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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Zhengcai Cao Junnian Li Jie Niu MengChu Zhou State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China College of Information Science and Technology Beijing University of Chemical Technology Beijing China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Although remarkable advances have been achieved in generic object detection, small object detection (SOD) remains challenging owing to small objects’ information loss and noisy representation caused by their non-uniform distribution. Their limited width and height, scale variations, and redundant computation make SOD hard. To overcome them, this work proposes a new SOD method based on sparse convolutional network (SCNet) and Query Mechanism called QuerySOD. First, an extended feature pyramid network is constructed for extracting feature maps of small objects with more regional details. Then, a Sparse Head is neatly designed by using SCNet for accelerating the interfering speed and obtaining weights of each layer. After that, a Query Mechanism is innovatively introduced for harvesting the benefit of sparse value feature maps from the Sparse Head. QuerySOD is evaluated on public benchmarks including COCO and VisDrone. Finally, we apply it on ‘Jinghai’ unmanned survey vehicles and receive excellent SOD performance from this real-world application.

关键词： Surveys Accuracy Object detection Seaports Lakes Feature extraction Prediction algorithms Convolutional neural networks Security Noise measurement

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Combined studies of surface evolution and crack healing for the suppression of negative factors during CO_(2) laser repairing of fused silica

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Chinese Optics Letters 2021年第4期19卷 44-49页

作者： Chao Tan Linjie Zhao Mingjun Chen Jian Cheng Zhaoyang Yin Qi Liu Hao Yang Wei Liao State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Research Center of Laser Fusion China Academy of Engineering PhysicsMianyang 621900China

In order to reveal the evolution mechanism of repaired morphology and the material's migration mechanism on the crack surface in the process of CO_(2) laser repairing surface damage of fused silica optics, two multi-physics coupling mathematical models with different scales are developed, respectively. The physical problems, such as heat and mass transfer,material phase transition, melt flow, evaporation removal, and crack healing, are analyzed. Studies show that material ablation and the gasification recoil pressure accompanying the material splash are the leading factors in forming the Gaussian crater with a raised rim feature. The use of low-power lasers for a long time can fully melt the material around the crack before healing, which can greatly reduce the size of the residual air layer. Combined with the experimental research, the methods to suppress the negative factors(e.g., raised rim, deposited debris, air bubbles) in the CO_(2) laser repairing process are proposed.

关键词： CO_(2)laser repairing fused silica crack healing surface evolution

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A Context-Enhanced Full-Resolution Floor Plan Segmentation Network for Topological Semantic Mapping

A Context-Enhanced Full-Resolution Floor Plan Segmentation N...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Zhengcai Cao Yiyang Sun Zhe Ma MengChu Zhou State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China College of Information Science and Technology Beijing University of Chemical Technology Beijing China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Topological semantic maps provide a practical solution to enhance indoor navigation for the Partially Sighted or Visually Impaired (PSVI). Segmenting indoor floor plans and extracting boundaries are key to constructing these maps. The existing methods exhibit low accuracy in segmentation. To achieve desired high segmentation accuracy, we introduce a Context-Enhanced Full-Resolution Network (CEFRN) for floor plan segmentation. It is designed to harness the shallow detailed features and inter-category contextual dependencies inherent in floor plans. CEFRN integrates modified residual blocks to capture the low-stage full-resolution features while maintaining its compactness. A position attention module is employed to refine the deep-stage contextual information. We also propose a two-dimensional deep supervision method to merge features from both stages, which significantly boosts the feature representation ability of CEFRN. Finally, a practical topological semantic mapping method for PSVI indoor navigation is introduced. Experimental results demonstrate that CEFRN’s segmentation accuracy well exceeds the state-of-the-art methods’. It can be used to well support accurate topological semantic mapping.

关键词： Accuracy Hospitals Indoor navigation Semantics Feature extraction Mobile robots Floors Intelligent robots Autonomous vehicles Drones

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Optimized Design and Experimental Study of Shank Structure of Biped Robot *

Optimized Design and Experimental Study of Shank Structure o...

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IEEE International Conference on robotics and Biomimetics

作者： Meijuan Qin Lingyu Kong Daming Nie Hongjian Jiang Yu Zhang Yili Fu Intelligent Robot Research Center Zhejiang Laboratory Hangzhou China Harbin Institute of Technology The National Key Laboratory of Robotics and Systems Harbin China

Lightweight design can improve the energy efficiency of biped robots, which is significant in the field of biped robot. Topology optimization has been widely used in the field of robot. However, the existing optimization is limited to the structural space based on traditional empirical design, and the potential of topology optimization is not fully utilized. Moreover, the finite element model is too simplified, which leads to a large optimization deviation. In this paper, a method of structural innovation design for the shank structure of biped robot is proposed. In the initial stage of conceptual design, the design space of optimization object is effectively maximized. Then, the load transmission characteristics of bearings are simulated by link10 element, and the topology optimization method of multiple load cases is carried out to obtain the optimized shank structure, which reduces the weight by 14.09 % compared with the existing shank. Finally, finite element extreme strength check and experiment test are both used to verify the feasibility and availability of the structure.

