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5th IEEE International Conference on Image, Vision and Computing, ICIVC 2020

作者： Tong, Xunwei Li, Ruifeng Ge, Lianzheng Zhao, Lijun Wang, Ke State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728166612

In this paper, we propose a pose refinement method based on the visible surface extraction of 3D object. Given a rough estimation of object pose, the algorithm of iterative closet point (ICP) is often used to refine the pose by aligning the object model with test scene. To avoid the interference of invisible points on the ICP process, we only use the visible surface for pose refinement. It is especially necessary when occlusion occurs in the scene. Combining the technologies of image rendering and depth consistency verification, the visible surface can be effectively extracted. During the process of pose refinement, hypothesis verification methods are also used to eliminate unreasonable hypothetical poses as early as possible. The proposed method is evaluated on the public Tejani dataset. The experimental results show that our method improved the average F1-score by 0.2062, which proves that our method can obtain pose estimation results of high accuracy, even in the occluded scene. © 2020 IEEE.

关键词： Iterative methods

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Periodic photon-magnon blockade in an optomagnonic system with chiral exceptional points

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Physical Review B 2023年第13期108卷 134409-134409页

作者： Zhong-Hui Yuan Yong-Jian Chen Jin-Xuan Han Jin-Lei Wu Wei-Qi Li Yan Xia Yong-Yuan Jiang Jie Song School of Physics Harbin Institute of Technology Harbin 150001 China School of Physics and Microelectronics Zhengzhou University Zhengzhou Henan 450001 People's Republic of China Department of Physics Fuzhou University Fuzhou 350002 China Key Laboratory of Micro-Nano Optoelectronic Information System Ministry of Industry and Information Technology Harbin 150001 China Key Laboratory of Micro-Optics and Photonic Technology of Heilongjiang Province Harbin Institute of Technology Harbin 150001 China Collaborative Innovation Center of Extreme Optics Shanxi University Taiyuan Shanxi 030006 People's Republic of China

We present a straightforward approach for achieving periodic photon-magnon blockade in a hybrid optomagnonics system, wherein a single optomagnonic resonator is connected to two nanotips via chiral exceptional points (EPs). In non-Hermitian systems, the eigenvalues of the cavity optomagnonics system coalesce at the EPs. We explore the controllable generation of the photon-magnon antibunching effect by modulating the relative angle between the nanotips. Furthermore, we demonstrate that concurrent photon-magnon blockade can be realized without necessitating operation in the strong-coupling regime. In the weak-driving regime, our findings indicate that the photon-magnon blockade is more resilient to the Kerr nonlinearity of both the photon and magnon modes. Additionally, we reveal the versatile tunability of photon-magnon statistics by manipulating the system towards or away from EPs. These characteristics suggest a potential technique for adjustable single photon-magnon sources and a transition from antibunching to bunching in light switches.

关键词： PT-symmetric quantum mechanics Quantum correlations in quantum information Quantum correlations, foundations & formalism Quantum information processing Quantum simulation

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In Situ Graft‑on Fibrous Composites and Nanostructure Interlocking Facilitate Highly Stable Wearable Sensors for SIDS Prevention

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Advanced Fiber Materials 2024年第3期6卷 825-840页

作者： Kaifeng Chen Weitao Wang Zhihao Ye Yabo Dong Linpu Wan Zijian Zhang Cheng Lin Liwu Liu Jinsong Leng Xinyu Wang Wei Yang Shaoxing Qu Zongrong Wang State Key Laboratory of Silicon and Advanced Semiconductor Materials and School of Materials Science and Engineering Zhejiang UniversityHangzhou 310027People’s Republic of China Institute of Thermal Science and Technology Shandong UniversityJinan 250061People’s Republic of China School of Computer Science and Technology Zhejiang UniversityHangzhou 310027People’s Republic of China Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province and School of Aeronautics and Astronautics Zhejiang UniversityHangzhou 310027People’s Republic of China Department of Astronautical Science and Mechanics Harbin Institute of Technology(HIT)Harbin 150001People’s Republic of China Center for Composite Materials and Structures Harbin Institute of Technology(HIT)Harbin 150080People’s Republic of China

