检索结果-内蒙古大学图书馆

2nd IEEE Eurasia Conference on IOT, Communication and Engineering, ECICE 2020

作者： Zou, Tao Rong, Weibin Ma, He Zhang, Ye Pei, Zhichao Li, Jian Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China Huaqiao University Xiamen China

ISBN: (纸本)9781728180601

Gallium-indium alloy is a kind of liquid metal and an important material in flexible circuits, wearable devices, micro-sensors and so on. Owing to its strong surface oxide film, it is difficult to process. Thus, fabricating the micro-nano structures with high repeatability and high precision has become a research focus in recent years. We propose a method of processing liquid metal with the aid of an electric field using a conducting atomic force microscope (CAFM) probe for the first time. The commercial self-sensing AFM probes were transformed into CAFM probes through micro-manipulation, and a set of low-cost and high-precision CAFM was designed and built. The liquid metal atoms were first coated on a CAFM tip and then, ionized and polarized when a threshold tip bias was achieved, thereby depositing onto the substrate. The patterning of liquid metal micro-nano structures was made by controlling the tip bias, the power-on time, and the moving speed of the probe. The manufacturing resolution of the structures reached 2μm, and the thickness was approximately 10-20 nm. The new fabrication strategy and the basic principle have a generalized purpose and are applied to nano-electronic devices, chip circuits, nano welding, and other fields. © 2020 IEEE.

关键词： Liquid metals

来源：评论

学校读者我要写书评

暂无评论

RGB-D Co-attention Network for Semantic Segmentation 15th

RGB-D Co-attention Network for Semantic Segmentation

引用

15th Asian Conference on Computer Vision, ACCV 2020

作者： Zhou, Hao Qi, Lu Wan, Zhaoliang Huang, Hai Yang, Xu National Key Laboratory of Science and Technology of Underwater Vehicle Harbin Engineering University Harbin China The Chinese University of Hong Kong Hong Kong China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9783030695248

Incorporating the depth (D) information for RGB images has proven the effectiveness and robustness in semantic segmentation. However, the fusion between them is still a challenge due to their meaning discrepancy, in which RGB represents the color but D depth information. In this paper, we propose a co-attention Network (CANet) to capture the fine-grained interplay between RGB’ and D’ features. The key part in our CANet is co-attention fusion part. It includes three modules. At first, the position and channel co-attention fusion modules adaptively fuse color and depth features in spatial and channel dimension. Finally, a final fusion module integrates the outputs of the two co-attention fusion modules for forming a more representative feature. Our extensive experiments validate the effectiveness of CANet in fusing RGB and D features, achieving the state-of-the-art performance on two challenging RGB-D semantic segmentation datasets, i.e., NYUDv2, SUN-RGBD. © 2021, Springer Nature Switzerland AG.

关键词： Semantic Segmentation

来源：评论

学校读者我要写书评

暂无评论

Low Temperature Sintering Mechanism of MOD-Assisted Ag Paste for Power Electronics: Experiment and Molecular Dynamic Study

SSRN

引用

SSRN 2024年

作者： Liu, Li Ma, Haojie Chen, Chuantong Xu, Zixuan Zou, Yiwen Nong, Liting Xu, Xiyu Wang, Xuanguo Chen, Zhiwen School of Materials Science and Engineering Wuhan University of Technology Hubei Wuhan China The Institute of Technological Science Wuhan University Hubei Wuhan China State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Heilong Jiang Harbin China Flexible 3D System Integration Laboratory SANKEN Osaka University Osaka Japan Hubei Key Laboratory of Electronic Manufacturing and Packaging Integration Wuhan University Hubei Wuhan China

