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2nd International Conference on Big Data, Artificial Intelligence and Risk Management, ICBAR 2022

作者： Dong, Yunlong Ding, Hong Zha, Fusheng Li, Mantian State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9798350334265

It is very important to provide sufficient visual perception for large mobile robots to improve their security and intelligence. Considering the narrow field of vision and insufficient perception of a single camera, this paper proposes a practical multi-camera SLAM system. According to the hardware structure of the large mobile robot, the layout scheme of the multi-camera is designed and its field of view is analyzed. To make full use of the advantages of multi-camera data fusion, a multi-camera localization algorithm based on the main localization module and sub-localization module is proposed. In order to build a dense 3D point cloud map, a novel depth estimation method is present, which first uses the depth estimation method based on camera geometry to obtain a preliminary depth map, and then uses a convolutional neural network to refine it. Comprehensive experiments prove that our multi-camera SLAM system achieves appealing results and has strong practicability. © 2022 IEEE.

关键词： Mobile robots

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Lower limb motion pattern recognition based on IWOA-SVM 3

Lower limb motion pattern recognition based on IWOA-SVM

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3rd International Conference on Computer Science and Communication Technology, ICCSCT 2022

作者： Li, Xiaoqi Yang, Yunlong Chen, Haidie Yao, Yufeng State Key Laboratory of Robotics and Systems Harbin Institute of Technology Heilongjiang Harbin China

ISBN: (纸本)9781510661240

This paper presents a lower limb motion pattern recognition algorithm based on SVM model optimized by improved whale algorithm (IWOA-SVM). The purpose is to overcome the problems of low accuracy and low reaction speed of existing lower limb rehabilitation pattern recognition algorithms, nonlinear adjustment factor is combined with WOA to enhance the search ability and search speed of the algorithm. The collected surface EMG signals are used as the input of the motion pattern recognition system, and the motion pattern recognition is realized by combining the IWOA-SVM model. Simulation experiments on six test functions are carried out and compared with WOA. The results indicated that the search convergence speed and optimization accuracy of IWOA are improved. Experiments on the collected signal data suggested that the recognition accuracy is 94.12%, compared with WOA-SVM algorithm, PSO-SVM and GA-SVM. The results indicated that the recognition accuracy of this algorithm is improved by 4.02%, 8.82% and 6.64% respectively. © 2022 SPIE.

关键词： Pattern recognition

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Usage of Colloidal AFM Probe for Research in Effects of Water Layer Evaporation on Interfacial Adhesion between Cellulose Surfaces 12

Usage of Colloidal AFM Probe for Research in Effects of Wate...

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Geng, Junyuan Zhang, Hao Meng, Xianghe Gao, Haibo Rong, Weibin Xie, Hui Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150080 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Effects of the water layer evaporation on the interfacial adhesion between cellulose surfaces are researched via the atomic force microscopy (AFM) method in this article. A cellulose colloidal probe (CCP) is prepared through a dual-probe micromanipulation system, which is used to detect this time-varying adhesive interaction. The AFM system configuration, detailed fabrication of the CCP, principle of the adhesion measurement, and relevant calibration tasks are reported before the characterization. Several groups of adhesion mapping experiments have been executed at different divided periods after the water film forming on the sample surface of the cellulose membrane. The obtained results show that the interfacial adhesion has a significant downward trend when the water layer passing over time. In addition, the correlation of the surface topography and adhesion is displayed. The industrial applications of cellulose are inseparable from the participation of water solvent, meanwhile appropriate process adjustments according to the bonding strength between the cellulose surfaces during pulping and drying is necessary. This research can provide support in above occasions, which has its unique significance on the improving of processing technology. © 2022 IEEE.

关键词： Cellulose

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Light-Assisted MACE Method for the Control of Silicon Nanowire Morphology 5

Light-Assisted MACE Method for the Control of Silicon Nanowi...

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2018 5th International Conference on Advanced Composite Materials and Manufacturing Engineering, ACMME 2018

作者： Dong, Zhaoqing Rong, Weibin Zhang, Ye Deng, Xijun State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China

As a kind of one-dimensional nanostructure, silicon nanowires have a very wide range of applications in photovoltaic devices, electrical devices, and biosensors. The morphology control of nanowire arrays greatly affects the performance of nanowire arrays. In this paper, we introduce the light-assisted MACE method to prepare nanowire arrays. Through a large number of experiments, the effects of different light intensities and light wavelengths on the morphology of the formed silicon nanowire arrays are analyzed. At the same time, the degree of aggregation of nanowires is taken as the characterization parameter of the morphological characteristics, the change rule of clustering density and the change rule of the etching rate under different illumination power and wavelength conditions are qualitatively analyzed. Finally, we make a preliminary exploration and analysis of the reasons for this appearance. © Published under licence by IOP Publishing Ltd.

