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Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1605-1620页

作者： Yufeng Lian Xingtian Xiao Jiliang Zhang Long Jin Junzhi Yu Zhongbo Sun the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE the College of Information Science and Engineering Northeastern UniversityShenyang 110819 the National Mobile Communications Research Laboratory Southeast UniversityNanjing 210096China the School of Information Science and Engineering Lanzhou UniversityLanzhou 730000China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

关键词： Cooperative motion control noise-tolerant zeroing neural network(NTZNN) omnidirectional mobile manipulator(OMM) repetitive motion planning

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FreeGen: Bridging Visual-Linguistic Discrepancies Towards Diffusion-based Pixel-level Data Synthesis 39

FreeGen: Bridging Visual-Linguistic Discrepancies Towards Di...

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39th Annual AAAI Conference on Artificial Intelligence, AAAI 2025

作者： Wang, Wenzhuang Ma, Mingcan Chen, Yong Xia, Changqun Liang, Zhenbao Li, Jia State Key Laboratory of Virtual Reality Technology and Systems SCSE Beihang University China Geely Automobile Research Institute China Pengcheng Laboratory China

ISBN: (纸本)157735897X

Text-to-image diffusion model has inspired research into text-to-data synthesis without human intervention, where spatial attentions correlated with semantic entities in text prompts are primarily interpreted as pseudo-masks. However, these vannila attentions often deliver visual-linguistic discrepancies, in which the associations between image features and entity-level tokens are unstable and divergent, yielding inferior masks for realistic applications, especially in more practical open-vocabulary settings. To tackle this issue, we propose a novel text-guided self-driven generative paradigm, termed FreeGen, which addresses the discrepancies by recalibrating intrinsic visual-linguistic correlations and serves as a real-data-free method to automatically synthesize open-vocabulary pixel-level data for arbitrary entities. Specifically, we first learn an Attention Self-Rectification mechanism to reproject the inherent attention matrices to achieve robust semantic alignment, thereby obtaining class-discriminative masks. A Temporal Fluctuation Factor is present to assess mask quality based on its variation over uniform sampling timesteps, enabling the selection of reliable masks. These masks are then employed as self-supervised signals to support the learning of an Entity-level Grounding Decoder in a self-training manner, thus producing open-vocabulary segmentation results. Extensive experiments show that the existing segmenters trained on FreeGen narrow the performance gap with real data counterparts and remarkably outperform the state-of-the-art methods. Copyright © 2025, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Supervised learning

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In situ calibrated angle between the quantization axis and the propagating direction of the light field for trapping neutral atoms

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Chinese Physics B 2024年第2期33卷 318-323页

作者：郭瑞军何晓东盛诚王坤鹏许鹏刘敏王谨孙晓红曾勇詹明生 Henan Key Laboratory of Laser and Optoelectronic Information National Center for International Joint Research of Electronic Materials and SystemsSchool of Electrical and Information EngineeringZhengzhou UniversityZhengzhou 450001China State Key Laboratory of Magnetic Resonance and Atomic and Molecular Physics Innovation Academy for Precision Measurement Science and TechnologyChinese Academy of SciencesWuhan 430071China

The recently developed magic-intensity trapping technique of neutral atoms efficiently mitigates the detrimental effect of light shifts on atomic qubits and substantially enhances the coherence time. This technique relies on applying a bias magnetic field precisely parallel to the wave vector of a circularly polarized trapping laser field. However, due to the presence of the vector light shift experienced by the trapped atoms, it is challenging to precisely define a parallel magnetic field, especially at a low bias magnetic field strength, for the magic-intensity trapping of85Rb qubits. In this work, we present a method to calibrate the angle between the bias magnetic field and the trapping laser field with the compensating magnetic fields in the other two directions orthogonal to the bias magnetic field direction. Experimentally, with a constantdepth trap and a fixed bias magnetic field, we measure the respective resonant frequencies of the atomic qubits in a linearly polarized trap and a circularly polarized one via the conventional microwave Rabi spectra with different compensating magnetic fields and obtain the corresponding total magnetic fields via the respective resonant frequencies using the Breit–Rabi formula. With known total magnetic fields, the angle is a function of the other two compensating magnetic ***, the projection value of the angle on either of the directions orthogonal to the bias magnetic field direction can be reduced to 0(4)° by applying specific compensating magnetic fields. The measurement error is mainly attributed to the fluctuation of atomic temperature. Moreover, it also demonstrates that, even for a small angle, the effect is strong enough to cause large decoherence of Rabi oscillation in a magic-intensity trap. Although the compensation method demonstrated here is explored for the magic-intensity trapping technique, it can be applied to a variety of similar precision measurements with trapped neutral atoms.