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Automatic Inverse Synthetic Aperture Radar Ship Targets Recognition using Simple Multiple Kernel Learning Automatic ISAR Ship Targets Recognition using Simple-MKL 24

Automatic Inverse Synthetic Aperture Radar Ship Targets Reco...

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4th International Conference on Big Data, Artificial Intelligence and Risk Management, ICBAR 2024

作者： Wu, Yuan Su, Fulin Li, Xue Zhu, Peipei Xie, Xunwei National Key Laboratory of Complex Aviation System Simulation Southwest China Institute of Electronic Technology Sichuan Chengdu China School of Electronics and Information Engineering Harbin Institute of Technology Heilongjiang Harbin China

ISBN: (纸本)9798400709753

In radar automatic target recognition (RATR), inverse synthetic aperture radar (ISAR) image recognition shows its advantages. Due to the limited sample size of ISAR images, support vector machine (SVM), known for its robustness in small sample classification, is often used for ISAR image recognition. For ISAR images of different targets, the single kernel SVM algorithm might lose its robustness. Therefore, this paper applies multiple kernel learning (MKL) to ISAR ship target recognition. The process begins with the preprocessing of the ISAR images to suppress Gaussian white noise. Then, principal component analysis (PCA) is employed to extract features from the ISAR images. Finally, the Simple-MKL method is used to recognize the samples. Experiments based on simulation data indicate that the method used in this paper improves the accuracy compared to other single-kernel SVM algorithms with different kernel functions. © 2024 Copyright held by the owner/author(s).

关键词： Inverse Synthetic Aperture Radar (ISAR) Radar Automatic Target Recognition (RATR) Simple Multiple Kernel Learning (SimpleMKL) Support Vector Machine (SVM)

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Collaborative turning and jumping control of a cyborg locust via sensory stimulation 3

Collaborative turning and jumping control of a cyborg locust...

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3rd IEEE International Conference on Electrical, Control and Instrumentation engineering, ICECIE 2021

作者： Liu, Peng Ma, Songsong Liu, Shen Li, Yao Li, Bing Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Shenzhen518055 China

ISBN: (纸本)9781665449663

In this study, we describe the first-ever demonstration of the turning and jumping control of locusts based on electrical stimulation, which can realize a cyborg jumper. In terms of perception, walking distance, speed, payload, maneuverability, and adaptability to complex environments, cyborgs can reveal unmatchable advantages to insect-scale artificial robots. Herein, live locusts (Locusta migratoria) were selected as the study platform. Antennae and cercus stimulations using electrical pulses were applied to elicit the insect to turn and jump. We examined both the turning angle and the angular velocity by tuning the stimulus amplitude or frequency. It is found the turning rate induced by antenna stimulation can be graded. Besides, the stimulation of the cercus at the distal abdomen triggered the jump reliably. Moreover, the directional jumping control of the locust was achieved by the collaboration of turning and jumping control. Such results provide the potential to establish a more precise and more efficient model to develop a direction-controllable cyborg jumper. © 2021 IEEE.

关键词： Antennas

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Effect of Short Alkyl Side-Chain Structures on the Properties of Pei and Bmi/Daba/Pei Resin systems: A Combined Study Via Dft, Md, and Experiment

SSRN

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SSRN 2025年

作者： Yang, Shuai Xiong, Xuhai Zhao, Pu Cheng, Shenghan Ren, Rong Wang, Jing Harbin Industry University China Liaoning Key Laboratory of Advanced Polymer Matrix Composites Shenyang Aerospace University Shenyang110136 China State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin China

This study adopts a molecular structure design perspective, utilizing m-phenylenediamine (MPD) and 3,5-diethyltoluene-2,4/2,6-diamine (DETDA) as distinct amine sources to synthesize two structurally distinct low-molecular-weight thermoplastic polyetherimides (L-PEI and D-PEI) through solution polymerization with bisphenol-A dianhydride (BPADA). The influence of side methyl and ethyl groups on material properties was systematically investigated through density functional theory (DFT) calculations and experimental methods, leading to the selection of D-PEI with superior toughness enhancement potential for 4,4'-Bismaleimidodiphenylmethane /2,2'-diallylbisphenol A(BMI/DABA) composite modification. Subsequent analysis focused on the correlation between D-PEI content and modified system performance. DFT computations encompassed molecular electrostatic potential (MEP), molecular polarity index (MPI), and reduced density gradient (RDG) analyses. MEP mapping revealed electron-donating characteristics of D-PEI's side methyl and ethyl groups, suggesting complementary interactions with electron-deficient regions in BMI/DABA components. MPI and RDG analyses indicated enhanced weak intermolecular interactions between D-PEI and BMI/DABA, favoring homogeneous phase formation. Molecular dynamics (MD) simulations demonstrated that steric hindrance from side groups promoted amorphous structures in D-PEI, effectively suppressing molecular aggregation. At 2 wt% D-PEI loading, optimized energy dissipation through intramolecular friction and weak interfacial interactions significantly improved resin toughness. These computational predictions showed consistent trends with experimental observations. This work elucidates the molecular-level mechanism of thermoplastic-enhanced thermoset toughening, offering a strategic framework for designing high-performance adhesives and composites balancing toughness, thermal resistance, and manufacturability for extreme environments. © 2025, The Authors.

