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

作者： Yuyang Du Ruihua Ye Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In this paper, we present a spherical wheel-legged mobile robot, aiming to meet the demands of adaptability to complex terrains and high maneuverability. It consists of a spherical main body and five-bar linkage parallel wheel-legged mechanisms. It can switch between legged and spherical modes by extending and retracting its legs according to the demands of the actual environment, thereby enhancing the overall mobility of the robot. By designing the Linear Quadratic Regulator (LQR) controller, we achieve the impact-resistant leg balancing motion and autonomous pitch adjustment for the robot on inclined surfaces in the legged configuration. For the rolling control in the spherical configuration, a hierarchical sliding mode control method and Proportional-Integral-Derivative controller (PID) are employed to control the rolling and turning of the robot. We verify the robustness of the robot in wheel-legged configuration against disturbances and the stability of its motion in spherical configuration.

关键词： Legged locomotion Torque Dynamics Switches Turning Mathematical models Stability analysis Steady-state Robots Sliding mode control

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Ultrathin SrTiO_(3)-based oxide memristor with both drift and diffusive dynamics as versatile synaptic emulators for neuromorphic computing

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Materials Futures 2023年第3期2卷 156-163页

作者： Fang Nie Jie Wang Hong Fang Shuanger Ma Feiyang Wu Wenbo Zhao Shizhan Wei Yuling Wang Le Zhao Shishen Yan Chen Ge Limei Zheng School of Physics State Key Laboratory of Crystal MaterialsShandong UniversityJinan 250100People’s Republic of China School of Information and Automation Engineering Qilu University of Technology(Shandong Academy of Science)Jinan 250353People’s Republic of China Functional Materials and Acousto-Optic Instruments Institute School of Instrumentation Science and EngineeringHarbin Institute of TechnologyHarbin 150080People’s Republic of China Spintronics Institute School of Physics and TechnologyUniversity of JinanJinan 250022People’s Republic of China Heilongjiang Provincial Key Laboratory of Oilfield Applied Chemistry and Technology School of Mechatronic EngineeringDaqing Normal UniversityDaqing 163712People’s Republic of China Beijing National Laboratory for Condensed Matter Physics Institute of PhysicsChinese Academy of SciencesBeijing 100190People’s Republic of China

Artificial synapses are electronic devices that simulate important functions of biological synapses,and therefore are the basic components of artificial neural morphological networks for brain-like *** of the most important objectives for developing artificial synapses is to simulate the characteristics of biological synapses as much as possible,especially their self-adaptive ability to external ***,we have successfully developed an artificial synapse with multiple synaptic functions and highly adaptive characteristics based on a simple SrTiO_(3)/Nb:SrTiO_(3)heterojunction type *** functions of synaptic learning,such as short-term/long-term plasticity(STP/LTP),transition from STP to LTP,learning–forgetting–relearning behaviors,associative learning and dynamic filtering,are all bio-realistically implemented in a single *** remarkable synaptic performance is attributed to the fascinating inherent dynamics of oxygen vacancy drift and diffusion,which give rise to the coexistence of volatile-and nonvolatile-type resistive *** work reports a multi-functional synaptic emulator with advanced computing capability based on a simple heterostructure,showing great application potential for a compact and low-power neuromorphic computing system.

关键词： memristor artificial synapse synaptic plasticity associative learning learning-experience

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Read Pointer Meters Based on a Human-Like Alignment and Recognition Algorithm 38th

Read Pointer Meters Based on a Human-Like Alignment and R...

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38th CCF National Conference of Computer Applications, CCF NCCA 2023

作者： Shu, Yan Liu, Shaohui Xu, Honglei Jiang, Feng State Key Laboratory of Communication Content Cognition People’s Daily Online Beijing100733 China Computer Science and Technology Department Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819987603

