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5th IEEE International Conference on Electronic Information and Communication technology, ICEICT 2022

作者： He, Minghao Tang, Chunrui Li, Yibing College of Information and Communications Engineering Harbin Engineering University Key Laboratory of Advanced Marine Communication and Information Technology Ministry of Industry and Information Technology Harbin China China Coal Technology Engineering Group Chongqing Research Institute State Key Lab of Methane Disaster Monitoring & Emergency Technology Chongqing China

ISBN: (数字)9781665472111

ISBN: (纸本)9781665472111

Moisture content is an essential indicator for assessing wheat quality, which determines the safety of wheat storage. A measurement system based on the principle of microwave transmission method is designed for a fast and non-destructive grain moisture content determination. The detection system mainly consists of the Agilent PNA-X Series Microwave Network Analyzer, the transmitting and receiving horn antennas, the slide rail, and the sample groove. The key idea of this research is to verify the linear relationship between the scattering parameter and the moisture content in a specific frequency range of 2.6-4.0 GHz. The correlation coefficient and root mean square error are used to evaluate the fitting degree of the linear model. The experimental results might provide a new reference for online real-time detection of wheat quality. © 2022 IEEE.

关键词： Scattering parameters

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Applying machine learning and genetic algorithms accelerated for optimizing ethanol production

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Science of the Total Environment 2024年 955卷 177027页

作者： Yang, Xu Chen, Nianhua Yu, Hui Liu, Xinyue Feng, Yujie Xing, Defeng Tian, Yushi School of Resource and Environment Northeast Agriculture University Harbin150030 China State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology No.73 Huanghe Road Nangang District Harbin150090 China

Corn straws can produce bioethanol via simultaneous saccharification and co-fermentation (SSCF). However, identifying optimal combinations of operating parameters from numerous possibilities through a cost-effective strategy to improve SSCF efficiency and yield remains challenging. The eXtreme Gradient Boost (XGB) and deep neural network (DNN) models were constructed to accurately predict ethanol yield from only five input variables, achieving >83 % accuracy. Subsequently, the XGB and the DNN models were merged with the genetic algorithm (GA) as the new optimization strategies. Experimental validation showed that the new strategy optimize the efficiency and yield of the SSCF ethanol production system quickly and accurately. Moreover, the potential optimization mechanism was investigated through the comprehensive interpretability analysis for XGB and the microbial ecology analysis. Enzyme Solution Volume (61.7 %) dominated, followed by time (12.9 %), substrate concentration (10.4 %), temperature (7.7 %), and inoculum volume (7.3 %). This efficient and accurate algorithm design strategy can significantly reduce the time required to optimize biochemical systems. © 2024 Elsevier B.V.

关键词： Anthropogenic

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Teleoperation of the Tiangong-2 Space Manipulator system

Teleoperation of the Tiangong-2 Space Manipulator System

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IEEE International Conference on robotics and Biomimetics

作者： Chongyang Li Zainan Jiang Yang Liu Ziqi Liu Hegao Cai State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665405362

In this paper, we would present the structure of the teleoperation system of the Tiangong-2 Space Manipulator system. The system consist of on-orbit teleoperation and on-ground skill learning subsystem, and they meet the requirements of different tasks. Then, we also represented the key technology, the calibration method of the CyberGlve, of the two subsystem. And the experiments showed the methods are effective.

关键词： Conferences Biomimetics Manipulators Calibration Task analysis

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Unraveling chained optimization strategies for carbon emission control in WWTPs and effective water utilization within complicated water systems

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Science of the Total Environment 2025年 958卷 177956页

作者： He, Zixiang Wang, Rupeng Xie, Peng Chen, Honglin Ren, Nanqi Ho, Shih-Hsin State Key Laboratory of Urban Water Resource and Environment School of Environment Harbin Institute of Technology Harbin150040 China National Joint Research Center for Ecological Conservation and High Quality Development of the Yellow River Basin Beijing100012 China

China faces severe water scarcity and significant greenhouse gas (GHG) emission pressures. As significant sources of GHG emission within urban system, wastewater treatment plants (WWTPs) exhibit a clear coupling relationship between wastewater treatment and urban water usage. However, the lack of trace of the water‑carbon nexus has created an obstacle to coordinating water utilization strategies and low-carbon wastewater treatment. In this context, the carbon emission intensity of the WWTPs and water use efficiency within the region were appropriately assessed focusing on the Yellow River Basin. A novel approach was introduced to analyze the chain of synergies between carbon neutrality and water conservation goals in urban water system. Specific chained optimization strategies tailored to each region were provided with dimensions linking different aspects of urban water system development, providing fresh perspectives and guidance for GHG mitigation, water resource utilization, and sustainable human development. © 2024

关键词： Low emission

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Adaptive Step Puncture Strategy Based on Online Identification of Tissue Shore Hardness

Adaptive Step Puncture Strategy Based on Online Identificati...