This study investigates the low-temperature sintering of micro-silver pastes enhanced with metal organic decomposition (MOD) additives including propylamine, octylamine and 1,2-propylenediamine, focusing on their thermal properties, decomposition mechanisms, and sintering behaviors. The results show that all MOD additives decompose below 200°C, making them suitable for low-temperature sintering. Among them, the propylamine-based MOD (MOD 1) performs the best by yielding smaller silver particles (105.34 nm) with minimal residue. Molecular dynamics (MD) simulations reveal that MOD 1 decomposes by releasing gases (H₂, CH₄, C₂H₄) and forming silver complexes, which promotes the silver particle aggregation and Ag-C bond formation. Additionally, four types of silver particles in spherical and flaky forms were further studied. It was found that flaky micro-sized particles exhibited better sintering performance than spherical submicron particles with reduced porosity, lower resistivity, and higher shear strength. These findings highlight the superior performance of MOD 1 in enhancing its sintering properties of silver pastes, showing great potential in the low-temperature sintering for power electronics. © 2024, The Authors. All rights reserved.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Dynamic Stiffness Analysis and Experimental Verification of Axial Magnetic Bearing Based on Air Gap Flux Variation in Magnetically Suspended Molecular Pump

引用

Chinese Journal of Mechanical Engineering 2020年第4期33卷 139-149页

作者： Jinji Sun Wanting Wei Jiqiang Tang Chun‑E Wang Key Laboratory of Fundamental Science for National Defense Novel Inertial Instrument and Navigation System TechnologySchool of Instrument Science and Opto‑Electronics EngineeringBeihang UniversityBeijing 100191China State Key Laboratory of Advanced Welding and Joining Harbin Institute of TechnologyHarbin 150001China Beijing Institute of Automatic Control Equipment Beijing 100074China

Current and displacement stiffness are important parameters of axial magnetic bearing(AMB)and are usually considered as constants for the control ***,in actual dynamic work situations,time-varying force leads to time-varying currents and air gap with a specific frequency,which makes the stiffness of appear decrease and even worsens control performance for the whole *** this paper,an AMB dynamic stiffness model considering the flux variation across the air gap due to frequency is established to obtain the accurate dynamic *** dynamic stiffness characteristics are analyzed by means of the dynamic equivalent magnetic circuit *** analytical results show that the amplitude of current and displacement stiffness decreases with frequency ***,compared with the stiffness model without considering the variation of flux density across the air gap,the improved dynamic stiffness results are closer to the actual *** the dynamic stiffness measurement method of AMB,experiments of AMB in magnetically suspended molecular pump(MSMP)are carried out and the experimental results are consistent with theoretical analysis *** paper proposes the dynamic stiffness model of axial magnetic bearing considering the variation of flux density across the air gap,which improves the accuracy of the AMB stiffness analysis.

关键词： Axial magnetic bearing(AMB) Dynamic stiffness Magnetically suspended molecular pump(MSMP)

来源：评论

学校读者我要写书评

暂无评论

Modelling and experimental investigation of frequency splitting of hemispherical resonator with machining errors

引用

Chinese Journal of Aeronautics 2025年

作者： Chuanzhen MA Henan LIU Jian CHENG Mingjun CHEN State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou 450000 China

Hemispherical Resonator (HSR) is a typical high-performance component due to the complex coupling relationship between the machining errors and performance parameters. To understand the impact of machining errors on frequency splitting, the frequency splitting model that couples the multiple machining errors was developed to elucidate the mechanism of frequency splitting and reveal the effect of geometric error parameters on frequency splitting innovatively. In addition, a method for characterizing machining errors is established to describe the circumferential mass uniformity of the hemispherical shell. Furthermore, measurement experiments of HSRs were performed to verify the accuracy of the model, and the results showed that the predicted errors of the model were within 15%. Both theoretical and experimental results demonstrated that the direct cause of frequency splitting is the uneven circumferential mass of HSR. In particular, the radial concentricity has the most significant influence on frequency splitting, followed by the coaxiality and roundness. Within the error range of 0-0.5 μm, frequency splitting values change by 0.945 Hz, 0.098 Hz, and 0.039 Hz, respectively. Furthermore, the coupling effect of machining errors and surface quality on frequency splitting was discussed, which showed machining errors is the predominant factor contributing to frequency splitting. This work not only enhance the understanding of the mechanism of frequency splitting, but also provide theoretical guidance for the parameter optimization involved in high-performance manufacturing of HSR.