High-performance and reliable wearable devices for healthcare are in high demand for the health monitoring of infants,ensuring that life-threatening events can be addressed ***,the continuous monitoring of infant respiration for preventing sudden infant death syndrome(SIDS)is proposed using high-performance flexible piezoresistive sensors(FPS).The thorny challenges associated with FPS,including the signal drift and poor repeatability,are progressively improved via the employment of high-Tg matrix,the strengthening of in situ graft-on conducting polyaniline layer byβ-cyclodextrin(β-CD),and the nanostructure interlocking between the piezoresistive layer and *** sensor presents high linear sensitivity(30.7 kPa^(−1)),outstanding recoverability(low hysteresis up to 1.98%FS),static stability(4.00%signal drift after 24 h at 2.4 kPa)and dynamic stability(1.92%decay of signal intensity after 50,000 cycles).A wireless infant respiration monitoring system is *** patterns and the real-time respiration rate are displayed on the *** are implemented when abnormal status such as bradypnea and tachypnea is detected.

关键词： Wearable devices Flexible pressure sensor Respiration monitoring Inclusion complex In situ graft-on composite

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A grasshopper-inspired miniature piezoelectric actuator integrated with three vibrating units

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International Journal of Mechanical Sciences 2025年 300卷

作者： Wang, Yingzhi Zhang, Bingwei Deng, Jie Zhang, Shijing Chen, Weishan Liu, Yingxiang State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Province Harbin150001 China

Miniature piezoelectric actuators (MPAs) have been extensively investigated owing to their gram-scale mass, sub-micrometer resolution, and milliwatt-range power consumption. However, improving their output characteristics (force, speed, resolution) while maintaining miniaturization remains challenging. In this study, a three-vibrating-unit MPA (3VU-MPA) was proposed, which consists of three vibrating units (VUs) and two integrated vibration isolation mechanisms (VIMs). The design of the VIM was analyzed using the transfer matrix method and finite element analysis. The VIM design enables the 3VU-MPA to work in three working modes: individual excitation, alternating excitation and cooperative excitation. A prototype was fabricated and experimentally evaluated, measuring 15.4 × 15.6 × 30 mm3 and weighing 4.7 g. A maximum speed of 351.8 mm/s was achieved by the 3VU-MPA under no-load conditions, while a maximum payload capacity of 203.5 g was obtained at reduced speed. A maximum speed of 197.7 mm/s was achieved with a traction force of 46.1 mN when climbing vertical rods. Additionally, a displacement resolution of 0.15 μm was obtained. This work provides a feasible approach to enhance both output performance and working mode diversity in MPAs. © 2025 Elsevier Ltd

关键词： Vibration analysis

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Reliability Modeling Method of Piezoelectric Ceramic Materials Under High Temperature and Radiation Coupling Field

Reliability Modeling Method of Piezoelectric Ceramic Materia...

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Prognostics and system Health Management Conference (PHM-Qingdao)

作者： Chengning Zhou Zhaoxiang Jiang Yisong Liu Pan He Taibo Yang Caixue Liu State Key Laboratory of Advanced Nuclear Energy Technology Nuclear Power Institute of China Chengdu China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin China Nuclear Power Institute of China Chengdu China

ISBN: (数字)9798350354010

ISBN: (纸本)9798350354027

Nuclear power is an important source of clean energy, and has been developing rapidly around the world in recent years. The safe, reliable and stable operation of nuclear power plants is the top priority of nuclear power development. High-temperature radiation-resistant piezoelectric sensors are important components for the implementation of health status assessment and prediction of key reactor equipment. Therefore, ensuring the high reliability of high-temperature radiation-resistant piezoelectric sensors is the key to accurately, reliably, and timely grasp the health status of key reactor equipment. However, the research in the reliability of piezoelectric sensors under high-temperature and radiation coupling field is lack, and it is difficult to grasp the performance changes of piezoelectric sensors under the coupling field. In order to solve the above problems, this paper studied the reliability modeling method of piezoelectric ceramic materials under high temperature and radiation coupling field, mainly focusing on several aspects including the calculation of piezoelectric ceramic materials, structural model, molecular dynamics model, acquisition of piezoelectric parameters, irradiation model and parameter setting. Finally, the reliability modeling of piezoelectric ceramic materials under coupled fields is realized. The results provide theoretical support for the reliability study of piezoelectric ceramic materials under high temperature and radiation coupling field.

