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3rd International Symposium on Robotics, Artificial Intelligence and Information engineering, RAIIE 2024

作者： Hu, Lizhi Chen, Huilin Li, Xiang Lu, Wei Zhao, Yifan Hu, Songyu Navigation and Localization Algorithm Department Zhejiang HuaRay Technology Co. Lt. Hangzhou China Software Research and Development Center Zhejiang HuaRay Technology Co. Lt. Hangzhou China State Key Laboratory of Fluid Power and Mechatronic Systems College of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9798400718311

Localization and mapping technology of mobile robots is important in production and warehousing. The changing warehousing environment always result in poor accuracy and robustness of the mobile robot's localization. It is necessary to detect the degree of environmental changes and update the map. This paper proposes a novel lifelong mapping method fusing measurements from the lidar, wheels and a MEMS gyroscope, which can create a reliable map corresponding to the current working environment. Firstly, we use the wheels and gyroscopes measures for pre-integration to provide relative motion constraints, while integrating wheels and gyroscopes to provide initial pose for lidar matching. We also establish lidar odometry by submaps to provide another type of relative motion constraints. The absolute constraints are obtained by matching the lidar measurements with prior map. These three types of constraints are optimized in a factor graph. At the same time, during the process of updating the map, detect newly added artificial markers such as reflective columns or strips, and update them into the map timely. Then, in order to delete redundant lidar data keyframes for building map, we propose a determine redundancy method based on submaps. Finally, we propose a method for calculating the degree of map changes, which can update the map timely. Experimental results prove that our method can establish higher quality maps, optimize lidar external parameters timely during the mapping process, delete redundant lidar keyframes more efficiently, and update the current environmental map more accurately and timely. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Gyroscopes

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Application of Different CNN Models for Land-Use and Land-Cover Classification 14

Application of Different CNN Models for Land-Use and Land-Co...

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14th IEEE International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2022

作者： Akeboshi, Wynnezel Wayne Naoto P. Dominic Ducut, Jullian Valenzuela, Ira Billones, Robert Kerwin Rhay Vicerra, Ryan De la Salle University Department of Manufacturing Engineering and Management Manila Philippines Center for Engineering and Sustainability Development Research Intelligent Systems Laboratory Research Unit Philippines

ISBN: (纸本)9781665464932

A prompt change over an area can be observed in Land Use and Land Cover maps (LULC) brought by several factors, thus classifying LULC can give vital information such as the scale of commercialized and residential lands, and the availability of forest and barren land. In this study, CNN using pre-trained models such as ResNet-50, VGG16, and EfficientNetB0 was applied to LULC dataset to classify the satellite images into seven classes. The pre-trained model that exhibits a highest performance is the ResNet50 with an Intersection over Union (IoU) of 0.67499. © 2022 IEEE.

关键词： Land use

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Evaluation of micro-dispersion on oil recovery during low-salinity water-alternating-CO_(2)processes in sandstone cores:An integrated experimental approach

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Petroleum Science 2025年第1期22卷 277-295页

作者： Jia-Xin Wang Leng Tian Can Huang Xiao-Jiao Deng Daoyong Tony Yang Rui-Heng Wang Jia-Hao Lin Jin-Yang Wei CNOOC Research Institute Co. Ltd.Beijing100028China College of Petroleum Engineering China University of Petroleum(Beijing)Beijing102249China State Key Laboratory of Offshore Oil Exploitation Beijing100028China Research Center for Natural Gas Geology and Engineering China University of Petroleum(Beijing)Beijing102249China Exploration and Development Research Institute Jianghan Oilfield Branch CompanySinopecWuhan430223HubeiChina PetroChina Oil Gas and New Energy CompanyBeijing100007China Energy Systems Engineering Faculty of Engineering and Applied ScienceUniversity of ReginaReginaSaskatchewanS4S 0A2Canada Exploration and Development Research Institute of PetroChina Changqing Oilfield Company Xi'an710018ShaanxiChina No.3 Gas Production Plant of PetroChina Changqing Oilfield Company Wushenqi017300Inner MongoliaChina

