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An Internet-based Telerobot Design and Implementation

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High Technology Letters 2001年第2期7卷 76-79页

作者：赵明国 zhao Jie CUI ze Cai Hegao Robot Research Iustitute Harbin Institute of Technology

A PUMA562 robot has been connected to the Internet and can be controlled through the web browser. The remote user receives still images of robot workspace, coordinates and gripper state and can control the gripper to pick up blocks and place them to build a structure. An Internet server and a robot server were built to implement this telerobot system. This two-layer server architecture can be used in other Internet-based telerobot system without changing most part of the system.

关键词： Teleoperation Telerobot Internet

TOAST: Automated Testing of Object Transformers in Dynamic Software Updates

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Journal of Computer Science & Technology 2022年第1期37卷 50-66页

作者： ze-Lin zhao Di Huang Xiao-Xing Ma State Key Laboratory for Novel Software Technology Nanjing UniversityNanjing 210023China

Dynamic software update(DSU)patches programs on the *** often involves the critical task of object transformation that converts live objects of the old-version program to their semantically consistent counterparts under the new-version *** task is accomplished by invoking an object transformer on each stale ***,a defective transformer failing to maintain consistency would cause errors or even crash the *** propose TOAST(Test Object trAnSformaTion),an automated approach to detecting potential inconsistency caused by object *** first analyzes an update to identify multiple target methods and then adopts a fuzzer with specially designed inconsistency guidance to randomly generate object states to drive two versions of a target *** creates two corresponding execution traces and a pair of old and new *** finally performs object transformation to create a transformed object and detects inconsistency between it and the corresponding new object produced from scratch by the new ***,TOAST checks behavior inconsistency by comparing the return variables and exceptions of the two *** evaluation on 130 updates with default transformers shows that TOAST is promising:it got 96.0%precision and 85.7%recall in state inconsistency detection,and 81.4%precision and 94.6%recall in behavior inconsistency *** inconsistency guidance improved the fuzzing efficiency by 14.1%for state inconsistency detection and 40.5%for behavior inconsistency detection.

关键词： object state transformer inconsistency detection dynamic software update(DSU) fuzzing testing

Three kinds of extraneous factors in Dixon resultants

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Science China Mathematics 2009年第1期52卷 160-172页

作者： zhao ShiZhong fu HongGuang Shanghai Key Laboratory of Trustworthy Computing East China Normal UniversityShanghai 200062China School of Computer Science and Engineering University of Electronic Science and Technology of ChinaChengdu 610054China Chengdu Institute of Computer Applications Chinese Academy of SciencesChengdu 610041China

Dixon resultant is a basic elimination method which has been used widely in the high technology fields of automatic control, robotics, etc. But how to remove extraneous factors in Dixon resultants has been a very difficult problem. In this paper, we discover some extraneous factors by expressing the Dixon resultant in a linear combination of original polynomial system. furthermore, it has been proved that the factors mentioned above include three parts which come from Dixon derived polynomials, Dixon matrix and the resulting resultant expression by substituting Dixon derived polynomials respectively.

关键词： Dixon resultant Dixon matrix extraneous factors 00A06 13A50 13P99 68W30

Flow characteristics of integrated motor-pump assembly with phosphate ester medium for aerospace electro-hydrostatic actuators

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Chinese Journal of Aeronautics 2023年第9期36卷 392-407页

作者： Jiangao zhao Jian fu Yuchen LI Haitao QI Yan WANG Yongling fu The Laboratory of Aerospace Servo Actuation and Transmission Beijing 100191China Research Institute for Frontier Science Beihang UniversityBeijing 100191China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China

Motor-pump assembly is the core component of the Aerospace Electro-hydrostatic Actuator(EHA).Thus,the design of the motor pump can be very challenging under conditions of high speed and wide pressure range,especially in particular working *** ultimate goal is to pursue better flow characteristics under a wide range of working *** this paper,we built a sub-model of the main friction interfaces and a model of single-shaft coaxial motor-pump assembly adopting the method of hierarchical *** experimental investigation of the output characteristics was mainly carried out in a phosphate ester medium ***,the flow characteristics were compared and analyzed with the simulation *** indicated that the flow characteristics of the motor-pump assembly could be accurately simulated by the model and quite severe in a low speed and high-pressure environment.

关键词： EHA Friction interfaces More electric aircraft Motor-pump Multidisciplinary modeling

Subspace Clustering via Block-Diagonal Decomposition

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Chinese Journal of Electronics 2024年第6期33卷 1373-1382页

作者： Zhiqiang fu Yao zhao Dongxia CHANG Yiming WANG Institute of Information Science Beijing Jiaotong University Beijing Key Laboratory of Advanced Information Science and Network Technology China Construction Bank

The subspace clustering has been addressed by learning the block-diagonal self-expressive matrix. This block-diagonal structure heavily affects the accuracy of clustering but is rather challenging to obtain. A novel and effective subspace clustering model, i.e., subspace clustering via block-diagonal decomposition(SCBD), is proposed,which can simultaneously capture the block-diagonal structure and gain the clustering result. In our model, a strict block-diagonal decomposition is introduced to directly pursue the k block-diagonal structure corresponding to k clusters. In this novel decomposition, the self-expressive matrix is decomposed into the block indicator matrix to demonstrate the cluster each sample belongs to. Based on the strict block-diagonal decomposition, the block-diagonal shift is proposed to capture the local intra-cluster structure, which shifts the samples in the same cluster to get smaller distances and results in more discriminative features for clustering. Extensive experimental results on synthetic and real databases demonstrate the superiority of SCBD over other state-of-the-art methods.

