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arXiv 2023年

作者： Dai, Kun Xie, Tao Wang, Ke Jiang, Zhiqiang Li, Ruifeng Zhao, Lijun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China SenseTime Group Inc. Beijing100080 China

Local feature matching is an essential component in many visual applications. In this work, we propose OAMatcher, a Tranformer-based detector-free method that imitates humans behavior to generate dense and accurate matches. Firstly, OAMatcher predicts overlapping areas to promote effective and clean global context aggregation, with the key insight that humans focus on the overlapping areas instead of the entire images after multiple observations when matching keypoints in image pairs. Technically, we first perform global information integration across all keypoints to imitate the humans behavior of observing the entire images at the beginning of feature matching. Then, we propose Overlapping Areas Prediction Module (OAPM) to capture the keypoints in co-visible regions and conduct feature enhancement among them to simulate that humans transit the focus regions from the entire images to overlapping regions, hence realizeing effective information exchange without the interference coming from the keypoints in non-overlapping areas. Besides, since humans tend to leverage probability to determine whether the match labels are correct or not, we propose a Match Labels Weight Strategy (MLWS) to generate the coefficients used to appraise the reliability of the ground-truth match labels, while alleviating the influence of measurement noise coming from the data. Moreover, we integrate depth-wise convolution into Tranformer encoder layers to ensure OAMatcher extracts local and global feature representation concurrently. Comprehensive experiments demonstrate that OAMatcher outperforms the state-of-the-art methods on several benchmarks, while exhibiting excellent robustness to extreme appearance variants. The source code is available at https://***/DK-HU/OAMatcher. © 2023, CC BY.

关键词： Image enhancement

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Open-Source Reinforcement Learning Environments Implemented in MuJoCo with Franka Manipulator

arXiv

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arXiv 2023年

作者： Xu, Zichun Li, Yuntao Yang, Xiaohang Zhao, Zhiyuan Zhuang, Lei Zhao, Jingdong The State Key Laboratory of Robotics and Systems Harbin Institute of Technology Heilongjiang Province Harbin150001 China

This paper presents three open-source reinforcement learning environments developed on the MuJoCo physics engine with the Franka Emika Panda arm in MuJoCo Menagerie. Three representative tasks, push, slide, and pick-and-place, are implemented through the Gymnasium robotics API, which inherits from the core of Gymnasium. Both the sparse binary and dense rewards are supported, and the observation space contains the keys of desired and achieved goals to follow the Multi-Goal Reinforcement Learning framework. Three different off-policy algorithms are used to validate the simulation attributes to ensure the fidelity of all tasks, and benchmark results are also given. Each environment and task are defined in a clean way, and the main parameters for modifying the environment are preserved to reflect the main difference. The repository, including all environments, is available at https://***/zichunxx/panda_mujoco_gym. Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

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A Hierarchical Graph Search Method for Path Planning of Unmanned Ground Vehicle for Freight Transportation

A Hierarchical Graph Search Method for Path Planning of Unma...

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2024 IEEE International Conference on Unmanned systems, ICUS 2024

作者： Hu, Jianing Li, Zhen Guo, Sen Yao, Weiran School of Astronautics Harbin Institute of Technology Harbin China Beijing Electro-Mechanical Engineering Institute Beijing China CRRC Nanjing Puzhen Co. Ltd. Nanjing China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing China

ISBN: (纸本)9798350384185

For the problem of collision volume change when forklift unmanned vehicles work in complex storage environments, a multi-level graph search path planning method is proposed. The first level is the path planning of the Unmanned Ground Vehicle (UGV) body, which uses the grid map and the A* algorithm to plan the path of the UGV transferring in the scene;the second level is the joint path planning of the UGV and the object being carried, to avoid overcomplicating this issue, the unmanned vehicle will be limited to pushing the cargo only forwards. The third level is the path planning when the unmanned vehicle carries multiple objects, which decomposes the whole scene into multiple sub-scenes, plans the paths of the unmanned vehicle in the sub-scenes separately, and searches for the optimal combination of sub-scenes. Higher level searches will invoke lower level algorithms and provide a virtual scene and target as input. The experimental results show that this multilevel path planning method is optimal and complete in solving the forklift unmanned vehicle for handling a single object, and can give a feasible solution for handling multiple objects. © 2024 IEEE.

