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International Journal of Agricultural and Biological engineering 2024年第4期17卷 227-235页

作者： Jiaoling wang Weidong song Wengang Zheng Qingchun Feng Mingfei wang Chunjiang Zhao Northwest Agriculture and Forestry University Xi’an 712199China Nanjing institute of Agricultural Mechanization Ministry of Agriculture and Rural AffairsNanjing 210014China intelligent equipment technology Research Center Beijing Academy of Agriculture and Forestry SciencesBeijing 100097China Zhejiang Provincial Key Laboratory of Agricultural intelligent Equipment and Roboics/College of Biosystems engineering and Food Science Zhejiang UniversityHangzhou 310058China

Edible mushrooms are rich in nutrients;however,harvesting mainly relies on manual *** localization of each mushroom is necessary to enable a robotic arm to accurately pick edible *** studies used detection algorithms that did not consider mushroom pixel-level *** these algorithms are combined with a depth map,the information is ***,in instance segmentation algorithms,convolutional neural network(CNN)-based methods are lightweight,and the extracted features are not *** guarantee real-time location detection and improve the accuracy of mushroom segmentation,this study proposed a new spatial-channel transformer network model based on Mask-CNN(SCT-Mask-RCNN).The fusion of Mask-RCNN with the self-attention mechanism extracts the global correlation outcomes of image features from the channel and spatial ***,Mask-RCNN was used to maintain a lightweight structure and extract local features using a spatial pooling pyramidal structure to achieve multiscale local feature fusion and improve detection *** results showed that the SCT-Mask-RCNN method achieved a segmentation accuracy of 0.750 on segm_Precision_mAP and detection accuracy of 0.638 on Bbox_Precision_*** to existing methods,the proposed method improved the accuracy of the evaluation metrics Bbox_Precision_mAP and segm_Precision_mAP by over 2%and 5%,respectively.

关键词： edible mushrooms picking instance segmentation deep learning algorithm

Artificial visual-tactile perception array for enhanced memory and neuromorphic computations

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InfoMat 2024年第3期6卷 81-94页

作者： Jiaqi He Ruilai Wei Shuaipeng Ge Wenqiang Wu Jianchao Guo Juan Tao Ru wang Chunfeng wang Caofeng pan CAS Center for Excellence in Nanoscience Beijing Key Laboratory of Micro-nano Energy and SensorBeijing Institute of Nanoenergy and NanosystemsChinese Academy of SciencesBeijingthe People's Republic of China school of Nanoscience and engineering University of Chinese Academy of SciencesBeijingthe People's Republic of China Guangdong Research Center for Interfacial engineering of Functional Materials College of Materials Science and EngineeringShenzhen UniversityShenzhenthe People's Republic of China

The emulation of human multisensory functions to construct artificial perception systems is an intriguing challenge for developing humanoid robotics and cross-modal human–machine *** by human multisensory signal generation and neuroplasticity-based signal processing,here,an artificial perceptual neuro array with visual-tactile sensing,processing,learning,and memory is *** neuromorphic bimodal perception array compactly combines an artificial photoelectric synapse network and an integrated mechanoluminescent layer,endowing individual and synergistic plastic modulation of optical and mechanical information,including short-term memory,long-term memory,paired pulse facilitation,and“learning-experience”***tial or superimposed visual and tactile stimuli inputs can efficiently simulate the associative learning process of“Pavlov's dog”.The fusion of visual and tactile modulation enables enhanced memory of the stimulation image during the learning process.A machine-learning algorithm is coupled with an artificial neural network for pattern recognition,achieving a recognition accuracy of 70%for bimodal training,which is higher than that obtained by unimodal *** addition,the artificial perceptual neuron has a low energy consumption of~20 *** its mechanical compliance and simple architecture,the neuromorphic bimodal perception array has promising applications in largescale cross-modal interactions and high-throughput intelligent perceptions.