关键词： Couplings Temperature sensors Radiation effects Lattices Materials reliability Reliability theory Ceramics Sensors Inductors Power generation

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Accelerated electron transfer process via MOF-derived FeCo/C for enhanced degradation of antibiotic contaminants towards heterogeneous electro-Fenton system

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Chemosphere 2023年第1期335卷 138994页

作者： Zhong, Dan Zhang, Jingna Huang, Jianyang Ma, Wencheng Li, Kefei Li, Jinxin Zhang, Shaobo Li, Zhaopeng State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin150090 China National Engineering Research Center of Urban Water Resources Co. Ltd. Harbin Institute of Technology Harbin150090 China Quanzhoushi Water Co. Ltd China

The Fe(III) to Fe(II) process limits the rate of the electro-Fenton system. In this study, MIL-101(Fe) derived porous carbon skeleton-coated FeCo bimetallic catalyst Fe4/Co@PC-700 was prepared as a heterogeneous electro-Fenton (EF) catalytic process. The experimental results showed its good performance in catalytic removal of antibiotic contaminants, the rate constant of tetracycline (TC) degradation catalyzed by Fe4/Co@PC-700 was 8.93 times higher than that of Fe@PC-700 under the pH conditions of raw water (pH = 5.86), exhibited good removal of TC, oxytetracycline (OTC), hygromycin (CTC), chloramphenicol (CAP) and ciprofloxacin (CIP). It was shown that the introduction of Co promoted more Fe0 production, allowing the material to exhibit faster Fe(III)/Fe(II) cycling rates. 1O2 and high-priced metal oxygen species were identified as the main active species of the system, in addition to the analysis of possible degradation pathways and toxicity of intermediates of TC. Finally, the stability and adaptability of Fe4/Co@PC-700 and EF systems to different water matrices were evaluated, showing that Fe4/Co@PC-700 was easy to recover and could be applied to different water matrices. This study provides a reference for the design and system application of heterogeneous EF catalysts. © 2023 Elsevier Ltd

关键词： Catalysts

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Modelling Research and Performance Analysis on a Megawatt-Level Helium-Xenon Gas Cooled Small Reactor Based on the Thermal-Hydraulic Constraints

SSRN

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SSRN 2024年

作者： Ju, Wenxuan Ning, Kewei Zhao, Fulong Lu, Ruibo Bao, Hui Tan, Sichao College of Nuclear Science and Technology Harbin Engineering University Heilongjiang150001 China Heilongjiang Provincial Key Laboratory of Nuclear Power System & Equipment Harbin Engineering University Harbin150001 China Nuclear Power Institute of China Chengdu610213 China

A conceptual design scheme of helium-xenon gas-cooled reactor core consisting of hexagonal prismatic fuel assemblies with a thermal power of 6 MW was proposed. The geometric parameters of the core were determined based on the relationship between hydraulic diameter and inlet velocity of fuel elements with restrain of allowable pressure drop and maximum fuel surface temperature. Thermal performance of individual fuel elements and the cooling effect of helium-xenon channels within the reflector layer were analyzed. Channels for helium-xenon gas mixture were added to reduce the surface temperature outside the reflector *** computational results indicate that the operational burnup of the reactor can reach 40.88 MW·d/kg. The graphite rods added to the core collectively contribute 1404 pcm reactivity, achieving the effect of reducing fuel loading and increasing safety margins in water flooding accidents. The helium-xenon gas mixture reduces the reflector layer temperature by approximately 48.88%. © 2024, The Authors. All rights reserved.