关键词： Ground vehicles

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Nanoscale phase management of the 2D/3D heterostructure toward efficient perovskite solar cells

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Science Bulletin 2024年第18期69卷 2853-2861页

作者： Hao Gu Annan Zhu Junmin Xia Wang Li Jiahao Zheng Tao Yang Shengwen Li Nan Zhang Shiliang Mei Yongqing Cai Shi Chen Chao Liang Guichuan Xing Joint Key Laboratory of the Ministry of Education Institute of Applied Physics and Materials EngineeringUniversity of MacaoMacao 999078China State Key Laboratory of Organic Electronics and Information Displays&Institute of Advanced Materials(IAM) Jiangsu National Synergetic Innovation Center for Advanced Materials(SICAM)Nanjing University of Posts&Telecommunications(NUPT)Nanjing 210023China MOE Key Laboratory for Nonequilibrium Synthesis and Modulation of Condensed Matter School of PhysicsNational Innovation Platform(Center)for Industry-Education Integration of Energy Storage TechnologyXi’an Jiaotong UniversityXi’an 710049China Ministry of Industry and Information Technology Key Lab of Micro-Nano Optoelectronic Information System Guangdong Provincial Key Laboratory of Semiconductor Optoelectronic Materials and Intelligent Photonic SystemsHarbin Institute of TechnologyShenzhen 518055China Institute for Electric Light Sources School of Information Science and TechnologyFudan UniversityShanghai 200433China

The stabilization of the formamidinium lead iodide(FAPbI_(3))structure is pivotal for the development of efficient photovoltaic *** two-dimensional(2D)layers to passivate the threedimensional(3D)perovskite is essential for maintaining the a-phase of FAPbI_(3) and enhancing the power conversion efficiency(PCE)of perovskite solar cells(PSCs).However,the role of bulky ligands in the phase management of 2D perovskites,crucial for the stabilization of FAPbI_(3),has not yet been *** this study,we synthesized nanoscale 2D perovskite capping crusts with=1 and 2 Ruddlesden-Popper(RP)perovskite layers,respectively,which form a type-Ⅱ 2D/3D *** heterostructure stabilizes the a-phase of FAPbI_(3),and facilitates ultrafast carrier extraction from the 3D perovskite network to transport contact *** introduced tri-fluorinated ligands to mitigate defects caused by the halide vacancies and uncoordinated Pb^(2+)ions,thereby reducing nonradiative carrier recombination and extending carrier *** films produced were incorporated into PSCs that not only achieved a PCE of 25.39%but also maintained 95%of their initial efficiency after 2000 h of continuous light exposure without *** findings underscore the effectiveness of a phase-pure 2D/3D heterostructure-terminated film in inhibiting phase transitions passivating the iodide anion vacancy defects,facilitating the charge carrier extraction,and boosting the performance of optoelectronic devices.

关键词： Phase-pure 2D perovskite 2D/3D heterostructure Type-II energy alignment Carrier dynamic FAPbI_(3)

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Formation and growth of nanophase iron particles on the surface of Mercury revealed by experimental study

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Acta Geochimica 2024年第4期43卷 774-784页

作者： Ronghua Pang Yang Li Chen Li Pengfei Zhang Zhuang Guo Sizhe Zhao Han Yu Li Wang Chenxi Zhu Shuangyu Wang Kairui Tai Qinwei Zhang Yuanyun Wen Rui Li Center for Lunar and Planetary Sciences Institute of GeochemistryChinese Academy of SciencesGuiyangChina University of Chinese Academy of Sciences BeijingChina Center for Excellence in Comparative Planetology Chinese Academy of SciencesHefeiChina Institute of Remote Sensing and Geographical Information System School of Earth and Space SciencesPeking UniversityBeijingChina State Key Laboratory of Lunar and Planetary Sciences Macao University of Science and TechnologyMacaoChina Faculty of Metallurgical and Energy Engineering Kunming University of Science and TechnologyKunmingChina State Key Laboratory of High Performance Ceramics and Superfi ne Microstructures Shanghai Institute of CeramicsChinese Academy of SciencesShanghaiChina Laboratory for Space Environment and Physical Sciences Harbin Institute of TechnologyHarbinChina Research Center for Planetary Science College of Earth ScienceChengdu University of TechnologyChengduChina Key Laboratory of Planetary Sciences Purple Mountain ObservatoryChinese Academy of SciencesNanjingChina

