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IEEE International Conference on robotics and Automation (ICRA)

作者： Haoxiang Ma Ran Qin Modi Shi Boyang Gao Di Huang State Key Laboratory of Software Development Environment School of Computer Science and Engineering Beihang University Beijing China Geometry Robotics and the School of Computer Science and Technology Harbin Institute of Technology Harbin China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper focuses on the sim-to-real issue of RGB-D grasp detection and formulates it as a domain adaptation problem. In this case, we present a global-to-local method to address hybrid domain gaps in RGB and depth data and insufficient multi-modal feature alignment. First, a self-supervised rotation pre-training strategy is adopted to deliver robust initialization for RGB and depth networks. We then propose a global-to-local alignment pipeline with individual global domain classifiers for scene features of RGB and depth images as well as a local one specifically working for grasp features in the two modalities. In particular, we propose a grasp prototype adaptation module, which aims to facilitate fine-grained local feature alignment by dynamically updating and matching the grasp prototypes from the simulation and real-world scenarios throughout the training process. Due to such designs, the proposed method substantially reduces the domain shift and thus leads to consistent performance improvements. Extensive experiments are conducted on the GraspNet-Planar benchmark and physical environment, and superior results are achieved which demonstrate the effectiveness of our method. Code is available at https://***/mahaoxiang822/GL-MSDA.

关键词： Training Codes Pipelines Prototypes Benchmark testing Robustness robotics and automation

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Sim-to-Real Grasp Detection with Global-to-Local RGB-D Adaptation

arXiv

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arXiv 2024年

作者： Ma, Haoxiang Qin, Ran Shi, Modi Gao, Boyang Huang, Di The State Key Laboratory of Software Development Environment School of Computer Science and Engineering Beihang University Beijing China The Geometry Robotics and the School of Computer Science and Technology Harbin Institute of Technology Harbin China

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Fully Distributed Consensus of Multiple Euler-Lagrange systems with Time-Varying Asymmetric Full-state Constraints

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IEEE Transactions on Automatic Control 2025年

作者： Yang, Yanhua Mei, Jie Shi, Xiongtao Ma, Guangfu Harbin Institute of Technology School of Intelligence Science and Engineering The Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Guangdong Shenzhen518055 China

In this paper, the consensus problem of multiple Euler-Lagrange (EL) systems with time-varying asymmetric full-state constraints under a directed graph is investigated in a fully distributed way, where the global information dependence is removed. First, to prevent the violation of the full-state constraints of each EL system, a nonlinear state-dependent transformation (NSDT) is adopted for both the leader and followers, where the constraints will not be violated as long as the transformed states remain finite. Then, a constrained nonlinear fully distributed observer is constructed using only neighbors' states, and an adaptive gain is designed to eliminate the dependence of the global information. The theoretical analysis is completed via constructing a novel integration-based Lyapunov function using a graph-based diagonal matrix, ensuring the achievement of consensus. Using the observed state, an adaptive back-stepping state tracking control protocol is developed such that the position of each EL system can track the leader within a tolerable bounded region. Thus, the leader-following consensus of multiple EL systems with time-varying asymmetric full-state constraints is achieved. Simulation results are illustrated to show the feasibility and effectiveness of the proposed control scheme. © 2025 IEEE.

关键词： Lagrange multipliers

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Kinetics and mechanisms of non-radically and radically induced degradation of bisphenol A in a peroxymonosulfate-chloride system

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Environmental Science and Ecotechnology 2024年第6期22卷 191-197页

作者： Zhao Song Yu Zhang Yanhu Yang Yidi Chen Nanqi Ren Xiaoguang Duan State Key Laboratory of Urban Water Resource and Environment Shenzhen Key Laboratory of Organic Pollution Prevention and ControlSchool of Civil and Environmental EngineeringHarbin Institute of Technology(Shenzhen)Shenzhen518055PR China School of Materials and Environmental Engineering Shenzhen Polytechnic UniversityShenzhen518055PR China School of Chemical Engineering The University of AdelaideAdelaideSA5005Australia

Bisphenol A,a hazardous endocrine disruptor,poses significant environmental and human health threats,demanding efficient removal *** biological methods struggle to treat BPA wastewater with high chloride(Cl^(-))levels due to the toxicity of high Cl^(-)to *** persulfate-based advanced oxidation processes(PS-AOPs)have shown promise in removing BPA from high Cl^(-)wastewater,their widespread application is always limited by the high energy and chemical usage *** we show that peroxymonosulfate(PMS)degrades BPA in situ under high Cl^(-)*** was completely removed in 30 min with 0.3 mM PMS and 60 mM Cl^(-).Non-radical reactive species,notably free chlorine species,including dissolved Cl_(2)(l),HClO,and ClO−dominate the removal of BPA at temperatures ranging from 15 to 60℃.Besides,free radicals,including•OH and Cl_(2)^(•−),contribute minimally to BPA removal at 60°*** on the elementary kinetic models,the production rate constant of Cl_(2)(l)(32.5 M^(−1) s^(−1))is much higher than HClO(6.5×10^(−4) M^(−1) s^(−1)),and its degradation rate with BPA(2×10^(7) M^(−1) s^(−1))is also much faster than HClO(18 M^(−1) s^(−1)).Furthermore,the degradation of BPA by Cl_(2)(l)and HClO were enlarged by 10-and 18-fold at 60℃ compared to room temperature,suggesting waste heat utilization can enhance treatment ***,this research provides valuable insights into the effectiveness of direct PMS introduction for removing organic micropollutants from high Cl^(-)*** further underscores the critical kinetics and mechanisms within the PMS/Cl⁻system,presenting a cost-effective and environmentally sustainable alternative for wastewater treatment.

