Sciences) 2022年第5期65卷 1116-1126页

作者： TAN Chao ZHAO LinJie CHEN MingJun CHENG Jian ZHANG Yu ZHANG Jiong YANG Hao YIN ZhaoYang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China Department of Mechanical Engineering National University of SingaporeSingapore117575Singapore

The threat of cascading damage to downstream components caused by the light modulation intensification of laser repaired morphology on the surface of fused silica optics cannot be ignored in high-power laser *** paper uses the angular spectrum diffraction theory based on the analysis of repaired surface morphology of CO_(2)laser rapid ablation mitigation to study the influence of different repaired morphologies on the downstream 355 nm laser *** show that the arc-shaped laser processing lines on the repaired surface are formed by the residual height superposition of the material after laser scanning of two adjacent layers,and the short-pulse laser can substantially suppress the heat-affected zone of the repaired *** offaxis ring caustic and on-axis hotspot are sequentially generated in the downstream modulated light fields of the conical repaired sites with different diameters.A secondary peak with modulation larger than 3 emerges downstream of the modulation ***,the maximum modulation and the secondary peak increase with the diameter and cone angle of the repaired site,and the position of the secondary peak appears farther away from the rear *** modulations of three repaired sites with cone angles of 15°,20°,and 25°can finally be stabilized below ***,the downstream optics should be installed far away from the positions where the maximum modulation and the secondary peak ***,the maximum value and the secondary peak of the downstream light modulation of double repaired sites are larger than that of the single repaired site,and both rise as the repaired sizes ***,large-scale and large-size repairing of multiple surface damages in the same area should be avoided in the laser repairing of fused silica.

关键词： fused silica laser repairing morphology light modulation secondary peak double repaired sites

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Recent Advances in Parity-Time Symmetry-Enabled Electromagnetic Sensors

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Progress In Electromagnetics Research B 2024年 105卷 107-121页

作者： Yang, Minye Ye, Zhilu Chen, Pai-Yen Erricolo, Danilo Department of Electrical and Computer Engineering University of Illinois Chicago ChicagoIL60607 United States State Key Laboratory for Manufacturing Systems Engineering Electronic Materials Research Laboratory Key Laboratory of the Ministry of Education School of Electronic Science and Engineering Xi’an Jiaotong University Shaanxi Xi’an710049 China State Key Laboratory for Manufacturing Systems Engineering The Key Laboratory of Biomedical Information Engineering of Ministry of Education Center for Mitochondrial Biology and Medicine School of Life Science and Technology International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technology Xi’an Key Laboratory for Biomedical Testing and High-end Equipment Xi’an Jiaotong University Shaanxi Xi’an710049 China

Parity-time (PT) reversal symmetry, as a representative example in the field of non-Hermitian physics, has attracted widespread research interest in the past few years due to its extraordinary wave dynamics. PT symmetry enables unique spectral singularities including the exceptional point (EP) degeneracy where two or more eigenvalues and eigenvectors coalesce, as well as the coherent perfect absorber-laser (CPAL) point where laser and its time-reversal counterpart (i.e., coherent perfect absorber) can coexist at the same frequency. These singular points not only give rise to new physical phenomena but also provide new plausibility for building the next-generation sensors and detectors with unprecedented sensitivity. To date, investigations into EPs and CPAL points have unveiled their great potential in various sensing scenarios across a broad spectral range, spanning optics, photonics, electronics, and acoustics. In this review article, we will discuss ongoing developments of EP- and CPAL-based sensors composed of PT-synthetic structures and offer a glimpse into the future research directions in this emerging field. © (2024), (Electromagnetics Academy). All rights reserved.

关键词： Eigenvalues and eigenfunctions

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Fast Pose Estimation Method for Stacked Bolts 5

Fast Pose Estimation Method for Stacked Bolts

引用

5th International Conference on Computer Vision, Image and Deep Learning, CVIDL 2024

作者： Yuan, Bo Yin, Dong Li, Yuling Hou, Xudong Zhang, Mingfei Yu, Lezheng Zhao, Lijun State Grid Shandong Electric Power Company Liaocheng Power Supply Company Liaocheng China State Grid Shandong Electric Power Company Jinan China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China

ISBN: (纸本)9798350373820

This paper introduces a two-stage method for the pose estimation of bolts in complex stacked scenarios. The proposed approach is based on the open-source FPCC network and employs a custom dataset of stacked bolts, designed following the IPA stacked dataset generation methodology. To highlight the distinct features of bolts, we have adjusted the local coordinate system from the geometric center to the head of the hexagonal sections. During the instance generation phase of the fast clustering algorithm, we utilize DBSCAN and Mean-Shift techniques to refine the results of instance segmentation. Subsequently, SAC-IA and ICP are integrated for pose estimation, facilitating the alignment of the point cloud around the hexagonal bolt head. Our method enhances the speed of pose estimation while maintaining precision in stacked bolt scenarios. © 2024 IEEE.

