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International Conference on Mobile Ad-hoc and Sensor Networks, MSN

作者： Ziying Song Li Wang Guoxin Zhang Caiyan Jia Jiangfeng Bi Haiyue Wei Yongchao Xia Chao Zhang Lijun Zhao School of Computer and Information Technology Beijing Jiaotong University Beijing China School of Vehicle and Mobility Tsinghua University Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Information Science and Engineering Hebei University of Science and Technology Shijiazhuang China

Ships in remote sensing images are usually arranged in arbitrary direction, small in size, and densely arranged. As a result, existing object detection algorithms cannot detect ships quickly and accurately. In order to solve the above problems, a lightweight object detection network for fast detection of ships is proposed. The network is composed of backbone network, four-scale fusion network and rotation branch. First, a lightweight network unit S-LeanNet is designed and used to build a low-computing and accurate backbone network. Then, a four-scale feature fusion module is designed to generate a four-scale feature pyramid, which contains more features such as ship shape and texture, and at the same time is conducive to the detection of small ships. Finally, a novel rotation branch module is designed, using balance L1 loss function and R-NMS for post-processing, to realize the precise positioning and regression of the rotating bounding box in one step. Experimental results show that the detection precision of our method in the DOT A remote sensing data set is compared with the latest SCRDet detection method, the precision is increased by 1.1%, and the operating speed is increased by 8 times, which can meet the fast detection requirements of ships.

关键词： Sea surface Shape Object detection US Department of Transportation Feature extraction Sensors Marine vehicles

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Anisotropy of thermal transport in phosphorene: A comparative first-principles study using different exchange-correlation functional

arXiv

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arXiv 2021年

作者： Zhang, Fa Zheng, Xiong Wang, Huimin Ding, Liang Qin, Guangzhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body College of Mechanical and Vehicle Engineering Hunan University Changsha410082 China Hunan Key Laboratory for Micro-Nano Energy Materials & Device School of Physics and Optoelectronics Xiangtan University Hunan Xiangtan411105 China

Phosphorene, as a new type of two-dimensional (2D) semiconductor material, possesses unique physical and chemical properties, and thus has attracted widespread attention in recent years. With its increasing applications in nano/optoelectronics and thermoelectrics, a comprehensive study on its thermal transport properties is necessary. It has been concluded from previous studies that there exist vast difference and uncertainty in the theoretically predicted thermal conductivity, which is generally attributed to the selection of XC functional. However, there is no comprehensive investigation on this issue. In this paper, based on first-principles calculations using 12 different exchange-correlation (XC) functionals, the phonon transport properties of phosphorene are systematically studied by solving the Boltzmann transport equation (BTE). The results show noticeable differences in the phonon transport properties of phosphorene under different XC functionals. For instance, the thermal conductivity of phosphorene along the zigzag direction ranges from 0.51 to 30.48 Wm−1K-1, and that along the armchair direction ranges from 0.15 to 5.24 Wm−1K−1. Moreover, the anisotropy of thermal conductivity is between 3.4 and 6.9, which is fundamentally originated from the special hinge-like structure. This study conducts an in-depth analysis of phonon transport to reveal the effect and mechanism of different XC functionals for predicting thermal transport properties, which would provide a reference for future research on phosphorene and other novel materials. © 2021, CC BY.

关键词： Anisotropy

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Design and performance of a robotic arm for farm use

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International Journal of Agricultural and Biological engineering 2019年第1期12卷 146-158页

作者： Ali Roshanianfard Noboru Noguchi Tatsuki Kamata Department of Biosystems Engineering Faculty of Agriculture and Natural ResourcesUniversity of Mohaghegh ArdabiliArdabilIran Laboratory of Vehicle Robotics Research Faculty of AgricultureHokkaido UniversitySapporo 060-8589Japan