关键词： BPA removal Saline wastewater Peroxymonosulfate Free chlorine Kinetic model

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A Practical Multi-camera SLAM system for Large Mobile Robots

A Practical Multi-camera SLAM System for Large Mobile Robots

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Big Data, Artificial Intelligence and Risk Management (ICBAR), International Conference on

作者： Yunlong Dong Hong Ding Fusheng Zha Mantian Li State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150080 China

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.

关键词： Location awareness Simultaneous localization and mapping Three-dimensional displays Robot vision systems Estimation Cameras Mobile robots

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Reversible aqueous aluminum metal batteries enabled by a water-in-salt electrolyte

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Green Energy & Environment 2024年第7期9卷 1183-1191页

作者： Wenjing Tang Lijun Deng Longyuan Guo Shoubin Zhou Qinhai Jiang Jiayan Luo Shanghai Key Lab of Advanced High-Temperature Materials and Precision Forming State School of Materials Science and EngineeringShanghai Jiao Tong UniversityShanghai200240China School of Science Harbin Institute of TechnologyShenzhenGuangdong518055China Key Laboratory for Green Chemical Technology of Ministry of Education School of Chemical Engineering and TechnologyTianjin UniversityTianjin300072China HuaFu High Technology Energy Storage CO. LTDYangzhou225600China Shanghai Jiao Tong University Shaoxing Research Institute of Renewable Energy and Molecular Engineering Shaoxing312000China

Aluminum(Al),the most abundant metallic element on the earth crust,has been reckoned as a promising battery material for its the highest theoretical volume capacity(8046 mAh cm^(-3)).Being rechargeable in ionic liquid electrolytes,however,the Al anode and battery case suffer from *** the other hand,Al is irreversible in aqueous electrolyte with severe hydrogen evolution ***,we demonstrate a water-in-salt aluminum ion electrolyte(WISE)based on Al and lithium salts to tackle the above *** the WISE system,water molecules can be confined within the Li^(+)solvation *** diminished Al^(3+)-H_(2)O interaction essentially eliminates the hydrolysis effect,effectively protecting Al anode from ***,long-term Al plating/stripping can be ***,two types of high-performance full batteries have been demonstrated using copper hexacyanoferrate(CuHCF,a Prussian Blue Analogues)and LiNi_(0.8)Co_(0.1)Mn_(0.1)O_(2)(NCM)as *** reversibility of Al anode laid the foundation for low cost rechargeable batteries suffering for large-scale energy *** context:Al batteries are expected to become a safe and sustainable alternative to lithium *** decades,chase for a feasible Al secondary battery has not been *** key challenge is to find suitable cathode and electrolyte materials,together with which Al anode battery can function ***,fatal drawbacks have impeded the practical application of Al metal batteries(AMBs),such as sustained corrosion of Al anode and battery case in ionic liquid electrolytes,irreversibility issues as well as severe hydrogen evolution reaction during cycling in aqueous ***,electrolyte and their electrochemical kinetics play a vital role in the performance and environmental operating limitations of high-energy Al metal *** this work,we demonstrate a nearly neutral Al ion water-in-salt electrolyte(WISE)to tackle the above chal

关键词： Water-in-salt electrolyte Rechargeable aluminum anode Solvation sheath Hybrid battery Abundance

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A tilting system design and simulation of ground penetrating radar 8

A tilting system design and simulation of ground penetrating...

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2022 8th International Forum on Manufacturing technology and Engineering Materials, IFEMMT 2022

作者： Dekun, Chen Yuan, Xue Siyuan, Tao Peng, Lan Nianli, Lu School of Electromechanical Engineering Harbin Institute of Technology Harbin150006 China School of Mechanical & Electrical Engineering Xi'An University of Architecture and Technology Xi'an710055 China State Key Laboratory of Green Building in Western China Xian University of Architecture & Technology Xi'an710055 China

In this paper, a tilting system of ground penetrating radar by 5R1C 6-bar linkage mechanism is proposed. The kinematic function of hydraulic cylinder and the output angle is given in explicit format. The quasi-static formulation of the tilting system is proposed to calculate the shaft and revolute force. The simulation of mechanism via ADAMS and an experiment is made to verify the design. The maximum stress is exposed in curved shaft and the worst working condition is the tilt condition. It proves the validity of tilting system that both mechanism and hydraulic system work well in the loading condition and unloading condition. © Published under licence by IOP Publishing Ltd.