关键词： quantization axis trapping laser angle compensating magnetic fields

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A Model Integrating Wavelet Convolution and Linear Attention Mechanism for Inventory Management in Power Warehouses 4

A Model Integrating Wavelet Convolution and Linear Attention...

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4th IEEE International Conference on Information technology, Big Data and Artificial Intelligence, ICIBA 2024

作者： Li, Tao Zhang, Zhengli Li, Ligang Du, Guozheng State Grid Shandong Electric Power Company Material Company Jinan China Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China

ISBN: (纸本)9798350363586

Accurate inventory management in power warehouses is crucial for maintaining consistency between records and actual stock levels. However, the complex storage layout and the diversity of stored materials often lead to human errors during manual inventory checks, resulting in inefficiencies. To address these challenges, we collected 2,000 images from power warehouse environments and created a binary classification dataset containing images of correctly and incorrectly placed items. We propose a novel network, CWAMNet, specifically designed for visual inventory management in complex power warehouse environments. CWAMNet integrates wavelet convolution and a linear attention mechanism to overcome the limitations of traditional convolutional neural networks (CNNs) and standard attention mechanisms, achieving a balance between model capacity and computational efficiency. © 2024 IEEE.

关键词： Convolutional neural networks

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Superior triethylamine-sensing properties based on SnO2 hollow nanospheres synthesized via one-step process

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Progress in Natural Science:Materials International 2024年第4期34卷 682-689页

作者： Mingyue Xu Shu Yan Zia Ur Rehman Jianhua Hou Liangyun Zhai Shengjie Zhu Chuanbao Cao Wanfeng Xie Junyu Zhong Jun Yang State Key Laboratory of Bio-fibers and Eco-textiles School of Electronics and Information College of Materials Science and Engineering College of Chemistry and Chemical Engineering Qingdao University College of Environmental Science and Engineering Yangzhou University State Key Laboratory of Chemical Safety SINOPEC Research Institute of Safety Engineering Co. Ltd. National Registration Center for Chemicals Ministry of Emergency Management Research Center of Materials Science Beijing Institute of Technology State Key Laboratory of Multiphase Complex Systems Institute of Process Engineering Chinese Academy of Sciences

Due to serious harm of triethylamine（TEA） to environmental safety and human health, it is significant to synthesize gas-sensitive materials with high performance for TEA detection. However, it is still a challenge to achieve high-sensitivity detection of TEA at low temperature for a sensor synthesized through an economical and efficient method. In this work, hollow-structured SnO2（HS-SnO2） nanospheres have been fabricated by a facile, low-cost hydrothermal method in one step, which exhibit superior TEA-sensing properties, including not only ultrahigh response（127.75） for 100 ppm TEA, good selectivity, but also fast response and recovery time（17/28 s）, low detection threshold（1 ppm） and robust stability at a relatively low optimum operational temperature of 225°*** excellent gas-sensitizing performances are ascribed to porous hollow structures with rich oxygen vacancies that provide abundant active sites for raising O2adsorption and reaction of TEA and oxygen species. This work offers an effective and economical strategy for fabricating high-performance TEA sensors for industrial applications.