关键词： Nanowires

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Research on point stabilization of a wheeled mobile robot using fuzzy control optimized by GA

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The Journal of China Universities of Posts and Telecommunications 2011年第5期18卷 108-113页

作者： CAO Zheng-cai ZHAO Ying-tao FU Yi-li College of Infornaation Science and Technology Beijing University of Chemical Technology Beijing 100029 China The State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 China

A point stabilization scheme of a wheeled mobile robot （WMR） which moves on uneven surface is presented by using tuzzy control. Taking the kinematics and dynamics of the vehicle into account, the fuzzy controller is employed to regulate the robot based on a kinematic nonlinear state feedback control law. Herein, the fuzzy strategy is composed of two velocity control laws which are used to adjust the speed and angular velocity, respectively. Subsequently, genetic algorithm （GA） is applied to optimize the controller parameters. Through the self-optimization, a group of optimum parameters is gotten. Simulation results are presented to show the effectiveness of the control strategy.

关键词： wheeled mobile robot point stabilization fuzzy control genetic algorithm

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Exploring Nanoscale Perovskite Materials for Next‑Generation Photodetectors:A Comprehensive Review and Future Directions

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Nano-Micro Letters 2025年第2期17卷 46-108页

作者： Xin Li Sikandar Aftab Maria Mukhtar Fahmid Kabir Muhammad Farooq Khan Hosameldin Helmy Hegazy Erdi Akman State Key Laboratory of Pulsed Power Laser Technology National University of Defense TechnologyHefei 230037AnhuiPeople’s Republic of China Anhui Laboratory of Advanced Laser Technology Hefei 230037AnhuiPeople’s Republic of China Nanhu Laser Laboratory Changsha 410015HunanPeople’s Republic of China Department of Semiconductor Systems Engineering and Clean Energy Sejong UniversitySeoul 05006Republic of Korea Department of Artificial Intelligence and Robotics Sejong UniversitySeoul 05006Republic of Korea School of Engineering Science Simon Fraser UniversityBurnabyBC V5A 1S6Canada Department of Electrical Engineering Sejong UniversitySeoul 05006South Korea Department of Physics Faculty of ScienceKing Khalid UniversityP.O.Box 9004AbhaSaudi Arabia Central Labs King Khalid UniversityAlQura’aP.O.Box 96061413 AbhaSaudi Arabia Scientific and Technological Research and Application Center Karamanoglu Mehmetbey University70100 KaramanTurkey

The rapid advancement of nanotechnology has sparked much interest in applying nanoscale perovskite materials for photodetection *** materials are promising candidates for next-generation photodetectors(PDs)due to their unique optoelectronic properties and flexible synthesis *** review explores the approaches used in the development and use of optoelectronic devices made of different nanoscale perovskite architectures,including quantum dots,nanosheets,nanorods,nanowires,and *** a thorough analysis of recent literature,the review also addresses common issues like the mechanisms underlying the degradation of perovskite PDs and offers perspectives on potential solutions to improve stability and scalability that impede widespread *** addition,it highlights that photodetection encompasses the detection of light fields in dimensions other than light intensity and suggests potential avenues for future research to overcome these obstacles and fully realize the potential of nanoscale perovskite materials in state-of-the-art photodetection *** review provides a comprehensive overview of nanoscale perovskite PDs and guides future research efforts towards improved performance and wider applicability,making it a valuable resource for researchers.