Low-salinity water(LSW)and CO_(2) could be combined to perform better in a hydrocarbon reservoir due to their synergistic advantages for enhanced oil recovery(EOR);however,its microscopic recovery mechanisms have not been well understood due to the nature of these two fluids and their physical reactions in the presence of reservoir fluids and porous *** this work,well-designed and inte-grated experiments have been performed for the first time to characterize the in-situ formation of micro-dispersions and identify their EOR roles during a LSW-alternating-CO_(2)(CO_(2)-LSWAG)process under various ***,by measuring water concentration and performing the Fourier transform infrared spectroscopy(FT-IR)analysis,the in-situ formation of micro-dispersions induced by polar and acidic materials was ***,displacement experiments combining with nuclear magnetic resonance(NMR)analysis were performed with two crude oil samples,during which wettability,interfacial tension(IFT),CO_(2) dissolution,and CO_(2) diffusion were *** a CO_(2)-LSWAG pro-cess,the in-situ formed micro-dispersions dictate the oil recovery,while the presence of clay minerals,electrical double-layer(EDL)expansion and multiple ion exchange(MIE)are found to contribute *** formed micro-dispersions are induced by CO_(2) via diffusion to mobilize the CO_(2)-diluted oil,alter the rock wettability towards more water-wet,and minimize the density contrast between crude oil and water.

关键词： Low-salinity water-alternating-CO_(2)process Micro-dispersion Wettability alteration Clay minerals Electrical double-layer Multiple ion exchange

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Deep Koopman Embeddings for Unidirectional Phase-resolved Wave Prediction

Deep Koopman Embeddings for Unidirectional Phase-resolved Wa...

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2024 China Automation Congress, CAC 2024

作者： Feng, Zhongying Wang, Zhan Zhao, Yuxin Wang, Ye College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin China Engineering Research Center of Navigation Instruments Ministry of Education Harbin China College of Shipbuilding Engineering Harbin Engineering University Harbin China Qingdao Innovation and Development Center Harbin Engineering University Qingdao China State Key Laboratory of Coastal and Offshore Engineering Dalian University of Technology Dalian China

ISBN: (纸本)9798350368604

The phase-resolved wave prediction is of vital importance for improving safety in ocean engineering. However, it is a challenge for traditional physical methods to predict wave elevation accurately and efficiently at the same time. In this work, we develop a phase-resolved wave prediction model based on combined deep learning and the Koopman theory. The model can calculate in real-time while ensuring prediction accuracy. In addition, the model can predict wave elevation under the sea state 4, demonstrating certain generalization performance. ©2024 IEEE.

关键词： Ocean currents

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MXene-based materials for efficient applications in perovskite solar cells:A review

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材料科学技术（英文版） 2025年第12期215卷 214-232页

作者： Yue Li Yuhua Wang Zichao Xu Bo Peng Ngoc Quang Tran Kuldeep K Saxena S. Vadivel Xinghui Liu Hubei Province Key Laboratory of Systems Science in Metallurgical Process Wuhan University of Science and TechnologyWuhan 430081China Center for Innovative Materials & Architectures Vietnam National University Ho Chi Minh700000Vietnam Division of Research and Development Lovely Professional UniversityPhagwaraIndia Department of Physics Saveetha School of EngineeringSaveetha Institute of Medical and Technical Sciences(SIMATS)ThandalamChennaiTamil Nadu 602105India Science and Technology on Aerospace Chemical Power Laboratory Laboratory of Emergency Safety and Rescue TechnologyHubei Institute of Aerospace ChemotechnologyXiangyang 441003China

Perovskite solar cells(PSCs)exhibit significant development potential in the last decade due to their high efficiency and low manufacturing cost,with power conversion efficiencies(PCE)as high as 26.1％.How-ever,several problems still limit PSCs'performance and industrialization,including layer defects,energy level mismatch,and chemical *** are a promising class of two-dimensional(2D)tran-sition metal carbides and nitrides with excellent hydrophilicity,the tunable figure of merit,desirable electrical conductivity,abundant surface chemical end groups,and low-temperature solution *** properties make MXenes easy to combine with other materials and enrich their composites'physical and chemical properties,making them more useful in *** review systematically summa-rizes the relationship and development of PSCs and *** strategies for combining MXenes with various layer components in PSCs were ***,we discussed the advantages of MXenes as the hole-transporting layer,electron-transporting layer,perovskite active layer,and ***,we look forward to future research on MXene-based materials in the field of PSC and the next step of commercialization.