Smart technology which is the backbone of high-efficiency production opens a new horizon in sustainable ***,harvesting the heavy-weight crops is considered an arduous job,specifically in Japan which has faced a serious labor shortage in agricultural *** this study,a development procedure and evaluation of a 4-degrees-of-freedom articulated robotic arm is presented,and it provides an appropriate infrastructure to develop a smart harvesting robotic system for heavy-weight crops such as pumpkin,watermelon,melon,and *** robotic arm designed as an actuating unit of a robot tractor for the agricultural outdoor *** this regard,different degree of freedom was evaluated under consideration of economic and technical indexes to find an optimized *** controlling algorithm of the system was developed by consideration of kinematic and dynamic aspects of the real-world condition.A special harvesting methodology was developed based on optimum harvesting conditions.A controlling unit was developed by using PLC *** performance,accuracy,payload per weight,and repeatability of the system were *** payload per weight,overall average accuracy,and overall average repeatability of the robot were 0.21,1.85 mm,and±0.51 mm,*** results indicated that the developed system had a front access,harvesting length,and workspace volume of 2.024 m,1.36 m,and 8.27 m^(3),*** of the significant advantages of the proposed robotic arm is its capability to use in different industries with minimum modifications.

关键词： agricultural robot robotic arm harvesting modeling simulation design

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FMECA of NC Machine Tool Manufacturing Stage Based on Fuzzy Mathematics and Data Envelopment Analysis

FMECA of NC Machine Tool Manufacturing Stage Based on Fuzzy ...

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International Conference on System Reliability and Science (ICSRS)

作者： Lijuan Yu Tianyu Zhang Jianlin Zang Fu Zhang Fuqin Deng Ang Liu Hailong Tian Key Laboratory of CNC Equipment Reliability Ministry of Education School of Mechanical and Aerospace Engineering Jilin University Changchun Jilin Province China A Unit of the Army Equipment Department of the Chinese People's Liberation Army Commercial Vehicle Technology Center of SAIC Shanghai China Commercial Vehicle Technology Center of SAIC Shanghai China School of Intelligent Manufacturing Wuyi University Jiangmen China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China 3irobotix Shenzhen China

In order to solve the problem that it is difficult to determine the occurrence probability of FMECA process failure in the manufacturing stage of CNC machine tools and there is no reasonable scientific basis when RPN is obtained, fuzzy mathematics theory and data envelopment analysis DEA are applied to the research of FMECA in the manufacturing stage of CNC machine tools. Considering the technological requirements and fault probability, fuzzy interval method to determine risk factors of degrees, using the data envelopment analysis method to evaluate the potential failure mode to get the efficiency value, to modify the traditional RPN, put forward a new method for calculating risk priority number of RPN, and then to sort of process failure mode, Find defects and weak links in production process and provide reference for improvement of production process. Taking the assembly process of a machining center as an example, the proposed method was applied to analyze the fault mode and its influence, and the effectiveness of the proposed method was verified.

关键词： Production Machining Probability Market research Hazards Manufacturing Machine tools

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Dual Radar: A Multi-modal Dataset with Dual 4D Radar for Autononous Driving

arXiv

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arXiv 2023年

作者： Zhang, Xinyu Wang, Li Chen, Jian Fang, Cheng Yang, Lei Song, Ziying Yang, Guangqi Wang, Yichen Zhang, Xiaofei Li, Jun Li, Zhiwei Yang, Qingshan Zhang, Zhenlin Ge, Shuzhi Sam State Key Laboratory of Automotive Safety and Energy the School of Vehicle and Mobility Ts-inghua University Beijing100084 China School of Mechanical and Electrical Engineering China University of Mining and Technology-Beijing Beijing100083 China School of Artificial Intelligence China University of Mining and Technology-Beijing Beijing100083 China College of Information Science and Technology Beijing University of Chemical Technology Beijing100029 China Beijing Jingwei Hirain Technologies Co. Inc. Beijing100191 China China Automotive Innovation Cooperation Nanjing211113 China Department of Electrical and Computer Engineering Interactive Digital Media Institute Social Robotics Laboratory National University of Singapore Singapore