关键词： Ground penetrating radar systems

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An Improved RT-DETR-Based Object Detection Algorithm for Gm-APD LiDAR

An Improved RT-DETR-Based Object Detection Algorithm for Gm-...

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Academic International Symposium on Optoelectronics and Microelectronics technology (AISOMT)

作者： Qianxin Wang Jianfeng Sun Peng Jiang Xin Zhou Yuanxue Ding Guanlin Chen National Key Laboratory of Laser Spatial Information Harbin Institute of Technology Harbin Heilongjiang China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou Henan China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9798331542283

ISBN: (纸本)9798331542290

Gm-APD LiDAR has a high sensitivity response characteristic, enabling imaging for detecting targets at extended distances, and finds broad utility. However, the highly sensitive response characteristic also makes Gm-APD LiDAR vulnerable to noise, resulting in poor imaging quality and challenging the application of target detection algorithms to this type of LiDAR. Therefore, this paper proposes a long-range vehicle detection model DRT-DETR for Gm-APD LiDAR. DRT-DETR is based on RT-DETR and employs a dual-channel feature extraction backbone, which combines with the lightweight FasterNet Block to capture semantic features from distance and intensity images effectively. It also incorporates mixed attention modules to selectively combine and enhance key features from both types of images. Attention-based Intrascale Feature Interaction employs cascaded group attention as a replacement for multi-head attention in order to minimize computational redundancy. Finally, Dysample is used instead of nearest neighbor upsampling in the cross-scale feature fusion to align features better and minimize distortion. The improved model boosts detection accuracy by 3.8% over RT-DETR and outperforms other common object detection models on the dataset, demonstrating its effectiveness.

关键词： Laser radar Sensitivity Computational modeling Vehicle detection Semantics Redundancy Imaging Object detection Feature extraction Distortion

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Gm-APD LiDAR Reconstruction Algorithm with Improved Matched Filtering Based on Negative Binomial Distribution

Gm-APD LiDAR Reconstruction Algorithm with Improved Matched ...

引用

Academic International Symposium on Optoelectronics and Microelectronics technology (AISOMT)

作者： Hengchang Ou Jianfeng Sun Le Ma Peng Jiang National Key Laboratory of Laser Spatial Information Harbin Institute of Technology Harbin Heilongjiang China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou Henan China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9798331542283

ISBN: (纸本)9798331542290

This article addresses the challenges faced by Gm-APD detectors in lidar systems when detecting weak signals. We use a triggering model based on the negative binomial distribution, which replaces the traditional Poisson distribution model, allowing for a more accurate description of the echo characteristics from rough surface targets. Building on this foundation, we have improved the conventional matched filtering algorithm by integrating the laser pulse waveform with the actual triggering response of the detector, thereby enhancing the detection rate. Experimental results demonstrate that the improved algorithm significantly increases the detection probability under low signal-to-noise ratios and with a limited number of frames, confirming the effectiveness of the new triggering model and the enhanced algorithm.

关键词： Maximum likelihood estimation Laser radar Accuracy Filtering Detectors Filtering algorithms Surface roughness Rough surfaces Photonics Signal to noise ratio

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An Interval-Peak-Based Algorithm for Range Image Reconstruction of GM-APD Lidar

An Interval-Peak-Based Algorithm for Range Image Reconstruct...

引用

Academic International Symposium on Optoelectronics and Microelectronics technology (AISOMT)

作者： Shihang Sun Jianfeng Sun Peng Jiang Hongchao Ni Xin Zhou Le Ma Ruobin Lin National Key Laboratory of Laser Spatial Information Harbin Institute of Technology Harbin Heilongjiang China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou Henan China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9798331542283

ISBN: (纸本)9798331542290

GM-APD lidar has single-photon sensitivity, so that it can obtain 3D information of distant targets. On the other hand, the laser echo of targets is easily drowned by noise. In order to solve this problem, an interval-peak-based algorithm for range image reconstruction is proposed in this paper. Firstly, in the photon counts histogram, the x-axis is divided into small intervals and the peak value of each interval is taken. This step weakens the bad characteristic caused by the trigger probability. Secondly, according to the data feature, the trigger probability ratio coefficient and the neighborhood correlation coefficient are obtainned. Finally, the range image can be extracted by the peak method after the peak value of each interval is multiplied with this two coefficients. It is verified by the experimental data that when the SNR of target echo data is 0.022, the recovery ratio of the proposed algorithm can reach 80%, which is 25% higher than the matching filter algorithm. The proposed algorithm has a good application prospect in the range image reconstruction of GM-APD lidar.

关键词： Laser radar Three-dimensional displays Sensitivity Filtering Logic gates Approximation algorithms Spatiotemporal phenomena Image reconstruction Signal to noise ratio Photonics

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