关键词： Perovskite solar cells MXenes High-efficiency Two-dimensional materials

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Cross-Modality Prompts: Few-Shot Multi-Label Recognition With Single-Label Training

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IEEE Transactions on Multimedia 2025年 27卷 3023-3033页

作者： Ding, Zixuan Zhou, Zihan Chen, Hui Hao, Tianxiang Xiong, Yizhe Zhao, Sicheng Zhang, Qiang Han, Jungong Xidian University State Key Laboratory of Electromechanical Integrated Manufacturing of High-Performance Electronic Equipments Xi'an710071 China Xidian University Center for Complex Systems School of Mechano-Electronic Engineering Xi'an710071 China Tsinghua University School of Software Beijing100190 China Tsinghua University Beijing National Research Center for Information Science and Technology Beijing100190 China Tsinghua University Department of Automation Beijing100190 China

Few-shot multi-label recognition (FS-MLR) presents a significant challenge due to the need to assign multiple labels to images with limited examples. Existing methods often struggle to balance the learning of novel classes and the retention of knowledge from base classes. To address this issue, we propose a novel Cross-Modality Prompts (CMP) approach. Unlike conventional methods that rely on additional semantic information to mitigate the impact of limited samples, our approach leverages multimodal prompts to adaptively tune the feature extraction network. A new FS-MLR benchmark is also proposed, which includes single-label training and multi-label testing, accompanied by benchmark datasets constructed from MS-COCO and NUS-WIDE. Extensive experiments on these datasets demonstrate the superior performance of our CMP approach, highlighting its effectiveness and adaptability. Our results show that CMP outperforms CoOp on the MS-COCO dataset with a maximal improvement of 19.47% and 23.94% in mAPharmonic for 5-way 1-shot and 5-way 5-shot settings, respectively. © 1999-2012 IEEE.

关键词： Zero-shot learning

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Ingredient Inventory and Revenue Optimization of Restaurant Food Sales using Integer Linear Programming 14

Ingredient Inventory and Revenue Optimization of Restaurant ...

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14th IEEE International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management, HNICEM 2022

作者： Coching, Jerahmeel K. Pe, Adrian Jenssen L. Yeung, Seth Gabriel D. Wayne Naoto Akeboshi, Wynnezel Billones, Robert Kerwin C. Dadios, Elmer P. De la Salle University Center for Engineering and Sustainable Development Research Department of Manufacturing Engineering and Management Intelligent Systems Laboratory Manila0922 Philippines

ISBN: (纸本)9781665464932

Restaurant businesses require significant revenue generation to finance their operational costs. Without revenue, restaurants will operate under deficits, thus making operations unsustainable. This leads to increased risks of business closure and the inability to service any form of customer demand sustainably. Factors that affect revenue generation for restaurants include but are not limited to the following: capital, the availability and limit of stored ingredients, ingredient costs, customer demand, and food sales. This study used Integer Linear Programming (ILP) to model a simulated restaurant's monthly revenue sales. Optimal maximization of revenue served as the objective function of the ILP model. On the other hand, considerations in formulating the model's constraint equations include ingredient usage for each menu item, budget for ingredient purchase, and the monthly sales demand distribution of menu items. The MATLAB software was used to simulate the ILP model. The simulation results provided the optimal ingredient inventory configuration and the required number of sales for each menu item. © 2022 IEEE.

关键词： Sales

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Prediction model of volume average diameter and analysis of atomization characteristics in electrostatic atomization minimum quantity lubrication

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Friction 2023年第11期11卷 2107-2131页

作者： Dongzhou JIA Changhe LI Jiahao LIU Yanbin ZHANG Min YANG Teng GAO Zafar SAID Shubham SHARMA School of Mechanical&Automotive Engineering Qingdao University of TechnologyQingdao 266520China College of Mechanical Engineering and Automation Liaoning University of TechnologyJinzhou 121001China State Key Laboratory of Ultra-precision Machining Technology Department of Industrial and Systems EngineeringThe Hong Kong Polytechnic UniversityHong Kong 999077China College of Engineering University of SharjahSharjah 27272United Arab Emirates Mechanical Engineering Department University Center for Research and DevelopmentChandigarh UniversityMohaliPunjab 144603India

