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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan zhibo pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

From automated home to sustainable,healthy and manufacturing home:a new story enabled by the Internet-of-Things and Industry 4.0

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Journal of Management Analytics 2015年第4期2卷 314-332页

作者： Jakob Branger zhibo pang Department of Computer and Information Science Linköping Institute of TechnologyLinköpingSweden Corporate Research Center ABB ABVästerasSweden

This paper seeks to expand on the role for future homes in relation to automation,sustainability,healthcare and *** world is changing and the home along with *** provided in the home will no longer act separately but will be all the more integrated into each other as new connections between services increase the value for residents in the *** paper presents some of the possible integrated services and a close-up of the networked manufacturing service.A conceptual communication infrastructure for the service is finally provided.

关键词： home automation sustainability healthcare manufacturing integrated services EIS IIIE

High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

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Journal of Bionic Engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan zhibo pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

An emerging technology-wearable wireless sensor networks with applications in human health condition monitoring

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Journal of Management Analytics 2015年第2期2卷 121-137页

作者： Hairong Yan LiDa Xu Zhuming Bi zhibo pang Jie Zhang Yong Chen Embedded Software and System Institute Beijing University of TechnologyBeijingChina Institute of Computing Technology Chinese Academy of SciencesBeijingChinaShanghai Jiao Tong UniversityShanghaiChinaUniversity of Science and Technology of ChinaHefeiChinaOld Dominion UniversityNorfolkUSA Department of Engineering Indiana University Purdue University Fort WayneFort WayneUSA ABB Corporate Research Center Sweden Old Dominion University NorfolkUSA

Monitoring health conditions over a human body to detect anomalies is a multidisciplinary task,which involves anatomy,artificial intelligence,and sensing and computing networks.A wearable wireless sensor network(WWSN)turns into an emerging technology,which is capable of acquiring dynamic data related to a human body’s physiological *** collected data can be applied to detect anomalies in a patient,so that he or she can receive an early alert about the adverse trend of the health condition,and doctors can take preventive actions *** this paper,a new WWSN for anomaly detections of health conditions has been proposed,system architecture and network has been discussed,the detecting model has been established and a set of algorithms have been developed to support the operation of the *** novelty of the detected model lies in its relevance to *** of health conditions are contextual and assessed not only based on the time and spatial correlation of the collected data,but also based on mutual relations of the data streams from different sources of sensors.A new algorithm is proposed to identify anomalies using the following procedure:(1)collected raw data is preprocessed and transferred into a set of directed graphs to represent the correlations of data streams from different sensors;(2)the directed graphs are further analyzed to identify dissimilarities and frequency patterns;(3)health conditions are quantified by a coefficient number,which depends on the identified dissimilarities and *** effectiveness and reliability of the proposed WWSN has been validated by experiments in detecting health anomalies including tachycardia,arrhythmia and myocardial infarction.

关键词： e-healthcare Internet of Things wearable wireless sensor network(WWSN) anomaly detection condition monitoring data acquisition and processing

Understanding the global cancer statistics 2022:growing cancer burden

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Science China(Life Sciences) 2024年第10期67卷 2274-2276页

作者： Yuxi Liu zhibo Zheng School of Basic Medicine Shanghai Medical College Fudan UniversityShanghai 200032China Department of Thoracic Surgery Department of International MedicalServicesPeking Union Medical College HospitalChinese Academy of Medical SciencesBeijing 100730China

The International Agency for Research on Cancer(IARC)established in 1965 as the cancer agency of the World Health Organization,focuses on cancer research and dedicates to developing strategies for cancer control *** F... 详细信息

关键词： cancer Cancer globally

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Enhancing the understanding between exercise and brain health:A new tool of oxygen imaging

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Journal of Sport and Health Science 2024年第6期13卷 751-752页

作者： zhibo Wang Jianping Jia Innovation Center for Neurological Disorders and Department of Neurology Xuanwu HospitalCapital Medical UniversityBeijing 100053China

Oxygen is pivotal for brain metabolism,1 and understanding its dynamics within the cerebral cortex is essential for both fundamental neuroscience and clinical ***,Beinlich et al.2 introduced a novel tool,the Green enhanced Nano-lantern(GeNL),a bioluminescent oxygen sensor that allows for the real-time,high-resolution monitoring of oxygen distribution in the living mouse cerebral cortex.