关键词： Nanoscale perovskites Photodetectors Nanosheets Nanorods Nanowires Quantum dots Nanocrystals

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Development of micro-and nanorobotics: A review

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Science China(Technological Sciences) 2019年第1期62卷 1-20页

作者： YANG Jia ZHANG Chuang WANG XiaoDong WANG WenXue XI Ning LIU LianQing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Emerging Technologies Institute Department of Industrial & Manufacturing Systems Engineering University of Hong Kong

Micro-and nanorobotic is an emerging field of research arising from the cross-fusion of micro/nano technology and robotics and has become an important part of robotics. Micro-and nanorobots have the advantages of small size, low weight, large thrust-toweight ratio, high flexibility, and high sensitivity. Due to the characteristics distinguishing from macroscopic robots, micro-and nanorobots have stimulated the research interest of the scientific community and opened up numerous application fields such as drug delivery and disease diagnosis. In the past 30 years, research on micro-and nanorobots has made considerable *** article provides a comprehensive overview of the development of these robots. First, the application of the robots is reviewed. Then, the key components of the robots are discussed separately, covering their actuation, design, fabrication and control. In addition, from the perspectives of intelligence and sensing, clinical applications, materials and performance, the challenges that may be encountered in the development of such robots in the future are discussed. Finally, the entire article is summarized, and concepts for future micro-and nanorobots are described.

关键词： micro-and nanorobots magnetic actuation manipulation biohybrid robot

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Industrial Wireless Control Networks:From WIA to the Future

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Engineering 2022年第1期8卷 18-24页

作者： Haibin Yu Peng Zeng Chi Xu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China

*** Industrial automation is undergoing a significant innovation as information,communication,and operation technologies are deeply integrating with each *** this trend,industrial wireless control networks(IWCNs)are becoming increasingly attractive to industrial automation since they can help speed up production efficiency,reduce cost,enhance safety,and finally realize intelligent manufacturing[1].

关键词： attractive integrating becoming

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Position-aware pushing and grasping synergy with deep reinforcement learning in clutter

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CAAI Transactions on Intelligence Technology 2024年第3期9卷 738-755页

作者： Min Zhao Guoyu Zuo Shuangyue Yu Daoxiong Gong Zihao Wang Ouattara Sie Intelligent Robotics Laboratory Faculty of Information TechnologyBeijing University of TechnologyBeijingChina Beijing Key Laboratory of Computational Intelligence and Intelligent Systems BeijingChina Laboratory of Biomechatronics and Intelligent Robotics(BIRO) Department of Mechanical and Aerospace EngineeringNorth Carolina State UniversityRaleighNorth CarolinaUSA

The positional information of objects is crucial to enable robots to perform grasping and pushing manipulations in *** effectively perform grasping and pushing manipu-lations,robots need to perceive the position information of objects,including the co-ordinates and spatial relationship between objects(e.g.,proximity,adjacency).The authors propose an end-to-end position-aware deep Q-learning framework to achieve efficient collaborative pushing and grasping in ***,a pair of conjugate pushing and grasping attention modules are proposed to capture the position information of objects and generate high-quality affordance maps of operating positions with features of pushing and grasping *** addition,the authors propose an object isolation metric and clutter metric based on instance segmentation to measure the spatial re-lationships between objects in cluttered *** further enhance the perception capacity of position information of the objects,the authors associate the change in the object isolation metric and clutter metric in cluttered environment before and after performing the action with reward function.A series of experiments are carried out in simulation and real-world which indicate that the method improves sample efficiency,task completion rate,grasping success rate and action efficiency compared to state-of-the-art end-to-end *** that the authors’system can be robustly applied to real-world use and extended to novel *** material is available at https://***/NhG\_k5v3NnM}{https://***/NhG\_k5v3NnM.

关键词： deep learning deep neural networks intelligent robots

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Short-term load forecasting of long-short term memory neural network based on genetic algorithm 4

Short-term load forecasting of long-short term memory neural...

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4th IEEE Conference on Energy Internet and Energy System Integration, EI2 2020

作者： Li, Wanting Zang, Chuanzhi Liu, Ding Zeng, Peng Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems State Key Laboratory of Robotics Institutes for Robotics and Intelligent Manufacturing Beijing China

ISBN: (纸本)9781728196060

Accurate load forecasting is conducive to the reasonable arrangement of power grid dispatching plans. Traditional load forecasting methods cannot handle the time series and nonlinear characteristics of load well. Long-short term memory (LSTM) neural networks can record long-term and short-term information, which can effectively solve this kind of problem. But the parameters of LSTM network are difficult to determine. For this reason, this paper proposes a long-short term neural network based on genetic algorithm. The learning rate and iteration number of the LSTM network are used as chromosomes, and the genes are continuously selected, crossed, and mutated to obtain more good genes. Comparing this method with the standard LSTM network, the simulation results show that the LSTM network using genetic algorithm for parameter optimization improves the prediction accuracy of the standard LSTM network by 63%. © 2020 IEEE.

关键词： Genetic algorithms

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