关键词： Hemispherical resonator Frequency splitting Mass nonuniformity Machining errors Surface quality

来源：评论

学校读者我要写书评

暂无评论

PI2-CMA Based Trajectory Planning Method for the Tractor-Trailer Vehicle

PI2-CMA Based Trajectory Planning Method for the Tractor-Tra...

引用

Pattern Recognition and Artificial Intelligence (PRAI), International Conference on

作者： You Wang Zehao Wang Jingchuan Wang Rui Guo Peng Xiao Institute of Medical Robotics and Department of Automation Ministry of Education Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Shanghai China State Grid Intelligence Technology CO. LTD

The motion primitive-based state lattice trajectory planning method has been widely used in the field of trajectory planning. However, due to the limitations of the search space and resolution of motion primitives, and the lack of consideration of scenario information during offline generation of motion primitives, the tractor-trailer vehicles can easily fall into "jackknife phenomenon" when making large pose adjustments in narrow scenarios, which brings dilemma for trajectory planning. In this paper, a trajectory planning algorithm is proposed based on a general model of tractor-trailer vehicle, which combines global planning and local optimization. The method first generates a series of motion primitives, including forward and backward driving conditions, and then an A ∗ based global state lattice planner is used to obtain a planning result, which is imported as the initial solution into the local trajectory optimizer based on PI 2 − CMA (Path Integral Policy Improvement with Covariance Matrix Adaptation) algorithm and dynamic potential method. Experiments show that this method significantly improves the performance in the obstacle avoidance, "jackknife phenomenon" avoidance and curvature compared to traditional motion primitive-based state lattice planning methods.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Muscular stimulation based biological actuator from locust’s hindleg

Muscular stimulation based biological actuator from locust’...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Songsong Ma Peng Liu Shen Liu Yao Li Bing Li State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen China

The development and control of biological actuators have been an active research field. Biological actuators revealed high mobility with compact dimensions, which is critical for the design of microrobots. The powerful kicking motion of the locust is important for its quick jumping. Herein, we examined the kicking process of the locust’s hindleg and controlled the flexion and extension motions via exogenous stimulation. Unlike a simple extension of the leg, co-contraction is adopted by locust to store energy and increase jumping power. Thus, we imitated the co-contraction process and transformed the locust’s hindleg into a biological jumping actuator. Through coordinating the kicking of bilateral hindlegs together, we achieved the jumping control of a locust.

关键词： Legged locomotion Actuators Robot kinematics Energy conversion Muscles Electrical stimulation Pulse width modulation

来源：评论

学校读者我要写书评

暂无评论

Joint Design of Radar Receive Filter and Unimodular ISAC Waveform with Sidelobe Level Control

arXiv

引用

arXiv 2025年

作者： Zhang, Kecheng Liu, Ya-Feng Wang, Zhongbin Yuan, Weijie Keskin, Musa Furkan Wymeersch, Henk Xia, Shuqiang School of System Design and Intelligent Manufacturing The Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China State Key Laboratory of Scientific and Engineering Computing Institute of Computational Mathematics and Scientific/Engineering Computing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical Engineering Chalmers University of Technology Gothenburg41296 Sweden ZTE Corporation The State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518055 China

Integrated sensing and communication (ISAC) has been considered a key feature of next-generation wireless networks. This paper investigates the joint design of the radar receive filter and dual-functional transmit waveform for the multiple-input multiple-output (MIMO) ISAC system. While optimizing the mean square error (MSE) of the radar receive spatial response and maximizing the achievable rate at the communication receiver, besides the constraints of full-power radar receiving filter and unimodular transmit sequence, we control the maximum range sidelobe level, which is often overlooked in existing ISAC waveform design literature, for better radar imaging performance. To solve the formulated optimization problem with convex and nonconvex constraints, we propose an inexact augmented Lagrangian method (ALM) algorithm. For each subproblem in the proposed inexact ALM algorithm, we custom-design a block successive upper-bound minimization (BSUM) scheme with closed-form solutions for all blocks of variable to enhance the computational efficiency. Convergence analysis shows that the proposed algorithm is guaranteed to provide a stationary and feasible solution. Extensive simulations are performed to investigate the impact of different system parameters on communication and radar imaging performance. Comparison with the existing works shows the superiority of the proposed algorithm. © 2025, CC BY-NC-SA.