关键词： Hollow-structured SnO2 nanospheres TEA High response Gas sensors

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Spatio-temporal decision-making and trajectory planning framework with flexible constraints in closed-loop dynamic traffic

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IET Intelligent Transport systems 2023年第4期17卷 704-715页

作者： Zhang, Ting Fu, Mengyin Liu, Tong Song, Wenjie State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China Nanjing University of Science and Technology Nanjing China

Driving in interactive dynamic traffic is a huge challenge for autonomous vehicles, especially for motion planning. The autonomous vehicle not only needs to predict the future states of the social vehicles to avoid a collision but also realizes the comfort and continuous plan. To deal with the problem, a spatio-temporal decision-making and motion planning framework with flexible constraints based on previous work is proposed. Improvements can be highlighted in three aspects. First, a neural network for trajectory prediction is trained and it is integrated into the framework, which can learn the social vehicles' reactions in the negotiation better and give more accurate predictions. Second, instead of setting the fixed local targets, the flexible-constraint mechanism is introduced to increase the success rate of continuous planning, specifically, the local planning target is determined conditioned on the situation with an elastic factor. Third, two popular simulators with randomly disposed traffic participants are exploited, where vehicles are mutually influenced, more similar to real-world traffic. The closed-loop tests with zero crashes and the comparative experiments with traditional models demonstrate the superior performance and practical significance of the proposed framework. © 2022 The Authors. IET Intelligent Transport systems published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and technology.

关键词： Autonomous vehicles

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Optimized Design and Experimental Study of Shank Structure of Biped Robot

Optimized Design and Experimental Study of Shank Structure o...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Qin, Meijuan Kong, Lingyu Nie, Daming Jiang, Hongjian Zhang, Yu Fu, Yili Intelligent Robot Research Center Zhejiang Laboratory Hangzhou311100 China The National Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9798350325706

Lightweight design can improve the energy efficiency of biped robots, which is significant in the field of biped robot. Topology optimization has been widely used in the field of robot. However, the existing optimization is limited to the structural space based on traditional empirical design, and the potential of topology optimization is not fully utilized. Moreover, the finite element model is too simplified, which leads to a large optimization deviation. In this paper, a method of structural innovation design for the shank structure of biped robot is proposed. In the initial stage of conceptual design, the design space of optimization object is effectively maximized. Then, the load transmission characteristics of bearings are simulated by link10 element, and the topology optimization method of multiple load cases is carried out to obtain the optimized shank structure, which reduces the weight by 14.09 % compared with the existing shank. Finally, finite element extreme strength check and experiment test are both used to verify the feasibility and availability of the structure. © 2023 IEEE.

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Two-dimensional SnP_(2)Se_(6) with gate-tunable Seebeck coefficient for telecommunication band photothermoelectric detection

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InfoMat 2024年第10期6卷 19-30页

作者： Bing-Xuan Zhu Cheng-Yi Zhu Jing-Kai Qin Wen He Lin-Qing Yue Pei-Yu Huang Dong Li Ruo-Yao Sun Sheng Ye Yu Du Jie-He Sui Ming-Yu Li Jun Mao Liang Zhen Cheng-Yan Xu School of Integrated Circuits Harbin Institute of Technology(Shenzhen)Shenzhenthe People's Republic of China Sauvage Laboratory for Smart Materials School of Materials Science and EngineeringHarbin Institute of Technology(Shenzhen)Shenzhenthe People's Republic of China MOE Key Laboratory of Micro-Systems and Micro-Structures Manufacturing Harbin Institute of TechnologyHarbinthe People's Republic of China State Key Laboratory of Advanced Welding and Joining Harbin Institute of TechnologyHarbinthe People's Republic of China