关键词： Gas mixtures

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Terrain Classification Using Inside-Wheel Cameras Based on Wheel-Terrain Interaction Characteristics

Terrain Classification Using Inside-Wheel Cameras Based on W...

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IEEE International Conference on robotics and Biomimetics

作者： Longteng Hu Feng Xue Chen Yao Yunzhou Li Jin Wei Peichen Wang Zheng Zhu Zhenzhong Jia Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology (SUSTech) Shenzhen China Harbin of Institute of Technology (HIT) Harbin China

The wheeled rover is widely used in off-road planetary exploration tasks nowadays. However, complex operating environment like soft deformable terrains on the planet surface demands the high performance of rover. In order to reduce danger, environmental perception technologies need to be used on the rover. Terrain classification is a critical method in environmental perception. In this research, a wheel-vision-based terrain classification method is proposed. This method uses wheel-terrain interaction parameters obtained from inside-wheel cameras which are strongly related to the terrain as input. We use single-wheel testbed to collect and process data to form a dataset. The data is obtained under different slip ratios and different terrains. Then, we train four terrain classification models using machine learning algorithms and analyze their performance. From the results, all performance criteria of the models achieve over 95%, with DT being the optimal method. The feasibility of our method in the case of fewer training samples and the rationality of dataset selection are also verified through the results of different training set sizes and the ablation experiment.

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Mechanism Design and Motion Analysis of Heavy⁃Load Transfer Robot with Parallel Four⁃Bar Mechanism

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Transactions of Nanjing University of Aeronautics and Astronautics 2022年第5期39卷 606-618页

作者： ZHANG Jing WANG Dongbao WU Guangping GUO Hongwei LIU Rongqiang College of Mechanical and Vehicle Engineering Taiyuan University of TechnologyTaiyuan 030024P.R.China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200240P.R.China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

Heavy-load transfer robots are widely used in automobile production and machinery manufacturing to improve production *** order to meet the needs of large billet transfer,a 4-DOF transfer robot is designed in this paper,which consists of parallel four-bar *** Jacobian matrix referring to the mapping matrix from the joint velocity to the operating space velocity of the transfer robot can be solved by the differential-vector *** mean value of the Jacobian matrix condition number in the workspace is used as the global performance index of the robot velocity and the optimization *** constraint condition is established based on the actual working *** the linkage length optimization is carried out to decrease the length of the linkage and to increase the global performance index of *** total length of robot rods is reduced by 6.12%.The global performance index of velocity is improved by 45.15%.Taking the optimized rod length as the mechanism parameter,the distribution of the motion space of the transfer robot is ***,the results show that the proposed method for establishing the Jacobian matrix of the lower-mobility robot and for the optimization of the rods based on the velocity global performance index is accurate and *** workspace distribution of the robot meets the design requirements.

关键词： parameter optimization motion analysis mechanism design transfer robot heavy-load

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A Novel Non-cooperative Target Capture Tool for Defunct Satellite 17

A Novel Non-cooperative Target Capture Tool for Defunct Sate...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Sun, Yongjun Liu, Yiwei Jin, Minghe Liu, Rongqiang Liu, Hong Harbin Institute of Technology School of Mechatronics Engineering State Key Laboratory of Robotics and System Harbin Heilongjiang Province China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

With the increase of defunct satellites, the orbit resource of the Earth is becoming more and more shortage. As one of the key technologies, the capture of non-cooperative targets has become a research hotspot. Due to its obvious characteristics, easy identification, high strength and high stiffness, the Launch Adapter Ring (LAR) has become a capture object on the defective and tumbling satellite. In this paper, a novel LAR capture tool is developed, and the LAR capture tool is designed, manufactured and tested. In order to improve the probability of grasp, the direct drive was adopted. The main research contents are as follows: overall design of the capture tool, design of electromagnetic brake, analysis of kinematics, and test the prototype. © 2020 IEEE.

关键词： Orbits

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