关键词： Mean square error

来源：评论

学校读者我要写书评

暂无评论

TRUNK-BRANCH CONTRASTIVE NETWORK WITH MULTI-VIEW DEFORMABLE AGGREGATION FOR MULTI-VIEW ACTION RECOGNITION

arXiv

引用

arXiv 2025年

作者： Yang, Yingyuan Liang, Guoyuan Wang, Can Wu, Xiaojun Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing10049 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology at Shenzhen Shenzhen518055 China

Multi-view action recognition aims to identify actions in a given multi-view scene. Traditional studies initially extracted refined features from each view, followed by implemented paired interaction and integration, but they potentially overlooked the critical local features in each view. When observing objects from multiple perspectives, individuals typically form a comprehensive impression and subsequently fill in specific details. Drawing inspiration from this cognitive process, we propose a novel trunk-branch contrastive network (TBCNet) for RGB-based multi-view action recognition. Distinctively, TBCNet first obtains fused features in the trunk block and then implicitly supplements vital details provided by the branch block via contrastive learning, generating a more informative and comprehensive action representation. Within this framework, we construct two core components: the multi-view deformable aggregation (MVDA) and the trunk-branch contrastive learning. MVDA employed in the trunk block effectively facilitates multi-view feature fusion and adaptive cross-view spatio-temporal correlation, where a global aggregation module (GAM) is utilized to emphasize significant spatial information and a composite relative position bias (CRPB) is designed to capture the intra- and cross-view relative positions. Moreover, a trunk-branch contrastive loss is constructed between aggregated features and refined details from each view. By incorporating two distinct weights for positive and negative samples, a weighted trunk-branch contrastive loss is proposed to extract valuable information and emphasize subtle inter-class differences. The effectiveness of TBCNet is verified by extensive experiments on four datasets including NTU-RGB+D 60, NTU-RGB+D 120, PKU-MMD, and N-UCLA dataset. Compared to other RGB-based methods, our approach achieves state-of-the-art performance in cross-subject and cross-setting protocols. Copyright © 2025, The Authors. All rights reserved.

关键词： Contrastive Learning

来源：评论

学校读者我要写书评

暂无评论

Time-Optimal Trajectory Planning Based on Dynamics for Industrial Robot 5

Time-Optimal Trajectory Planning Based on Dynamics for Indus...

引用

5th International Conference on Automation, Control and robotics Engineering, CACRE 2020

作者： Wang, Rundong Kong, Minxiu Cheng, Yanchun Castellani, Marco Harbin Institute of Technology State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin China University of Birmingham Department of Mechanical Engineering Birmingham United Kingdom

ISBN: (纸本)9781728198880

Given the trajectory of the industrial robot in Cartesian space, the existing methods only consider the kinematic constraints when optimizing the time trajectory planning, and ignore the maximum driving ability of the motor, which is likely to cause an overrun alarm and greatly reduce the trajectory accuracy. Therefore, this paper studies the time-optimal trajectory planning algorithm based on dynamics. Firstly, the algorithm discretizes the path, calculates the Cartesian coordinates of each discrete point and the differential about the path length. Then, this algorithm considers the constraints of dynamics and kinematics, uses the principle of linear programming, recursively calculates the upper limit value of speed and the maximum acceleration value at each discrete point, and calculates the speed value at each discrete point and keeps it within its allowable ranges. Finally, this algorithm uses the speed to calculate the corresponding time of each discrete point, and according to the interpolation period, outputs the path position of each period, the position and orientation in the Cartesian space and joint parameters. The MATLAB program is written to verify the feasibility and efficiency of the algorithm. © 2020 IEEE.

关键词： Industrial robots

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：