关键词： Molecular polarity

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Moiré-Based Nanoprecision Bonding Alignment system for Hybrid Integration

Moiré-Based Nanoprecision Bonding Alignment System for Hybr...

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2021 IEEE International Conference on Integrated Circuits, Technologies and Applications, ICTA 2021

作者： Qi, Xiaoyun Yan, Han Zhou, Shicheng Kang, Qiushi Wang, Chenxi State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665417471

Wafer bonding alignment is one of the most important manufacturing processes in 3D integration, especially in high-density interconnection. A nanoprecision alignment system based on moiré fringes suitable for both optical transparent or opaque advanced wafers is proposed and named MoiréView. Moiré fringes are sensitive to gratings superposition status and beneficial for improving the accuracy into the nanoscale. The alignment system, which contains optical part, mechanical handling part, and signal process part, is developed to align bonding wafers without transparency requirements. The alignment operation includes optical system calibration, wafer position recognition, and wafer alignment. Using the moiré-based alignment method, we believe the system developed has sufficient potential to be a versatile and efficient method for high-density new-generation 3D integration. © 2021 IEEE.

关键词： Alignment

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I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry

I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDA...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Wenlu Yu Jie Xu Chengwei Zhao Lijun Zhao Thien-Minh Nguyen Shenghai Yuan Mingming Bai Lihua Xie State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical and Electronic Engineering Nanyang Technological University Singapore Hangzhou Guochen Robot Technology Company Limited Hangzhou China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

LiDAR odometry is a pivotal technology in the fields of autonomous driving and autonomous mobile robotics. However, most of the current works focus on nonlinear optimization methods, and still existing many challenges in using the traditional Iterative Extended Kalman Filter (IEKF) framework to tackle the problem: IEKF only iterates over the observation equation, relying on a rough estimate of the initial state, which is insufficient to fully eliminate motion distortion in the input point cloud; the system process noise is difficult to be determined during state estimation of the complex motions; and the varying motion models across different sensor carriers. To address these issues, we propose the Dual-Iteration Extended Kalman Filter (I 2 EKF) and the LiDAR odometry based on I 2 EKF (I 2 EKF-LO). This approach not only iterates over the observation equation but also leverages state updates to iteratively mitigate motion distortion in LiDAR point clouds. Moreover, it dynamically adjusts process noise based on the confidence level of prior predictions during state estimation and establishes motion models for different sensor carriers to achieve accurate and efficient state estimation. Comprehensive experiments demonstrate that I 2 EKF-LO achieves outstanding levels of accuracy and computational efficiency in the realm of LiDAR odometry. Additionally, to foster community development, our code is open-sourced. 1

关键词： Point cloud compression Laser radar Accuracy Nonlinear distortion Noise Robot sensing systems Mathematical models Odometry Kalman filters state estimation

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Tunable transmissive terahertz polarization rotator based on a resonance-decoupled metal-VO2 hybrid metasurface

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Optics Express 2025年第11期33卷 23280-23293页

作者： Zhang, Hao Wei, Binbin Dong, Jiduo Zang, Qing Bai, Xiangxing Tang, Linlong Shi, Haofei Liu, Chunheng Shi, Hongyan Liu, Yang Lu, Yueguang Department of Physics Harbin Institute of Technology Harbin150001 China Institute of System Engineering Beijing100191 China Institute of Flexible Electronics Technology of Tsinghua University Jiaxing314000 China Chongqing Key Laboratory of Multi-Scale Manufacturing Technology Chongqing Institute of Green and Intelligent Technology Chinese Academy of Sciences Chongqing400714 China

The emergence of novel tunable materials such as vanadium dioxide (VO2), graphene, and black phosphorus has endowed terahertz (THz) metasurfaces with more flexibility and dynamic tunability, promoting the development of THz lasers, modulators, and detectors. In previous studies, most transmissive THz linear polarization rotators based on these materials are complicated in structure or suffer from poor performance, such as low transmittance and modulation depth. In this paper, we present a tunable transmissive THz linear polarization rotator based on VO2. Theoretical analysis and numerical simulation indicate that by adjusting the conductivity of VO2 with temperature, the rotator outputs linearly polarized light with a tunable rotation angle. It can achieve a rotation angle tuning range from 40° to -36° while maintaining the transmittance above 66.9%. Furthermore, the rotation angles in the insulating and metallic states can be tuned independently by adjusting the orientation of the structure, and the difference in the rotation angles between the two states can be tuned in the range of 0°∼90°. Such an excellent performance is attributed to the decoupled magnetic and electric dipole resonances excited in the hybrid metasurface, as well as constructive interference in the dielectric cavity. Finally, a polarization-selective dynamic display scheme is proposed, which enables a switchable display of two polarization patterns by varying the temperature. Our work provides inspiration for the design and fabrication of tunable THz polarization modulators. © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Terahertz wave detectors

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