Radar has stronger adaptability in adverse scenarios for autonomous driving environmental perception compared to widely adopted cameras and LiDARs. Compared with commonly used 3D radars, latest 4D radars have precise vertical resolution and higher point cloud density, making it a highly promising sensor for autonomous driving in complex environmental perception. However, due to the much higher noise than LiDAR, manufacturers choose different filtering strategies, resulting in a direct ratio between point cloud density and noise level. There is still a lack of comparative analysis on which method is beneficial for deep learning-based perception algorithms in autonomous driving. One of the main reasons is that current datasets only adopt one type of 4D radar, making it difficult to compare different 4D radars in the same scene. Therefore, in this paper, we introduce a novel large-scale multi-modal dataset featuring, for the first time, two types of 4D radars captured simultaneously. This dataset enables further research into effective 4D radar perception algorithms. Our dataset consists of 151 consecutive series, most of which last 20 seconds and contain 10,007 meticulously synchronized and annotated frames. Moreover, our dataset captures a variety of challenging driving scenarios, including many road conditions, weather conditions, nighttime and daytime with different lighting intensities and periods. Our dataset annotates consecutive frames, which can be applied to 3D object detection and tracking, and also supports the study of multi-modal tasks. We experimentally validate our dataset, providing valuable results for studying different types of 4D radars. This dataset is released on https://***/adeptthu/Dual-Radar. Copyright © 2023, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Voltage Response and Effect Mechanism of Stretchable Magnetoelectric Composites

引用

International Journal of Mechanical Sciences 2025年

作者： Wei Xiao Ke Tang Hanlin Zhu Xuenan Du Dean Hu Min Yang School of Mechatronics and Vehicle Engineering East China Jiaotong University Nanchang 330013 China Key Laboratory of Advanced Design and Simulation Techniques for Special Equipment Ministry of Education Hunan University Changsha 410082 China School of Robotics Hunan University Changsha 410082 China

Stretchable magnetoelectric composites (SMCs) are capable of generating voltage in response to external mechanical stimuli, exhibiting significant potential for applications in flexible electronics and wearable devices. However, the development of a theoretical model to investigate the voltage response of SMCs remains a considerable challenge due to the multi-field and time variation effects. In this study, we develop a theoretical model considering the time-dependent variations in magnetic intensity, geometric dimensions, and helical wire configuration. The relative errors in maximum voltage between the theoretical predictions and experimental measurements are 5.79% during stretching and 8.25% during recovery, which demonstrates the rationality and validity of the theoretical model. Based on the model, the effects of structural parameters, stretching speed, and stretching ratio on voltage generation are analyzed. The results show that increasing the diameter and magnetic powder content of the SMC significantly enhances the voltage. In contrast, the number of wire turns has minimal impact on the voltage due to the nearly constant magnetic flux during deformation. Although higher stretching speeds lead to increased peak voltage, they do not affect the total change in magnetic flux. This work proposes a modeling framework for capturing the time-varying voltage of the SMC and offers fundamental insights into the voltage generation mechanism. The findings provide valuable guidance for the design and optimization of SMCs for future applications.

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Foot terrain impact modeling and motion performance research of hexapod robot based on passive elastic leg 2

Foot terrain impact modeling and motion performance research...

引用

2nd Spring International Conference on Defence Technology, ICDT 2020

作者： Liu, Y.F. Su, B. Zhou, L. Gao, H.B. Ding, L. Jiang, L. Zou, F.Q. Ma, C.Y. China North Vehicle Research Institute Beijing100072 China Equipment Project Management Center Beijing100072 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China MEMS Center Harbin Institute of Technology Harbin150080 China College of Mechanical Engineering Jiamusi University Jiamusi154007 China

In order to improve the performance of the multi-legged robot, the impact of foot-terrain is an important target to measure the performance of the robot. In order to ensure the compliance contact of foot-terrain for the legged robot, it is essential to add passive spring between the calf and foot. The mechanical structure makes the leg of hexapod robot retractable passive elastic structure. For multi-legged robots with passive elastic legs, the foot-terrain impact model is presented to measure the dynamic performance and provide theoretical support for the low impact force motion planning. The traditional planning method will cause additional impact for the switching case between the swing and stance phase. This paper presents a motion planning method that considers the deformable leg structure and impact performance. The experiments have been carried out, and the results have demonstrated the effectiveness of the foot terrain impact model and motion planning method in comparison with a conventional method. © Published under licence by IOP Publishing Ltd.