关键词： Bolts

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A Conditional Diffusion Model for 3D Human Pose Estimation 4

A Conditional Diffusion Model for 3D Human Pose Estimation

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4th International Conference on Consumer Electronics and Computer Engineering, ICCECE 2024

作者： Chen, Zhangmeng Dai, Ju Pan, Junjun Beihang University State Key Laboratory of Virtual Reality Technology and Systems Beijing China Peng Cheng Laboratory Shenzhen China

ISBN: (纸本)9798350384062

Monocular 3D human pose estimation is a highly challenging task due to inherent depth ambiguity and occlusion. In response to these challenges, many previous works have utilized temporal information to enhance the richness of information. However, such methods can only derive a specific 3D pose from a single image, which fails to address ambiguity. Fortunately, denoising diffusion probabilistic models have recently achieved success in various computer vision tasks (e.g., generating images and image segmentation). Diffusion-based methods produce a set of possible result for each image. Inspired by this, we explore a novel Conditional Diffusion-based 3D human Pose estimation framework (CDiffPose) that formulates 3D human pose estimation as a 2D keypoints-guided 3D pose synthesis problem. We utilize a pre-trained model to represent 2D keypoints information as conditioning information. Subsequently, we inject the conditional information into the denoising model. Our denoising model (Denoiser) adopts a cascaded approach involving GCN and Transformers. Finally, the model generates multiple 3D candidates poses for a single 2D keypoint to alleviate the inherent depth ambiguity. Extensive experiments are conducted on Human3.6M benchmark, our proposed method demonstrates competitive performance. © 2024 IEEE.

关键词： Diffusion

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Text-prompt Camouflaged Instance Segmentation with Graduated Camouflage Learning 24

Text-prompt Camouflaged Instance Segmentation with Graduated...

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32nd ACM International Conference on Multimedia, MM 2024

作者： He, Zhentao Xia, Changqun Qiao, Shengye Li, Jia State Key Laboratory of Virtual Reality Technology and Systems SCSE Beihang University Beijing China Pengcheng Laboratory Shenzhen China

ISBN: (纸本)9798400706868

Camouflaged instance segmentation (CIS) aims to detect and segment objects blending with their surroundings. While existing CIS methods rely heavily on fully-supervised training with massive precisely annotated data, consuming considerable annotation efforts yet struggling to segment highly camouflaged objects accurately. Despite their visual similarity to the background, camouflaged objects differ semantically. Since text associated with images offers explicit semantic cues to underscore this difference, we propose a novel approach: the first Text-Prompt based weakly-supervised camouflaged instance segmentation method named TPNet, leveraging semantic distinctions for effective segmentation. TPNet operates in two stages: pseudo mask generation and a self-training process. In the first stage, we align text prompts with images using a language-image model to obtain region proposals containing camouflaged instances. A Semantic-Spatial Iterative Fusion module is designed to assimilate spatial information with semantic insights, iteratively refining pseudo mask. In the second stage, Graduated Camouflage Learning, a self-training strategy, sequences training from simple to complex images based on camouflage levels, facilitating an effective learning gradient. Through the collaboration of the dual phases, our method offers a comprehensive experiment on two common benchmark and demonstrates a significant advancement, delivering a novel solution that bridges the gap between weak-supervised and high camouflaged instance segmentation. © 2024 Owner/Author.

关键词： Semantic Segmentation

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Damage evolution and removal behaviors of GaN crystals involved in double-grits grinding

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International Journal of Extreme Manufacturing 2024年第2期6卷 469-484页

作者： Chen Li Yuxiu Hu Zongze Wei Chongjun Wu Yunfeng Peng Feihu Zhang Yanquan Geng State Key Laboratory of Robotics and System(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China Key Laboratory of Microsystems and Microstructures Manufacturing(HIT) Harbin Institute of TechnologyHarbin 150001People’s Republic of China College of Mechanical Engineering Donghua UniversityShanghai 201620People’s Republic of China Department of Mechanical and Electrical Engineering Xiamen UniversityXiamen 361005People’s Republic of China

Elucidating the complex interactions between the work material and abrasives during grinding of gallium nitride(GaN)single crystals is an active and challenging research *** this study,molecular dynamics simulations were performed on double-grits interacted grinding of GaN crystals;and the grinding force,coefficient of friction,stress distribution,plastic damage behaviors,and abrasive damage were systematically *** results demonstrated that the interacted distance in both radial and transverse directions achieved better grinding quality than that in only one *** grinding force,grinding induced stress,subsurface damage depth,and abrasive wear increase as the transverse interacted distance ***,there was no clear correlation between the interaction distance and the number of atoms in the phase transition and dislocation *** interacted distances between abrasives can decrease grinding force,coefficient of friction,grinding induced stress,subsurface damage depth,and abrasive wear during the grinding *** results of grinding tests combined with cross-sectional transmission electron micrographs validated the simulated damage results,*** atoms,high-pressure phase transition,dislocations,stacking faults,and lattice *** results of this study will deepen our understanding of damage accumulation and material removal resulting from coupling between abrasives during grinding and can be used to develop a feasible approach to the wheel design of ordered abrasives.

关键词： grinding double-grits molecular dynamics damage material removal gallium nitride

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