Space weathering is a primary factor in altering the composition and spectral characteristics of surface materials on airless ***,current research on space weathering focuses mainly on the Moon and certain types of *** particular,the impacts of meteoroids and micrometeoroids,radiation from solar wind/solar flares/cosmic rays,and thermal fatigue due to temperature variations are being *** weathering produces various transformation products such as melted glass,amorphous layers,iron particles,vesicles,and solar wind *** in turn lead to soil maturation,changes in visible and near-infrared reflectance spectra(weakening of characteristic absorption peaks,decreased reflectance,increased near-infrared slope),and alterations in magnetism(related to small iron particles),collectively termed the“lunar model”of space weathering *** to the Moon and asteroids,Mercury has unique spatial environmental characteristics,including more intense meteoroid impacts and solar thermal radiation,as well as a weaker particle radiation environment due to the global distribution of its magnetic ***,the lunar model of space weathering may not apply to *** studies have extensively explored the eff ects of micrometeoroid ***,this work focuses on the eff ects of solar-wind particle radiation in global magnetic-field distribution and on the weathering transformation of surface materials on Mercury under prolonged intense solar *** the utilization of highvalence state,heavy ion implantation,and vacuum heating simulation experiments,this paper primarily investigates the weathering transformation characteristics of the major mineral components such as anorthite,pyroxene,and olivine on Mercury’s surface and compares them to the weathering transformation model of the *** experimental results indicate that ion implantation at room temperature is insufficient to generate np-Fe^(0)directly but

关键词： Mercury Space weathering Np-Fe^(0) Solar thermal radiation Solar wind

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Practical Realization of Optimal Auxiliary Frequency Control Strategy of Wind Turbine Generator

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Journal of Modern Power systems and Clean Energy 2022年第3期10卷 617-626页

作者： Ming Sun Yong Min Xuejun Xiong Lei Chen Le Zhao Yuyao Feng Bingran Wang IEEE State Key Laboratory of Power System and Generation Equipment Department of Electrical EngineeringTsinghua UniversityBeijing 100084China State Grid Shanghai Electric Power Research Institute Shanghai 200437China School of New Energy Harbin Institute of Technology(Weihai)Weihai 264209China

Adding the auxiliary frequency control function to the wind turbine generator(WTG)is a solution to the frequency security problem of the power system caused by the replacement of the synchronous generator(SG)by the *** auxiliary frequency control using rotor kinetic energy is an economical scheme because the WTG still runs at the maximum power point during normal *** this paper,the functional optimization model of the auxiliary frequency control strategy of WTG is *** optimal auxiliary frequency control strategy is obtained by solving the model *** for the practical realization of the control strategy,the coordination of the auxiliary frequency control with the maximum power point tracking(MPPT)control is *** practical auxiliary frequency control strategy is modified to adapt to different power disturbances in the system,and the parameter setting method is also *** sensitivity of system frequency to control parameters is ***,the simulation results verify the effectiveness and practicability of the proposed control strategy.

关键词： Power system frequency security wind turbine generator auxiliary frequency control rotor kinetic energy energy constraint

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Six-Degree-of-Freedom Intelligent Control of Hypersonic Flight Vehicle

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IEEE Transactions on Aerospace and Electronic systems 2025年

作者： An, Hao Wang, Yiming Zhong, Xinyu Ye, Yongfeng Harbin Institute of Technology Space Control and Inertial Technology Research Center National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin China

The six-degree-of-freedom control of hypersonic flight vehicle (HFV) faces great challenges due to complex aerodynamics, inherent couplings and multiple constraints. This paper investigates the six-degree-of-freedom guidance and attitude control problem for unpowered gliding HFV. The guidance loop is based on the predictor-corrector method with three improvements of intelligent prediction acceleration, path constraints accommodation and no-fly zones circumvention. To quickly respond to guidance commands, three attitude channels (i.e., roll, pitch and yaw) are completely decoupled by nonlinear dynamic inverse, based on which a high-performance low-complexity attitude controller is proposed. This benefits from the appropriate integration of barrier function and sliding mode control, while design conditions of three alternative performances (i.e., asymptotic, exponential and preset-time convergences) are discussed. Servo dynamics and physical constraints of aerodynamic control surfaces are also well handled. © 2025 IEEE.