Photothermoelectric (PTE) detectors combine photothermal and thermoelectricconversion, surmounting material band gap restrictions and limitations related tomatching light wavelengths, have been widely used in telecommunication banddetection. Two-dimensional (2D) materials with gate-tunable Seebeck coefficientcan induce the generation of photothermal currents under illumination by theasymmetric Seebeck coefficient, making them promising candidate for PTE detectorsin the telecommunication band. In this work, we report that a newly exploredvan der Waals (vdW) layered material, SnP_(2)Se_(6), possessing excellent field regulationcapabilities and behaviors as an ideal candidate for PTE detector *** the assistance of temperature-dependent Raman characterization, thesuspended atomic thin SnP_(2)Se_(6) nanosheets reveal thickness-dependent thermalconductivity of 1.4–5.7 W m^(-1) K^(-1) at room temperature. The 2D SnP_(2)Se_(6) demonstrateshigh Seebeck coefficient (S) and power factor (PF), which are estimated tobe -506 μV K^(-1) and 207 μWm^(-1) K^(-2), respectively. By effectively modulating theSnP_(2)Se_(6) localized carrier concentration, which in turn leads to inhomogeneousSeebeck coefficients, the designed dual-gate PTE detector with 2D SnP_(2)Se_(6) channeldemonstrates wide spectral photoresponse in telecommunication bands, yieldinghigh responsivity (R = 1.2 mA W^(-1)) and detectivity (D^(*) = 6× 10^(9) Jones)under 1550 nm light illumination. Our findings provide a new material platformand device configuration for the telecommunication band detection.

关键词： photodetection photothermoelectric effect Seebeck coefficient telecommunication bands two-dimensional semiconductor

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Revitalizing Human-Robot Interaction: Phygital Twin Driven Robot Avatar for China-Sweden Teleoperation

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Chinese Journal of Mechanical Engineering 2023年第5期36卷 1-6页

作者： Huiying Zhou Honghao Lv Ruohan Wang Haiteng Wu Geng Yang State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China Hangzhou Shenhao Technology Co. Ltd.Hangzhou 310000China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou 310000China

1 Introduction Digital Twin(DT)is built and maintained in the digital rather physical realm[1,2].Dynamic DT mirrors the exact state of the physical system by means of multidimensional models describing the behavior of physical entity,and sensors providing the real-time coupling to models[3].Te outbreak of COVID-19 pandemic results in speeding up the virtualization and digitization of the physical entity with the support from ***,quarantine and division led by COVID-19 pandemic make human beings’eyes for the physical interaction become more *** physical world and the digital world are becoming interwoven,which indicates a new opportunity towards phygital *** is so often the question:how can I get closer to my distant companion?How can I extend my service or emotional concern to facilitate interaction in spite of space obstruction?Tese questions deserve thinking as a lesson learned from outbreak of COVID-19 pandemic.

关键词： Twin Robot closer

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Nonlinear Filtering With Sample-Based Approximation Under Constrained Communication:Progress, Insights and Trends

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1539-1556页

作者： Weihao Song Zidong Wang Zhongkui Li Jianan Wang Qing-Long Han IEEE the State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of Engineering Peking University the Department of Computer Science Brunel University London the School of Aerospace Engineering Beijing Institute of Technology the School of Science Computing and Engineering Technologies Swinburne University of Technology

The nonlinear filtering problem has enduringly been an active research topic in both academia and industry due to its ever-growing theoretical importance and practical *** main objective of nonlinear filtering is to infer the states of a nonlinear dynamical system of interest based on the available noisy measurements. In recent years, the advance of network communication technology has not only popularized the networked systems with apparent advantages in terms of installation,cost and maintenance, but also brought about a series of challenges to the design of nonlinear filtering algorithms, among which the communication constraint has been recognized as a dominating concern. In this context, a great number of investigations have been launched towards the networked nonlinear filtering problem with communication constraints, and many samplebased nonlinear filters have been developed to deal with the highly nonlinear and/or non-Gaussian scenarios. The aim of this paper is to provide a timely survey about the recent advances on the sample-based networked nonlinear filtering problem from the perspective of communication constraints. More specifically, we first review three important families of sample-based filtering methods known as the unscented Kalman filter, particle filter,and maximum correntropy filter. Then, the latest developments are surveyed with stress on the topics regarding incomplete/imperfect information, limited resources and cyber ***, several challenges and open problems are highlighted to shed some lights on the possible trends of future research in this realm.

关键词： Communication constraints maximum correntropy filter networked nonlinear filtering particle filter sample-based approximation unscented Kalman filter

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