关键词： artificial intelligent systems mechanoluminescence neuromorphic computing optoelectronic synapse visual-tactile perception

Reachability-Based Confidence-Aware Probabilistic Collision Detection in Highway Driving

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engineering 2024年第2期33卷 90-107页

作者： Xinwei wang Zirui li Javier Alonso-Mora Meng wang school of engineering and Materials Science Queen Mary University of LondonLondon E14NSUK Department of Cognitive robotics Delft University of TechnologyDelft 2628 CDNetherlands school of Mechanical engineering Beijing Institute of TechnologyBeijing 100081China Chair of Traffic Process Automation “Friedrich List”Faculty of Transport and Traffic SciencesTU DresdenDresden 01069Germany

Risk assessment is a crucial component of collision warning and avoidance systems for intelligent ***-based formal approaches have been developed to ensure driving safety to accurately detect potential vehicle ***,they suffer from over-conservatism,potentially resulting in false–positive risk events in complicated real-world *** this paper,we combine two reachability analysis techniques,a backward reachable set(BRS)and a stochastic forward reachable set(FRS),and propose an integrated probabilistic collision–detection framework for highway *** this framework,we can first use a BRS to formally check whether a two-vehicle interaction is safe;otherwise,a prediction-based stochastic FRS is employed to estimate the collision probability at each future time ***,the framework can not only identify non-risky events with guaranteed safety but also provide accurate collision risk estimation in safety-critical *** construct the stochastic FRS,we develop a neural network-based acceleration model for surrounding vehicles and further incorporate a confidence-aware dynamic belief to improve the prediction *** experiments were conducted to validate the performance of the acceleration prediction model based on naturalistic highway driving *** efficiency and effectiveness of the framework with infused confidence beliefs were tested in both naturalistic and simulated highway *** proposed risk assessment framework is promising for real-world applications.

关键词： Probabilistic collision detection Confidence awareness Probabilistic acceleration prediction Reachability analysis Risk assessment

Structure design and rice threshing performance of the variable-speed inertial pulley for simulating artificial threshing

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International Journal of Agricultural and Biological engineering 2024年第1期17卷 33-40页

作者： Tiantian Jing Zhong Tang Shuaihua Hao Cheng Shen Ting wang Meilin wang school of Agricultural engineering Jiangsu UniversityZhenjiang 212013JiangsuChina Key Laboratory of intelligent Equipment and robotics for Agriculture of Zhejiang Province Hangzhou 310058China College of engineering China Agricultural UniversityBeijing 100083China Nanjing institute of Agricultural Mechanization Ministry of Agriculture and Rural AffairsNanjing 210014China Jiangsu World Agriculture Machinery Co. Ltd(WORLD A/M)Zhenjiang 212311JiangsuChina

Due to the small models and compact structures,small harvesters have also caused problems such as poor threshing separation performance and large loss *** order to solve unstable cleaning effects of small harvesters when they facing different working conditions,this study selected rice plants in hilly areas for the *** breaking force of different parts of mature rice was tested,which revealed the fracture mechanism of each part under the combined *** threshing method was used to simulate artificial plate bin and design three kinds of non-circular pulley variable speed transmission threshing *** the help of transient inertia force,threshing force was *** paper tested the harvesting performance of the variable speed threshing device with the help of the harvest performance *** show when facing the small rice planting area,the T/2 variable speed threshing device has better cleaning performance,and also the harvest loss rate of T/4 variable speed threshing device is the *** with the constant speed threshing device,the impurity content rate of the variable speed threshing device is increased by 0.64%to 8.76%;the loss rate is reduced by 0.45%to 1.79%,which provides a basis for the optimization design of small combine harvester in hilly areas.