关键词： metabolism cerebral

Reconfigurable mechanism-based metamaterials for ternary-coded elastic wave polarizers and programmable refraction control

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Applied Mathematics and Mechanics(English Edition) 2024年第7期45卷 1225-1242页

作者： Zhou HU zhibo WEI Yan CHEN Rui ZHU School of Aerospace Engineering Beijing Institute of TechnologyBeijing100081China School of Mechanical Engineering Tianjin UniversityTianjin300350China Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education Tianjin UniversityTianjin300350China

Elastic metamaterials with unusual elastic properties offer unprecedented ways to modulate the polarization and propagation of elastic ***,most of them rely on the resonant structural components,and thus are frequency-dependent and ***,we present a reconfigurable 2D mechanism-based metamaterial which possesses transformable and frequency-independent elastic *** on the proposed mechanism-based metamaterial,interesting functionalities,such as ternarycoded elastic wave polarizer and programmable refraction,are ***,unique ternary-coded polarizers,with 1-trit polarization filtering and 2-trit polarization separating of longitudinal and transverse waves,are first ***,the strong anisotropy of the proposed metamaterial is harnessed to realize positive-negative bi-refraction,only-positive refraction,and only-negative ***,the wave functions with detailed microstructures are numerically verified.

关键词： elastic metamaterial elastic wave reconfigurable design zero mode ternary code programmable refraction

Physics-Constrained Robustness Enhancement for Tree Ensembles Applied in Smart Grid

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Computers, Materials & Continua 2024年第8期80卷 3001-3019页

作者： zhibo Yang Xiaohan Huang Bingdong Wang Bin Hu Zhenyong Zhang State Key Laboratory of Public Big Data College of Computer Science and TechnologyGuizhou UniversityGuiyang550025China

With the widespread use of machine learning(ML)technology,the operational efficiency and responsiveness of power grids have been significantly enhanced,allowing smart grids to achieve high levels of automation and ***,tree ensemble models commonly used in smart grids are vulnerable to adversarial attacks,making it urgent to enhance their *** address this,we propose a robustness enhancement method that incorporates physical constraints into the node-splitting decisions of tree *** algorithm improves robustness by developing a dataset of adversarial examples that comply with physical laws,ensuring training data accurately reflects possible attack scenarios while adhering to physical *** our experiments,the proposed method increased robustness against adversarial attacks by 100%when applied to real grid data under physical *** results highlight the advantages of our method in maintaining efficient and secure operation of smart grids under adversarial conditions.

关键词： Tree ensemble robustness enhancement adversarial attack smart grid

Highly active organocatalyst from a trivalent phosphazenium salt for ring-opening copolymerization of epoxides and cyclic anhydrides enhanced by hydrogen bonding interactions

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Science China Chemistry 2024年第9期67卷 3111-3120页

作者： Chunhuan Jiang Junqi Wang Xiaoyu Liu Xiaoxia You Ronglin Zhong Chuanli Ren zhibo Li Key Laboratory of Biobased Polymer Materials Shandong Provincial Education DepartmentCollege of Polymer Science and EngineeringQingdao University of Science and TechnologyQingdao 266042China College of Chemical Engineering Qingdao University of Science and TechnologyQingdao 266042China Laboratory of Theoretical and Computational Chemistry Institute of Theoretical ChemistryCollege of ChemistryJilin UniversityChangchun 130012China

It is highly desirable to develop simple organocatalysts for the controlled ring-opening alternating copolymerization(ROAC)of epoxides and cyclic anhydrides,leading to high molecular weight ***,a phosphazenium salt,namely tri[tris(dimethylamino)phosphoranylidenamino]phosphonium chloride(P_(4)^(+)Cl^(-)),is developed as a catalyst for the ROAC of epoxides and cyclic ***,the combination of P_(4)^(+)Cl^(-)with a protonic initiator,such as 1,4-benzenedimethanol(BDM)exhibited high efficiency in the copolymerization of propylene oxide(PO)and phthalic anhydride(PA).This led to the production of polyester with an exceptional high molecular weight(M_n)of up to 126 k Da,which represented a rare example of poly(PO-alt-PA)with Mnsurpassing 100 k *** that the core P atom is trivalent status and the tris[tris(dimethylamino)]phosphoranyl group will share one proton in the P_(4)^(+)Cl^(-)*** combined with protonic species,the P_(4)^(+)Cl^(-)will not only serve as a proton acceptor but also as a hydrogen bonding donor for the cyclic ***,it was assumed that the P_(4)^(+)plus proton served dual role in mimic of base/urea pair to effectively catalyze ROAC,which was supported by density functional theory(DFT)calculations.

关键词： ring-opening copolymerization organocatalyst epoxides cyclic anhydrides phosphazenium salt