关键词： Hypersonic vehicles

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On Networked Dynamical systems with Heterogeneous Constraints:Equilibrium Points and Stability 41

On Networked Dynamical Systems with Heterogeneous Constraint...

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第41届中国控制会议

作者： Qichao Ma Jiahu Qin Yu Kang Huijun Gao Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Institute of Advanced Technology University of Science and Technology of China Research Institute of Intelligent Control and Systems and the State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.

关键词： Multi-agent systems heterogeneous constraints equilibrium point and its stability constrained consensus

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Degradation of tetracycline hydrochloride by ultrafine TiO_(2) nanoparticles modified g-C_(3)N_(4) heterojunction photocatalyst:Influencing factors,products and mechanism insight

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Chinese Chemical Letters 2022年第3期33卷 1337-1342页

作者： Bin Zhang Xu He Chengze Yu Guocheng Liu Dong Ma Chunyue Cui Qinghua Yan Yingjie Zhang Guangshan Zhang Jun Ma Yanjun Xin Qingdao Engineering Research Center for Rural Environment Water Resources Protection and Utilization Center for Rural AreasQingdao Agricultural UniversityQingdao 266109China State Key Laboratory of Urban Water Resource and Environment Harbin Institute of TechnologyHarbin 150090China School of Marine Science and Technology Sino-Europe Membrane Technology Research Institute Harbin Institute of TechnologyWeihai 264209China

The unique heterojunction photocatalyst of graphite carbon nitride (g-C_(3)N_(4)) modified ultrafine TiO_(2) (g-C_(3)N_(4)/TiO_(2)) was successfully fabricated by electrochemical etching and co-annealing method. However, the effects of various environmental factors on the degradation of TC by g-C_(3)N_(4)/TiO_(2) and the internal reaction mechanism are still unclear. In this study, the effects of initial pH, anions, and cations on the photocatalytic degradation of tetracycline hydrochloride (TC) by g-C_(3)N_(4)/TiO_(2) were systematically explored, and the scavenging experiment and intermediate detection were conducted to better reveal the mechanism on photocatalytic degradation of TC. The results showed that the removal efficiency of photocatalytic degradation of TC by g-C_(3)N_(4)/TiO_(2) could reach 99.04% under Xenon lamp irradiation within 120 min. The unique g-C_(3)N_(4)/TiO_(2) heterojunction photocatalyst showed excellent photocatalytic performance for the degradation of TC at pH 3~7, and possesses outstanding anti-interference ability to NO_(3)^(-), Cl^(-), Na^(+), Ca^(2+) and Mg^(2+) ions in natural waters during the photocatalytic degradation TC process. Superoxide radicals (O_(2)^(·-)) and hydroxyl radicals (^(·)OH) were proved as the main reactive species for TC degradation, and the possible mechanism of the unique photocatalytic system for g-C_(3)N_(4)/TiO_(2) was also proposed. The above results can provide a reliable basis and theoretical guidance for the design and application of visible photocatalyst with high activity to degrade the actual wastewater containing TC.

关键词： Photocatalytic TiO_(2) G-C3N4 Tetracycline hydrochloride Mechanism

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A Comprehensive Derivation of Quintic Spline Interpolation and Its Applications to 3-D Collision-Free Trajectory Generation

A Comprehensive Derivation of Quintic Spline Interpolation a...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Boyu Ma Chunyu Zhou Yang Liu Baoshan Niu Feiyang Wen Sijiang Liu Zongwu Xie State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Key Laboratory of Modern Mechanisms and Equipment Design of the State Ministry of Education Tianjin University Tianjin China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

For trajectory generation, quintic spline interpolation can ensure the zero velocities and accelerations of both the starting and ending points, presenting advantages not achievable by cubic spline interpolation. Due to the scarcity of quintic spline interpolation in existing research and applications, and considering its relatively intricate implementation process, this article presents a comprehensive derivation for its solution. Moreover, a three-dimensional (3-D) collision-free smooth trajectory scheme using quintic spline interpolation is proposed to generate collision-free and sufficiently smooth trajectories. Finally, two case studies are conducted to validate the effectiveness of quintic spline interpolation and the trajectory generation scheme in planning motion trajectories for robotic agents in a 3-D map with several obstacles.

关键词： Interpolation Real-time systems Trajectory Safety Planning Splines (mathematics) Collision avoidance

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