关键词： small harvesters fracture mechanism transient inertia force non-circular pulley

intelligent Recognition Using Ultralight Multifunctional Nano‑Layered Carbon Aerogel Sensors with Human‑like Tactile Perception

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Nano-Micro Letters 2024年第1期16卷 172-186页

作者： Huiqi Zhao Yizheng Zhang Lei Han Weiqi Qian Jiabin wang Heting Wu Jingchen li Yuan Dai Zhengyou Zhang Chris RBowen Ya Yang CAS Center for Excellence in Nanoscience Beijing Key Laboratory of Micro‑Nano Energy and SensorBeijing Institute of Nanoenergy and NanosystemsChinese Academy of SciencesBeijing 101400People’s Republic of China Tencent robotics X Shenzhen 518054People’s Republic of China school of Nanoscience and technology University of Chinese Academy of SciencesBeijing 100049People’s Republic of China Department of Mechanical engineering University of BathBath BA27AKUK Center on Nanoenergy Research School of Physical Science and TechnologyGuangxi UniversityNanning 530004People’s Republic of China

Humans can perceive our complex world through multi-sensory *** limited visual conditions,people can sense a variety of tactile signals to identify objects accurately and ***,replicating this unique capability in robots remains a significant ***,we present a new form of ultralight multifunctional tactile nano-layered carbon aerogel sensor that provides pressure,temperature,material recognition and 3D location capabilities,which is combined with multimodal supervised learning algorithms for object *** sensor exhibits human-like pressure(0.04–100 kPa)and temperature(21.5–66.2℃)detection,millisecond response times(11 ms),a pressure sensitivity of 92.22 kPa^(−1)and triboelectric durability of over 6000 *** devised algorithm has universality and can accommodate a range of application *** tactile system can identify common foods in a kitchen scene with 94.63%accuracy and explore the topographic and geomorphic features of a Mars scene with 100%*** sensing approach empowers robots with versatile tactile perception to advance future society toward heightened sensing,recognition and intelligence.

关键词： Multifunctional sensor Tactile perception Multimodal machine learning algorithms Universal tactile system intelligent object recognition

System Design of an Anthropomorphic Arm Robot for Dynamic Interaction Task

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System Design of an Anthropomorphic Arm Robot for Dynamic In...

Synergistic fluorescent hydrogel actuators with selective spatial shape/color-changing behaviors via interfacial supramolecular assembly

2011 Chinese Control and Decision Conference（CCDC）

作者： Zhangguo Yu,Qiang Huang,Xuechao Chen,Wei Xu,Jing li,Gan Ma,Xiaopeng Chen Weimin Zhang,Huaping wang,Si Zhang,and Ningjun Fan are with the intelligent robotics institute,school of mechatronical engineering,beijing institute of technology,5 Nandajie,Zhongguancun,Haidian,beijing,100081,china

This paper investigates the system design of a 7-DOFs Anthropomorphic arm robot for fast dynamic interaction task,taking the ping-pong rally task against human as an *** robot system includes the arm mechanism,real-time stereo vision sub-system,ball trajectory prediction,racket motion trajectory planning,and distributed joint *** algorithms for ball identification,ball trajectory prediction,and hitting planning are *** validity of the system is demonstrated via rally experiments.

关键词： ping-pong robot dynamic interaction trajectory prediction motion planning

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SmartMat 2024年第2期5卷 93-102页

作者： Wei Lu Ruijia wang Muqing Si Yi Zhang Shuangshuang Wu Ning Zhu Wenqin wang Tao Chen Key Laboratory of Marine Materials and Related Technologies Zhejiang Key Laboratory of Marine Materials and Protective TechnologiesNingbo Institute of Materials Technology and EngineeringChinese Academy of SciencesNingboChina school of Chemical Sciences University of Chinese Academy of SciencesBeijingChina Faculty of Materials Science and Chemical engineering Ningbo UniversityNingboChina College of Biotechnology and Pharmaceutical engineering Nanjing Tech UniversityNanjingJiangsuChina