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IEEE International Conference on robotics and Biomimetics

作者： Changle Li Chuanyou Yu Leifeng Zhang Guang Ban Yilun Fan Yubin Liu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology HeiLongJiang China

ISBN: (纸本)9781665405362

The accuracy of puncture has a significant impact on hr achy therapy. However, when the puncture needle enters the diseased tissue, there are complex forces between the needle body and soft tissue, resulting in the deflection of the puncture needle, which affects the puncture accuracy. In order to improve the positioning accuracy and ensure better treatment effect, an adaptive step puncture strategy based on force feedback was proposed in this paper. Firstly, according to the process of brachytherapy, the mechanism design and control system design of puncture end tool were carried out. Secondly, combined with the end tool, the data acquisition platform was designed, the data acquisition and analysis were completed, and an adaptive step puncture strategy was proposed according to the experimental data. Finally, the experimental verification was carried out by using layered silica gel in the built data acquisition platform. Experiments showed that the adaptive step puncture strategy proposed in this paper significantly improves the puncture accuracy compared with direct puncture.

关键词： Silicon compounds Data acquisition Force feedback Surgery Process control Needles Control systems

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Vacuum wetting of Ag/TA2 to develop a novel micron porous Ti with significant biocompatibility and antibacterial activity

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Journal of Materials Science & technology 2022年第21期116卷 180-191页

作者： Guanpeng Liu Yulong Li Ming Yan Jicai Feng Jian Cao Min Lei Quanwen Liu Xiaowu Hu Wenqin Wang Xuewen Li Key Lab for Robot and Welding Automation of Jiangxi Province Mechanical and Electrical Engineering SchoolNanchang UniversityNanchang 330031China Jiangxi Provincial Key Laboratory of Interdisciplinary Science Nanchang UniversityNanchang 330031China Department of Materials Science and Engineering and Shenzhen Key Laboratory for Additive Manufacturing of High-Performance Materials Southern University of Science and TechnologyShenzhen 518055China State Key Lab of Advanced Welding and Joining Harbin Institute of TechnologyHarbin 150001China The National Engineering Research Center for Bioengineering Drugs and the Technologies Institute of Translational MedicineNanchang UniversityNanchang 330031China The Engineering Training Center of Nanchang University Mechanical and Electrical Engineering SchoolNanchang UniversityNanchang 330031China

Porous Ti with low modulus,excellent bio-corrosion resistance,biocompatibility,and antibacterial activity is highly pursued as advanced implant *** this work,a new approach to prepare micron porous structures on the surface layer of a grade 2 commercially-pure Ti(TA2)was proposed,which utilized a simple vacuum wetting process of pure Ag on the surface of *** microstructure,corrosion resistance,biocompatibility,mechanical properties,antibacterial ability,and formation mechanism of the asfabricated porous Ti were *** results show that the pores(with average pore sizes of 0.5-5μm)are distributed on the surface layer of the TA2 with a depth of~10μ*** particular,a large number of silver nanoparticles(Ag NPs)form which are dispersed on the porous *** formation mechanisms of the porous structures and Ag NPs were elucidated,suggesting that the volatilization/sublimation of Ag in TA2 is *** porous Ti possesses excellent bio-corrosion resistance,surface wettability,biocompatibility,antibacterial activity,and a relatively low elastic modulus of 40-55 GPa,which may have a promising future in the field of orthopedic *** work also provides a novel idea for the development of advanced porous Ti materials for orthopedic-related basic research and biomedical applications.

关键词： Porous titanium Biomaterials Vacuum wetting Porous surface Antibacterial activity

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Design and Fabrication of Microprobe for Vertical Measurement using SEM 2

Design and Fabrication of Microprobe for Vertical Measuremen...

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2nd IEEE Eurasia Conference on IOT, Communication and Engineering, ECICE 2020

作者： Gao, Peng Rong, Weibin Zou, Tao Wang, Lefeng Sun, Lining Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150080 China

ISBN: (纸本)9781728180601

The change of gray contract reflects the morphology of the sample in an SEM image. Quantifying the gray contract is important for flex manipulation and the vertical measurement with SEM. Traditional methods focus on the 2D plane, thus are limited by the complex experimental system and lack of timeliness. We design and fabricate a new microprobe that measures the vertical distance in SEM simply by processing images of the semi-transparent pinhole at the tip of the microprobe. First, we propose the model of the microprobe by watching the morphology of the AFM probe. Second, we obtain the structure parameters of the microprobe by analysis and simulation. Finally, we fabricate the microprobe that combines 3D printing and FIB precision manufacturing. The result provides the foundation for grayscale characterization experiments in the SEM. © 2020 IEEE.

