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3D augmented reality teleoperated robot system based on dual vision

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The Journal of China Universities of Posts and Telecommunications 2011年第1期18卷 105-112页

作者： GAO Xin HU Huan JIA Qing-xuan sun han-xu SONG Jing-zhou School of Automation Beijing University of Posts and Telecommunications Beijing 100876 China

A 3D augmented reality navigation system using stereoscopic images is developed for teleoperated robot systems. The accurate matching between the simulated model and the video image of the actual robot can be realized, which helps the operator to accomplish the remote control task correctly and reliably. The system introduces the disparity map translation transformation method to take parallax images for stereoscopic displays, providing the operator an immersive 3D experience. Meanwhile, a fast and accurate registration method of dynamic stereo video is proposed, and effective integration of a virtual robot and the real stereo scene can be achieved. Preliminary experiments show that operation error of the system is maintained at less than 2.2 mm and the average error is 0.854 7, 0.909 3 and 0.697 2 mm at x, y, z direction respectively. Lots of experiments such as pressing the button, pulling the drawer and so on are also conducted to evaluate the performance of the system. The feasibility studies show that the depth information of structure can be rapidly and recognized in remote environment site. The augmented reality of the image overlay system could increase the operating accuracy and reduce the procedure time as a result of intuitive 3D viewing.

关键词： teleoperated robotic system augmented reality immersive interface stereo display binocular registration

Urban scene recognition by graphical model and 3D geometry

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The Journal of China Universities of Posts and Telecommunications 2011年第3期18卷 110-119页

作者： REN Ke-yan sun han-xu JIA Qing-xuan WU Yao-hong ZhanG Wei-yu GAO Xin YE Ping SONG Jing-zhou Department of Automation University of Posts and Telecommunications Beijing 100876 China Computer & Information Science University of Pennsylvania Philadelphia 19104 PA USA School of Automation and Computer North China Electric Power University Beijing 102206 China

This paper proposes a simple and discriminative framework, using graphical model and 3D geometry to understand the diversity of urban scenes with varying viewpoints. Our algorithm constructs a conditional random field （CRF） network using over-segmented superpixels and learns the appearance model from different set of features for specific classes of our interest. Also, we introduce a training algorithm to learn a model for edge potential among these superpixel areas based on their feature difference. The proposed algorithm gives competitive and visually pleasing results for urban scene segmentation. We show the inference from our trained network improves the class labeling performance compared to the result when using the appearance model solely.

关键词： scene recognition CRF graphical model 3D geometry

Trimetallic mesoporous PdCuRu for efficient formate electrosynthesis from polyethylene terephthalate recycling

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Science China Chemistry 2025年

作者： Yuting Li Huiqin Yao Lizhi sun Shu han Xiaoxiang xu Guangyin Fan Ben Liu College of Chemistry and Materials Science Sichuan Normal University Key Laboratory of Green Chemistry and Technology of Ministry of Education College of Chemistry Sichuan University School of Basic Medical Sciences Ningxia Medical University Department of Otorhinolaryngology-Head and Neck Surgery Zhongnan Hospital of Wuhan University

Electrochemical recycling of waste polyethylene terephthalate（PET） plastics represents a green and sustainable route to produce valuable fuels and address serious environmental issues. Despite some encouraged achievements, their progress is still slower because of the lack of highly active and selective electrocatalysts. Here, we reported an efficient PET recycling route with trimetallic PdCuRu mesoporous nanospheres（MSs） as a high-performance electrocatalyst that achieved selective electrosynthesis of valuable formate from PET hydrolysate（PETH） electrooxidation. Penetrated metal mesopores and trimetallic compositions of PdCuRu MSs synergistically optimized electronic structures of Pd sites and changed chemisorption properties of intermediates, which disclosed a high formate Faradic efficiency of 97% and impressive yield rate of 0.49 mmol h-1cm-2in an alkaline solution. Meanwhile, this electrocatalyst held good electrocatalytic stability, retaining high formate Faradic efficiency and yield rate even being performed for 10 cycles, which highlighted its potential applications for practical PET recycling. Our study provides a powerful strategy for designing high-performance electrocatalysts toward selective electro-synthesis of valuable fuels from various waste plastics.