Biomimetic intelligent polymeric hydrogel actuators with cooperative fluorescence-color switchable behaviors are expected to find great potential applications in soft robotics,visual detection/display,and camouflage ***,it remains challenging to realize the spatial manipulation of synergistic shape/color-changing ***,we report an interfacial supramolecular assembly(ISA)approach that enables the construction of robust fluorescent polymeric hydrogel actuators with spatially anisotropic *** the basis of this ISA approach,diverse 2D/3D soft fluorescent hydrogel actuators,including chameleon-and octopi-shaped ones with spatially anisotropic structures,were facilely assembled from two different fluorescent hydrogel building blocks sharing the same physically cross-linked agar *** control over synergistic shape/color-changing behaviors was then realized in one single anisotropic hydrogel *** proposed ISA approach is universal and expected to open promising avenues for developing powerful bioinspired intelligent soft actuators/robotics with selective spatial shape/color-changing behaviors.

关键词： actuator anisotropic structure interfacial supramolecular assembly multicolor fluorescent hydrogels self-gluing

Time-synchronous-averaging-spectrum based on super-resolution analysis and application in bearing fault signal identification

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Journal of Zhejiang University-Science A(Applied Physics & engineering) 2024年第7期25卷 573-585页

作者： Zengle REN Yuan wang Huiyue TANG Xin'an CHEN Wei FENG Guangdong Provincial Key Laboratory of Construction robotics and intelligent Construction Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen518055China Shenzhen EBORAIL technology Co. Ltd.Shenzhen518038China National Supercomputing Center in Shenzhen Shenzhen518055China State Key Lab of Rail Traffic Control and Safety Beijing Jiaotong UniversityBeijing100044China University of Chinese Academy of Sciences Beijing100190China Shenzhen University of Advanced technology Shenzhen518107China

Time-synchronous-averaging(TSA)is based on the idea of denoising by averaging,and it extracts the periodic components of a quasiperiodic signal and keeps the extracted waveform *** paper studies the mathematical properties of TSA,where three propositions are given to reveal the nature of *** paper also proposes a TSA-spectrum based on super-resolution analysis and it decomposes a signal without using any base *** contrast to discrete Fourier transform spectrum(DFT-spectrum),which is a spectrum in frequency domain,TSA-spectrum is a period-based spectrum,which can present more details of the cross effects between different periodic components of a quasiperiodic ***,a case study is carried out using bearing fault analysis to illustrate the performance of TSA-spectrum,where the rotation speed fluctuation of the shaft is estimated,which is about 0.12 ms *** extracted fault signals are presented and some insights are *** believe that this paper can provide new motivation for TSA-spectrum to be widely used in applications involving quasiperiodic signal processing(QSP).

关键词： Time-synchronous-averaging(TSA) Spectrum Quasiperiodic signal processing(QSP) Super-resolution analysis Bearingfaultdetection

Theoretical and experimental research on static stiffness,performance,and lift-off characteristics of multi-layer gas foil thrust bearings

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Friction 2024年第11期12卷 2458-2479页

作者： Yang HU Pengjing DING Fangling WU Xiaojing wang Bo liANG Yonggang MENG school of Mechatronic engineering and Automation Shanghai UniversityShanghai 200072China Aviation Key Laboratory of Science and technology on Aero Electromechanical System Integration Nanjing Engineering Institute of Aircraft SystemsNanjing 211106China State Key Laboratory of Tribology Tsinghua UniversityBeijing 100084China

In this study,a new comprehensive fully coupled elastic–hydrodynamic model is developed for a multi-layer gas foil thrust bearing(GFTB).The interaction effects among the top foil,back board,middle foil,and bottom foil,as well as the Coulomb friction effect,are *** stiffness and static characteristics obtained by the experimental and theoretical approaches are in good agreement,which verifies the accuracy of the *** contribution of each foil layer to the overall stiffness and the load-carrying mechanism are *** effects of the load,preload,and rotational speed on the static performance are investigated ***,start–stop tests are performed to achieve the lift-off speed,start-up torque,and shut-down torque under various operating conditions.

关键词： multi-layer gas foil thrust bearing(GFTB) load carrying mechanism static performance