Recently, developing an automatic reading system for analog measuring instruments has gained increased attention, as it enables the collection of numerous types of equipment. Nonetheless, two major obstacles still obstruct its deployment to real-world applications. The first issue is that they rarely take the entire pipeline’s speed into account. The second is that they are incapable of dealing with some low-quality images (i.e., meter breakage, blur, and uneven scale). In this paper, we propose a human-like alignment and recognition algorithm to overcome these problems. More specifically, a spatial transformed module (STM) is proposed to obtain the front view of images in a self-autonomous way based on an improved spatial transformer network (STN). Meanwhile, a value acquisition module (VAM) is proposed to infer accurate meter values by an end-to-end trained framework. In contrast to previous research, our model aligns and recognizes meters totally implemented by learnable processing, which mimics human behaviors and thus achieves higher performance. Extensive results verify the robustness of the proposed model in terms of accuracy and efficiency. The code and the dataset is available in https://***/shuyansy/Detect-and-read-meters. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Image enhancement

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Broadband high-efficiency dielectric metalenses based on quasi-continuous nanostrips

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Opto-Electronic Advances 2024年第5期7卷 43-51页

作者： Xiaohu Zhang Qinmiao Chen Dongliang Tang Kaifeng Liu Haimo Zhang Lintong Shi Mengyao He Yongcai Guo Shumin Xiao Key Laboratory of optoelectronic Technology and Systems of the Education Ministry of China Chongqing UniversityChongqing 400044China 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 Key Laboratory for Micro/Nano Optoelectronic Devices of Ministry of Education&Hunan Provincial Key Laboratory of Low-Dimensional Structural Physics and Devices School of Physics and ElectronicsHunan UniversityChangsha 410082China

Benefiting from the abrupt phase changes within subwavelength thicknesses,metasurfaces have been widely applied for lightweight and compact optical *** broadband and high-efficiency characteristics are highly attractive for the practical implementation of ***,current metasurface devices mostly adopt discrete micro/nano structures,which rarely realize both merits *** this paper,dielectric metasurfaces composed of quasi-continuous nanostrips are proposed to overcome this *** quasi-continuous nanostrips metasurface,a normal focusing metalens and a superoscillatory lens overcoming the diffraction limit are designed and experimentally *** quasi-continuous metadevices can operate in a broadband wavelength ranging from 450 nm to 1000nm and keep a high power *** average efficiency of the fabricated metalens reaches 54.24%,showing a significant improvement compared to the previously reported metalenses with the same *** proposed methodology can be easily extended to design other metadevices with the advantages of broadband and high-efficiency in practical optical systems.

关键词： broadband high-efficiency metalens sub-diffraction quasi-continuous

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Modeling and Program Development of Supercritical CO2 Sub-Channel Based on Modelica Language

SSRN

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SSRN 2023年

作者： Guo, Jia Ming, Yang Zhao, Fulong Fang, Huawei Yin, Jingwei Tian, Ruifeng College of Nuclear Science and Technology Harbin Engineering University Harbin150001 China Heilongjiang Provincial Key Laboratory of Nuclear Power System & Equipment Harbin Engineering University Harbin150001 China Key Laboratory of Nuclear Reactor System Design Technology of China Nuclear Power Research and Design Institute Chengdu610000 China

Small nuclear reactor (SMR) system has many advantages, including low construction cost, short construction period and fast economic benefits. SMR has broad prospects in power supply in remote areas, small power grids, low-temperature heating, nuclear hydrogen production, seawater desalination, nuclear powered ships, etc. In order to study the hydraulics and thermal parameters of supercritical carbon dioxide as coolant in SMR, this paper developed a supercritical carbon dioxide reactor sub-channel analysis program based on Modelica language. Based on the sub-channel analysis method, the reactor coolant flow channel is divided in several control bodies, then the program calculates hydraulics and thermal parameters of each control body. In order to verify the correctness of the model and program, sub-channel program will calculate the axial temperature distribution, radial temperature distribution, coolant flow rate and power level under steady-state conditions. Then compare these calculations with KAIST MMR in Korea. In the transient characteristic analysis, this paper will analyze the reactor power increase, reactivity insertion and coolant flow loss accident, then evaluate the safety performance of the reactor. This paper relies on theoretical modeling and program development method, studying the sub-channel thermal hydraulic characteristics of steady-state and transient conditions, which provides theoretical reference and program support for the study of transient response characteristics and safety characteristics of supercritical carbon dioxide reactor. © 2023, The Authors. All rights reserved.