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Performance Analysis of a Coupled System based on Organic Rankine Cycle and Double Effect Absorption Refrigeration for Waste Heat Recovery in Data Center

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Journal of Thermal Science 2025年第1期34卷 188-205页

作者： LI Peng xu Jiaqi WANG Binbin LIU Jianyang ZHAO Wensheng han Zhonghe School of Energy Power and Mechanical Engineering North China Electric Power University Hebei Key Laboratory of Low Carbon and High Efficiency Power Generation Technology North China Electric Power University

During data center operation,it generates a significant volume of low-grade waste *** recover waste heat,a coupled system including solar collector,double effect absorption refrigeration and organic Rankine cycle is *** system performance is analyzed in *** the organic Rankine cycle,five organic working fluids(R245fa,R245ca,R123,R11,and R113) are selected.R245fa,R113 and R245ca obtain the maximum net power output,thermal efficiency and exergy efficiency,*** the double effect absorption refrigeration system,the evaporation temperature,condensation temperature,and generation pressure affect the COP and exergy *** the generator pressure is unchanged,the COP increases with increasing evaporation temperature and decreasing condensation *** the COP reaches 1.3,the COP slightly decreases as the evaporation temperature or condensation temperature ***,the exergy efficiency of refrigeration systems exhibits the same trend as the COP,and the exergy efficiency maximum value appears at approximately 0.32.A new performance indicator,rPUE,was defined to evaluate the data center power utilization *** flow distribution ratio and heat source temperature were optimized with multi-objective *** the mass flow distribution rate is 0.6 and the heat source temperature is 441.5 K,rPUE and the total unit production costs of the system obtain the optimal solution.

关键词： Exergy

Deep eutectic solvents for separation and purification applications in critical metal metallurgy:Recent advances and perspectives

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International Journal of Minerals,Metallurgy and Materials 2025年第1期32卷 1-19页

作者： Shuo Chen Shengpeng Su Yanfang Huang Bingbing Liu Hu sun Shuzhen Yang Guihong han School of Chemical Engineering Zhengzhou UniversityZhengzhou 450001China Zhongyuan Critical Metals Laboratory Henan ProvinceZhengzhou 450001China

Solvent extraction,a separation and purification technology,is crucial in critical metal *** solvents commonly used in solvent extraction exhibit disadvantages,such as high volatility,high toxicity,and flammability,causing a spectrum of hazards to human health and environmental *** solvents have been recognized as potential alternatives to these harmful organic *** the past two decades,several neoteric solvents have been proposed,including ionic liquids(ILs)and deep eutectic solvents(DESs).DESs have gradually become the focus of green solvents owing to several advantages,namely,low toxicity,degradability,and low *** this critical review,their classification,formation mechanisms,preparation methods,characterization technologies,and special physicochemical properties based on the most recent advancements in research have been systematically ***,the major separation and purification applications of DESs in critical metal metallurgy were comprehensively ***,future opportunities and challenges of DESs were explored in the current research *** conclusion,this review provides valuable insights for improving our overall understanding of DESs,and it holds important potential for expanding separation and purification applications in critical metal metallurgy.

关键词： deep eutectic solvents preparations properties separation and purification critical metal metallurgy

Clinical application of BVS5000 left ventricular assist device in heart failure patients

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Chinese Medical Journal 2008年第10期121卷 877-880页

作者： LUO Xin-jin HU Sheng-shou sun han-song xu Jian-ping LIU Ping ZHENG Zhe MA Wei-guo ZhanG Yan Department of Cardiovascular Surgery Fu Wai Hospital PekingUnion Medical College Beijing 100037 China

Background Mechanical ventricular assistance is an important therapeutic method for severe heart failure patients. A variety of ventricular assist devices have been designed for use, The purpose of this report was to describe the experience of using Abiomed BVS5000 as a means of left ventricular support as a clinical treatment for heart failure patients. Methods From February 2004 to April 2006, 12 male patients were supported with Abiomed BVS5000 left ventricular assist device （LVAD） at Fu Wai Hospital. The average age was （55.2±9.6） years （range 39 to 68 years）. The mean body surface area was （1.76±0.1） m^2 （range 1.6 to 1.9 m^2 ）. Devices were inserted for post-cardiotomy shock after coronary artery bypass graft in 11 patients （92%） and in 1 dilated cardiomyopathy patient for acute cardiogenic shock. Modified cannulation methods by inserting the arterial cannulae in femoral artery and inserting the venous cannula in left atrium through a segment of bovine jugular vein were used in 7 patients. In this way, the device could be taken off without re-sternotomy when support was finished. A comparison was made between the modified method and routine left atrium-to-ascending aorta cannulating method. Results The median duration of support was 5 （3-43） days, with support flow rate of 3.8-4.5 L/min. There were 9 （75%） patients weaned from support and 8 （67%） patients discharged from the hospital. Four （33%） patients were dead. The most common morbidity was adverse neurological events. There is no statistical difference between modified and routine method on average in BVS5000 support duration, in assisted flow rate, in mechanical ventilation duration, in the intensive care unit stay and thoracic drainage. Conclusions The Abiomed BVS5000 is valuable to support patients with acute cardiogenic shock for short-term use. By the modified cannulating method, the weaning procedure can be effectively simplified. Optimization of inserting indication remains challenging and attr