关键词： Motion planning

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Fluorine ions assist titanium-based perylene diimide to achieve over 500 h photocatalytic stability

引用

Chemical engineering Journal 2025年 519卷

作者： Junqiang Li Jiongchong Fang Huiqiang Liang Zhenghao Wei Jun Fang Longbin Qiu Xinxin Lu Fuyuan Yang Guosong Zeng Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen 518055 PR China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518055 PR China PetroChina Shenzhen New Energy Research Institute Co. Ltd. Shenzhen 518055 PR China School of Vehicle and Mobility Tsinghua University Beijing 100084 PR China SUSTech Energy Institute for Carbon Neutrality Southern University of Science and Technology Shenzhen 518055 PR China

Green hydrogen production via photocatalytic water splitting using semiconductor catalysts is a critical step toward global carbon neutrality. However, the practical application of organic semiconductors is limited by a rapid decline in catalytic activity, mainly due to unstable molecular structure and photo-corrosion. In this study, two titanium-coordinated perylene diimide catalysts (TiF-PDI and TiC-PDI) were synthesized via a wet chemical approach. Under near-atmospheric conditions with 1 wt% Pt as a co-catalyst, these catalysts demonstrated hydrogen evolution reaction (HER) activities of 584 and 510 μmol·g −1 ·h −1 , respectively, achieving a 7- to 8-fold improvement over carboxyl perylene diimide (H 2 PDI). Particularly, TiF-PDI retained approximately 80 % of its initial catalytic activity after 500 h of continuous illumination at room temperature and near atmospheric pressure, demonstrating the best long-term HER stability reported to date for perylene-based semiconductors. The introduction of Ti 4+ ions facilitated charge-carrier separation and transfer, while F − ions played a vital role in enhancing system polarization, stabilizing photogenerated excitons, and mitigating Ti 4+ ions leaching by intercalating into the molecular lattice. This synergistic regulatory activity of these two ions improved both the photocatalytic performance and durability of TiF-PDI. This study provides valuable insights into structural modification and charge stabilization strategies to design high-performance and long-lived photocatalysts for sustainable energy applications.

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Walking Control of Biped Robots on Uneven Terrains Based on SLIP Model

Walking Control of Biped Robots on Uneven Terrains Based on ...

引用

IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Xiang Meng Zhangguo Yu Gao Huang Xuechao Chen Weijie Qi Qiang Huang Bo Su School of Mechatronical Engineering Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robotics and Systems Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Advanced Innovation Center for Intelligent Robotics and Systems Beijing Institute of Technology Beijing China China North Vehicle Research Institute Beijing China

Having human-like legged structure, biped robots are regarded as the most promising robots that can take the place of human to work in the environments designed for human beings. To this end, it is the premise for biped robots to achieve stable walking on uneven ground. This paper presents a control strategy for a biped robot based on spring-loaded inverted pendulum (SLIP) model, which controls the joint torque of the robot by obtaining the errors of length and angular position of virtual spring legs. Additionally, this paper proposes a new control method of adjusting the length of legs to enable the robot to achieve stable walking on unstructured terrains, such as staircases. In the end, the simulation results corroborate the effectiveness of the proposed approaches.

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Incremental Adaptive EEG Classification of Motor Imagery-based BCI

Incremental Adaptive EEG Classification of Motor Imagery-bas...

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International Joint Conference on Neural Networks (IJCNN)

作者： Hai-Jun Rong Changjun Li Rong-Jing Bao Badong Chen State Key Laboratory for Strength and Vibration of Mechanical Structures Shaanxi Key Laboratory of Environment and Control for Flight Vehicle School of Aerospace Engineering Xi’an Jiaotong University China Institute of Artificial Intelligence and Robotics School of the Electronic and Information Engineering Xi’an Jiaotong University China

Generally, electroencephalogram (EEG) signals recorded from the brain computer interface (BCI) systems are very noisy and non-stationary, which may affect the online performance of classifiers established from the prior session heavily. In order to address such problems, the classifiers should also be capable of adapting the change of EEG automatically during the processing of evaluation. In this paper, we propose an incremental adaptive EEG classification scheme. In this scheme, an extended sequential adaptive fuzzy inference system (ESAFIS) is used to evolve its structure dynamically and adapts the classifier automatically online to address the non-stationarity of the EEG signals. ESAFIS is an evolving system, wherein the fuzzy rules are evolved based on the modified influence of the rule. This paper presents the classification of 2-class motor imagery EEG based on ESAFIS with adaptive strategy. Simulations are conducted based on two datasets: one is the BCI Competition IV dataset 2b and the other one is recorded from our own BCI experiments. Compared to other methods such as ELM and LDA, the simulation results demonstrate that the proposed scheme produces better classification results.

关键词： Electroencephalography Feature extraction Training Image segmentation Windows Adaptive systems Brain modeling

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