关键词： Temperature distribution

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SlotFusion: Object-Centric Audiovisual Feature Fusion with Slot Attention for Remote Sensing Scene Recognition

SlotFusion: Object-Centric Audiovisual Feature Fusion with S...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Fangzhou Han Tianyi Yu Lamei Zhang Lingyu Si Yiqi Zhang Dept. of Information Engineering Harbin Institute of Technology Harbin China National Key Laboratory of Space Integrated Information System Institute of Software Chinese Academy of Sciences Beijing China Institute of Software Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

Despite significant advancements in remote sensing multimodal learning, particularly in image-image feature fusion, the exploration of audio-image feature fusion remains insufficient. Given the complexity and redundancy of ground objects in remote sensing images, accurately aligning audio features with image features during the fusion process is a critical challenge. In this paper, we introduce an object-centric feature fusion method named SlotFusion. By employing a slot attention-based feature decoupling module and a slot-based audiovisual feature fusion module, we transform modality features with complex semantic information into a set of slot features corresponding to object units and use gated activation units to adaptively implement object-centric feature fusion. Experiments on the Audio Visual Aerial Scene Recognition dataset (ADVANCE) demonstrate that the proposed SlotFusion significantly improves remote sensing scene recognition performance, with a 7.04% increase in overall accuracy compared to previous methods, achieving state-of-the-art results.

关键词： Visualization Semantics Termination of employment Transforms Interference Signal processing Logic gates Robustness Speech processing Remote sensing

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Single-Photon LiDAR Depth Estimation Based on Time Series Correlation

Single-Photon LiDAR Depth Estimation Based on Time Series Co...

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Academic International Symposium on Optoelectronics and Microelectronics technology (AISOMT)

作者： Lin Ruobin Sun Jianfeng Jiang Peng Ma Le Zhou Xin Ren Zhen Ding Ji National Key Laboratory of Laser Spatial Information Harbin Institute of Technology Harbin Heilongjiang China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou Henan China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing China Tianjin Jinhang Technical Physics Institute Tianjin China Beijing Aerospace Automatic Control Institute Beijing China

ISBN: (数字)9798331542283

ISBN: (纸本)9798331542290

With advancements in science and technology, photon-counting LiDAR applications are growing due to long-range measurement, high-definition imaging, and accuracy. Geiger-mode avalanche photodiodes (Gm-APD) provide single-photon sensitivity and picosecond resolution, but noise in depth estimation affects imaging accuracy. This study introduces a novel depth estimation method using time series correlation to mitigate these noise issues, improving accuracy in LiDAR imaging. Utilizing a photon-counting LiDAR system and time-correlated single photon counting (TCSPC), this study capture target echo photon flight times to maintain depth information. The proposed denoising approach incorporates multiple time series windows and Bayesian estimation to enhance depth accuracy, alongside a pruning algorithm to optimize computational efficiency. Evaluation metrics show significant improvements: RSNR improved by 4% and MAE decreased by 43 % compared to traditional methods. The findings demonstrate the robustness of this method across various scenarios, enhancing depth estimation and noise mitigation in photon-counting LiDAR technology, thereby providing practical improvements for a range of applications.

关键词： Correlation Laser radar Accuracy Filtering Depth measurement Time series analysis Noise reduction Imaging Bayes methods Photonics

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Review of DC-DC Converter Topologies Based on Impedance Network with Wide Input Voltage Range and High Gain for Fuel Cell Vehicles

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Automotive Innovation 2021年第4期4卷 351-372页

作者： Xiaogang Wu Jiulong Wang Yun Zhang Jiuyu Du Zhengxin Liu Yu Chen Institute of Electrical and Electronic Engineering Harbin University of Science and TechnologyHarbin 150080China Institute of Electrical and Information Engineering Tianjin UniversityTianjin 300072China State Key Laboratory of Automotive Safety and Energy Tsinghua UniversityBeijing 100084China