关键词： heart failure surgical treatment left ventricular assist devices

Fractal autoencoder with redundancy regularization for unsupervised feature selection

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Science China(Information Sciences) 2025年

作者： Meiting sun Fangyu LI Honggui han School of Information Science and Technology Beijing University of Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System Engineering Research Center of Digital Community Ministry of Education Beijing Institute of Artificial Intelligence(Beijing)

Feature selection is a crucial step in data preprocessing because feature selection reduces the dimensionality of data by eliminating irrelevant and redundant features. Since manual labeling is expensive, unsupervised feature selection has received increasing attention in recent years. However, existing unsupervised feature selection methods tend to prioritize selecting highly correlated features over exploring feature diversity. Thus, a regularized fractal autoencoder (RFAE) method is proposed to select informative features in an unsupervised way. Specifically, the fractal autoencoder network extends autoencoders to construct a correspondence neural network and a selection neural network. The correspondence neural network exploits interfeature correlations and the selection neural network selects the informative features. A redundancy regularization strategy consists of a redundancy elimination regularization term based on the dependency between features and a sparse regularization term based on the group lasso. The redundancy regularization strategy eliminates feature subset redundancy and enhances network generalization ability. Extensive experimental results on six publicly available datasets show that the proposed RFAE outperforms the compared methods regarding clustering accuracy and classification accuracy. Moreover, the proposed RFAE achieves acceptable computation efficiency.

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基于支持向量机方法的球形机器人定位控制

北京邮电大学学报 2011年第6期34卷 95-98页

作者：郑一力孙汉旭北京林业大学工学院北京100083 北京邮电大学自动化学院北京100876

提出了一种解决球形机器人精确定位控制的方法.基于支持向量机理论,采用人工控制输入和机器人状态输出作为训练样本,设计了球形机器人的学习控制器.该方法能模拟人工操作员的行为控制机器人直线定位运动,并且无需计算机器人的动力学模型... 详细信息

提出了一种解决球形机器人精确定位控制的方法.基于支持向量机理论,采用人工控制输入和机器人状态输出作为训练样本,设计了球形机器人的学习控制器.该方法能模拟人工操作员的行为控制机器人直线定位运动,并且无需计算机器人的动力学模型.重复实验结果表明,该方法可以实现球形机器人较精确的定位运动控制.

关键词：球形机器人支持向量机定位控制

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人手到灵巧手指尖运动映射的实现

北京邮电大学学报 2005年第2期28卷 54-58页

作者：刘杰孙汉旭张玉茹北京机械工业自动化所机器人中心北京100112 北京邮电大学自动化学院北京航空航天大学机器人研究所北京100083

在人手到灵巧手的运动映射方面,人手和灵巧手在运动学上的异构现象造成了二者之间运动映射的困难.本文研究灵巧手的抓持规划,通过主从操作来实现.提出了一种基于虚拟手指的直角空间指尖运动映射方法实现人手到灵巧手的运动映射,以数据... 详细信息

在人手到灵巧手的运动映射方面,人手和灵巧手在运动学上的异构现象造成了二者之间运动映射的困难.本文研究灵巧手的抓持规划,通过主从操作来实现.提出了一种基于虚拟手指的直角空间指尖运动映射方法实现人手到灵巧手的运动映射,以数据手套为人机接口,测量手指的关节角度,建立手的运动学模型,根据运动学模型计算出指尖运动轨迹,完成指尖在抓取过程中的运动学分析,记录指尖在直角坐标空间的运动轨迹,实现了人手和灵巧手的三维运动仿真,完成了三维工作空间的可视化.在虚拟环境下,运动仿真验证了映射算法,证明了其有效性.

关键词：主从操作灵巧手运动映射