Minimum quantity lubrication(MQL)is a relatively efficient and clean alternative to flooding workpiece *** atomization has the merits of small droplet diameter,high uniformity of droplet size,and strong coating,hence its superiority to pneumatic ***,as the current research hotspot,the influence of jet parameters and electrical parameters on the average diameter of droplets is not ***,by observing the shape of the liquid film at the nozzle outlet,the influence law of air pressure and voltage on liquid film thickness(h)and transverse and longitudinal fluctuations are ***,the mathematical model of charged droplet volume average diameter(VAD)is constructed based on three dimensions of the liquid film,namely its thickness,transverse wavelength(λ_(h)),and longitudinal wavelength(λ_(z)).The model results under different working conditions are obtained by numerical *** of the model results with the experimental VAD of the droplet confirm the error of the mathematical model to be less than 10%.The droplet diameter distribution span value Rosin–Rammler distribution span(R.S)and percentage concentrations of PM10(particle size of less than 10μm)/PM2.5(particle size of less than 2.5μm)under different working conditions are further *** results show that electrostatic atomization not only reduces the diameter distribution span of atomized droplets but also significantly inhibits the formation of PM10 and PM2.5 fine-suspension *** the air pressure is 0.3 MPa,and the voltage is 40 kV,the percentage concentrations of PM10 and PM2.5 can be reduced by 80.72%and 92.05%,respectively,compared with that under the pure pneumatic atomization condition at 0.3 MPa.

关键词： minimum quantity lubrication(MQL) electrostatic atomization volume average diameter(VAD) atomization characteristics

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Haptic-Aided Navigation Vehicle: Enhancing Obstacle Detection in Blind Spots and Transparent Object Scenarios

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Journal of Shanghai Jiaotong University (Science) 2025年 1-9页

作者： Li, Mingwang Li, Xinde Zhang, Zhentong Zhang, Zeyu Zhao, Haoming School of Software Southeast University Suzhou Jiangsu215000 China School of Automation Southeast University Nanjing210018 China School of Cyber Science and Engineering Southeast University Nanjing211102 China Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Education Nanjing214135 China Nanjing Center for Applied Mathematics Nanjing211135 China Southeast University Shenzhen Research Institute Shenzhen Guangdong518063 China

As autonomous mobile robots are increasingly deployed in complex environments, traditional vision sensors and LiDAR encounter considerable limitations, particularly in detecting obstacles in blind spots or transparent objects. To address the issue of blind spots, we design a specialized haptic sensing structure and develop the haptic-aided navigation vehicle (HANV). This system integrates haptic sensors and LiDAR to deliver comprehensive perception, significantly enhancing close-range obstacle detection in areas that are typically beyond the range of conventional sensors. To tackle the challenge of transparent obstacles, which are often undetected by both vision and LiDAR sensors, we employ a fusion of haptic sensors and LiDAR. The haptic system provides physical contact feedback, ensuring reliable detection of transparent obstacles such as glass, while LiDAR offers long-range sensing capabilities. This combination enables HANV to navigate effectively in environments with transparent obstacles, overcoming the limitations of traditional sensing systems. Experiment results indicate that the proposed haptic and LiDAR integration substantially improves obstacle detection in both blind spots and environments with transparent obstacles. HANV achieves high success rates, minimal collisions, and efficient obstacle avoidance, particularly excelling in complex, confined spaces where conventional systems prove inadequate. These findings emphasize the efficacy of our approach in enhancing navigation performance in dynamic and challenging environments. (Figure presented.) © Shanghai Jiao Tong University 2025.

关键词： Mobile robots

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Parallel Bounded Search for the Maximum Clique Problem

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Journal of Computer Science & Technology 2023年第5期38卷 1187-1202页

作者：江华白珂刘海姣李初民 Felip Manya 付樟华 Engineering Research Center of Cyberspace Yunnan UniversityKunming 650500China School of Software Yunnan UniversityKunming 650500China Laboratory of Modeling Information and SystemsUniversity of Picardie Jules VerneAmiens 80039France Artificial Intelligence Research Institute Spanish National Research CouncilCatalonia 08193Spain Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen 518000China Institute of Robotics and Intelligent Manufacturing Chinese University of Hong KongShenzhen 518000China

Given an undirected graph,the Maximum Clique Problem(MCP)is to find a largest complete subgraph of the *** is NP-hard and has found many practical *** this paper,we propose a parallel Branch-and-Bound(BnB)algorithm to tackle this NP-hard problem,which carries out multiple bounded searches in *** search has its upper bound and shares a lower bound with the rest of the *** potential benefit of the proposed approach is that an active search terminates as soon as the best lower bound found so far reaches or exceeds its upper *** describe the implementation of our highly scalable and efficient parallel MCP algorithm,called PBS,which is based on a state-of-the-art sequential MCP *** proposed algorithm PBS is evaluated on hard DIMACS and BHOSLIB *** results show that PBS achieves a near-linear speedup on most DIMACS instances and a superlinear speedup on most BHOSLIB ***,we give a detailed analysis that explains the good speedups achieved for the tested instances.

关键词： Branch-and-Bound(BnB) maximum clique problem(MCP) parallel search

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