关键词： Probes

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Disentangle Nighttime Lens Flares: Self-supervised Generation-based Lens Flare Removal 39

Disentangle Nighttime Lens Flares: Self-supervised Generatio...

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39th Annual AAAI Conference on Artificial Intelligence, AAAI 2025

作者： He, Yuwen Wang, Wei Wu, Wanyu Jiang, Kui Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology China School of Computer Science and Technology Harbin Institute of Technology China

ISBN: (纸本)157735897X

Lens flares arise from light reflection and refraction within sensor arrays, whose diverse types include glow, veiling glare, reflective flare and so on. Existing methods are specialized for one specific type only, and overlook the simultaneous occurrence of multiple typed lens flares, which is common in the real-world, e.g. coexistence of glow and displacement reflections from the same light source. These co-occurring lens flares cannot be effectively resolved by the simple combination of individual flare removal methods, since these coexisting flares originates from the same light source and are generated simultaneously within the same sensor array, exhibit a complex interdependence rather than simple additive relation. To model this interdependent flares’ relationship, our Nighttime Lens Flare Formation model is the first attempt to learn the intrinsic physical relationship between flares on the imaging plane. Building on this physical model, we introduce a solution to this joint flare removal task named Self-supervised Generation-based Lens Flare Removal Network (SGLFR-Net), which is self-supervised without pre-training. Specifically, the nighttime glow is detangled in PSF Rendering Network(PSFR-Net) based on PSF Rendering Prior, while the reflective flare is modelled in Texture Prior Based Reflection Flare Removal Network (TPRR-Net). Empirical evaluations demonstrate the effectiveness of the proposed method in both joint and individual glare removal tasks. © 2025, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Luminescent devices

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Force-controlled Compensation Scheme for P-Q Valve-controlled Asymmetric Cylinder used on Hydraulic Quadruped Robots

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Journal of Bionic Engineering 2020年第6期17卷 1139-1151页

作者： Yapeng Shi Mantian Li Fusheng Zha Lining Sun Wei Guo Cong Ma Zhibin Li State Key Laboratory of Robotics and System Harbin Institue of TechnologyHarbin 150001China Shenzhen Academy of Aerospace Technology China Aerospace ScienceShenzhen 518057China School of Informatics The University of EdinburghEdinburgh EH89ABUnited Kingdom

Under the requirement of the force controller of hydraulic quadruped robots,the goal of this work is to accurately track the force commands at the level of the hydraulic drive *** main contribution focuses on the development of a force-controlled compensation scheme,which is specifically aimed at the key issues affecting the hydraulic quadrupedal *** this idea,based on a P-Q valve-controlled asymmetric cylinder,we first establish a mathematical model for the hydraulic drive unit force control *** the desired force commands,a force feed-forward algorithm is presented to improve the dynamic performance of the ***,we propose a disturbance compensation algorithm to reduce the influence induced by external disturbances due to foot-ground ***,combining with a variable gain PI controller,a series of experiments are implemented on a force control performance test platform to verify the proposed *** results demonstrate that the force-controlled compensation scheme has the ability to notably improve the force tracking accuracy,reduce the response time and redundant force.

关键词： hydraulic drive unit force tracking P-Q valve-controlled asymmetric cylinder hydraulic quadruped robot

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A Novel Fast Combine-and-Conquer Object Detector Based on Only One-Level Feature Map

SSRN

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SSRN 2022年

作者： Yang, Jianhua Wang, Ke Li, Ruifeng Perner, Petra State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China FutureLab Artificial Intelligence IBaI II Kurt-Eisner-Str.81 Leipzig04275 Germany

We present a conceptually simple, flexible, and efficient "Combine-and-Conquer" framework, CC-Det for object detection task. Our approach efficiently detects objects in an image by generating a keypoint heatmap based on a single one-level combined feature map. The proposed method is composed of a very simple single-level detection pipeline. First CC-Det encodes input image by using existing backbone network, then uses neck network to combine multi-scale information into one feature map. Finally, CC-Det uses only one detection head with a heatmap branch and a regression branch to perform detection on this one-level feature map. Both two branches are composed of only two convolutional layers to predict a heatmap and bounding boxes, respectively. Compared with "Divide-and-Conquer" detectors like YOLOv4, RetinaNet and FCOS and other single-level detectors like CornerNet, CenterNet and YOLOF, CC-Det uses these existing components to achieve an excellent trade-off among speed, accuracy and model size without any elaborate special design. Moreover, CC-Det is easy to generalize to other tasks with minor modifications and achieves state-of-the-art performance. Excellent results are presented on COCO, PASCAL VOC, WiderFace and CrowdHuman datasets. © 2022, The Authors. All rights reserved.

关键词： Object detection

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