The development of fuel cell vehicles(FCVs)has a major impact on improving air quality and reducing other fossil-fuel-related ***-DC boost converters with wide input voltage ranges and high gains are essential to fuel cells and DC buses in the powertrains of FCVs,helping to improve the low voltage of fuel cells and“soft”output *** build DC-DC converters with the desired performance,their topologies have been widely investigated and *** to obtain the optimal design of wide input range and high-gain DC-DC boost converter topologies for FCVs,a review of the research status of DC-DC boost converters based on an impedance network is ***,an evaluation system for DC-DC topologies for FCVs is constructed,providing a reference for designing wide input range and high-gain boost *** evaluation system uses eight indexes to comprehensively evaluate the performance of DC-DC boost converters for *** this basis,issues about DC-DC converters for FCVs are discussed,and future research directions are *** main future research directions of DC-DC converter for FCVs include utilizing a DC-DC converter to realize online monitoring of the water content in FCs and designing buck-boost DC-DC converters suitable for high-power commercial FCVs.

关键词： Fuel cell vehicles DC-DC boost converter Evaluation systems and indexes High gain topology

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Recent Advances in Structural Optimization and Surface Modification on Current Collectors for High‑Performance Zinc Anode:Principles,Strategies,and Challenges

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Nano-Micro Letters 2023年第11期15卷 317-348页

作者： Yuxin Gong Bo Wang Huaizheng Ren Deyu Li Dianlong Wang Huakun Liu Shixue Dou MIIT Key Laboratory of Critical Materials Technology for New Energy Conversion and Storage State Key Laboratory of Urban Water Resource and EnvironmentSchool of Chemistry and Chemical EngineeringHarbin Institute of TechnologyHarbin 150001HeilongjiangPeople’s Republic of China Key Laboratory of Advanced Energy Materials Chemistry(Ministry of Education) College of ChemistryNankai UniversityTianjin 300071People’s Republic of China Institute of Energy Material Science University of Shanghai for Science and TechnologyShanghai 200093People’s Republic of China

The last several years have witnessed the prosperous development of zinc-ion batteries(ZIBs),which are considered as a promising competitor of energy storage systems thanks to their low cost and high ***,the reversibility and availability of this system are blighted by problems such as uncontrollable dendritic growth,hydrogen evolution,and corrosion passivation on anode side.A functionally and structurally well-designed anode current collectors(CCs)is believed as a viable solution for those problems,with a lack of summarization according to its working ***,this review focuses on the challenges of zinc anode and the mechanisms of modified anode CCs,which can be divided into zincophilic modification,structural design,and steering the preferred crystal facet *** possible prospects and directions on zinc anode research and design are proposed at the end to hopefully promote the practical application of ZIBs.

关键词： Zinc anodes Current collectors Surface modification Structural design Crystal facet orientation

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PI2-CMA Based Trajectory Planning Method for the Tractor-Trailer Vehicle 6

PI2-CMA Based Trajectory Planning Method for the Tractor-Tra...

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6th IEEE International Conference on Pattern Recognition and Artificial Intelligence, PRAI 2023

作者： Wang, You Wang, Zehao Wang, Jingchuan Guo, Rui Xiao, Peng Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Institute of Medical Robotics and Department of Automation Shanghai200240 China State Grid Intelligence Technology CO. LTD China

ISBN: (纸本)9798350325485

The motion primitive-based state lattice trajectory planning method has been widely used in the field of trajectory planning. However, due to the limitations of the search space and resolution of motion primitives, and the lack of consideration of scenario information during offline generation of motion primitives, the tractor-Trailer vehicles can easily fall into "jackknife phenomenon"when making large pose adjustments in narrow scenarios, which brings dilemma for trajectory planning. In this paper, a trajectory planning algorithm is proposed based on a general model of tractor-Trailer vehicle, which combines global planning and local optimization. The method first generates a series of motion primitives, including forward and backward driving conditions, and then an A based global state lattice planner is used to obtain a planning result, which is imported as the initial solution into the local trajectory optimizer based on PI2-CMA (Path Integral Policy Improvement with Covariance Matrix Adaptation) algorithm and dynamic potential method. Experiments show that this method significantly improves the performance in the obstacle avoidance, "jackknife phenomenon"avoidance and curvature compared to traditional motion primitive-based state lattice planning methods. © 2023 IEEE.

关键词： Trajectories

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