关键词： Accuracy Databases Data models Matrix decomposition

A residual-based message passing algorithm for constraint satisfaction problems

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Communications in Theoretical Physics 2022年第3期74卷 77-86页

作者： Chun-Yan zhao Yan-Rong fu Jin-Hua zhao College of Science University of Shanghai for Science and TechnologyShanghai 200093China Guangdong Provincial Key Laboratory of Nuclear Science Institute of Quantum MatterSouth China Normal UniversityGuangzhou 510006China Guangdong-Hong Kong Joint Laboratory of Quantum Matter Southern Nuclear Science Computing CenterSouth China Normal UniversityGuangzhou 510006China

Message passing algorithms,whose iterative nature captures complicated interactions among interconnected variables in complex systems and extracts information from the fixed point of iterated messages,provide a powerful toolkit in tackling hard computational tasks in optimization,inference,and learning *** the context of constraint satisfaction problems(CSPs),when a control parameter(such as constraint density)is tuned,multiple threshold phenomena emerge,signaling fundamental structural transitions in their solution *** solutions around these transition points is exceedingly challenging for algorithm design,where message passing algorithms suffer from a large message fiuctuation far from *** we introduce a residual-based updating step into message passing algorithms,in which messages with large variation between consecutive steps are given high priority in the updating *** the specific example of model RB(revised B),a typical prototype of random CSPs with growing domains,we show that our algorithm improves the convergence of message updating and increases the success probability in finding solutions around the satisfiability threshold with a low computational *** approach to message passing algorithms should be of value for exploring their power in developing algorithms to find ground-state solutions and understand the detailed structure of solution space of hard optimization problems.

关键词： constraint satisfaction problems model RB message passing algorithms residuals of messages

Regression model for civil aero-engine gas path parameter deviation based on deep domainadaptation with Res-BP neural network

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Chinese Journal of Aeronautics 2021年第1期34卷 79-90页

作者： Xingjie ZHOU Xuyun fu Minghang zhao Shisheng ZHONG Department of Mechanical Engineering Harbin Institute of Technology at WeihaiWeihai 264209China

The variations in gas path parameter deviations can fully reflect the healthy state of aeroengine gas path components and units;therefore,airlines usually take them as key parameters for monitoring the aero-engine gas path performance state and conducting fault *** the past,the airlines could not obtain deviations *** present,a data-driven method based on an aero-engine dataset with a large sample size can be utilized to obtain the ***,it is still difficult to utilize aero-engine datasets with small sample sizes to establish regression models for deviations based on deep neural *** obtain monitoring autonomy of each aero-engine model,it is crucial to transfer and reuse the relevant knowledge of deviation modelling learned from different aero-engine *** paper adopts the Residual-Back Propagation Neural Network(Res-BPNN)to deeply extract high-level features and stacks multi-layer Multi-Kernel Maximum Mean Discrepancy(MK-MMD)adaptation layers to map the extracted high-level features to the Reproduce Kernel Hilbert Space(RKHS)for discrepancy *** further reduce the distribution discrepancy of each aero-engine model,the method of maximizing domain-confusion loss based on an adversarial mechanism is introduced to make the features learned from different domains as close as possible,and then the learned features can be *** the above methods,domain-invariant features can be extracted,and the optimal adaptation effect can be ***,the effectiveness of the proposed method is verified by using cruise data from different civil aero-engine models and compared with other transfer learning algorithms.

关键词： Civil aero-engine Deep domain adaptation Domain confusion Neural networks Transfer learning

Christmas Tree-Shaped Microneedles as FOLFIRINOX Spatiotemporal Delivery System for Pancreatic Cancer Treatment

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Research 2023年第2期2022卷 177-186页

作者： Danqing Huang Xiao fu Xiaoxuan Zhang Yuanjin zhao Institute of Translational Medicine The Afiliated Drum Tower Hospital of Nanjing University Medical SchoolNanjing210002China Oujiang Laboratory(Zhejiang Lab for Regenerative Medicine Vision and Brain Health)Wenzhou InstituteUniversity of Chinese Academy of SciencesWenzhouZhejiang 325000China State Key Laboratory of Bioelectronics School of Biological Science and Medical EngineeringSoutheast UniversityNanjing 210096China

As an effective combination chemotherapy,FOLFIRINOX regimen(fluorouracil,leucovorin,irinotecan,and oxaliplatin)has shown definite antitumor eficacy for treating pancreatic cancer(PC)***,the traditional systematic admi... 详细信息

关键词： FOLFIRI chemotherapy Cancer

Magnetic Actuated Shape-memory Helical Microswimmers with Programmable Recovery Behaviors

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Journal of Bionic Engineering 2021年第4期18卷 799-811页

作者： fu zhao Weibin Rong Lefeng Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150080China

Inspired by bacterial flagella in nature,magnetic helical microswimmer is an ideal model to perform complex task in a low Reynolds number *** Memory Polymers(SMPs)with desirable properties are considered as one of the most preferred options for the development of small-scale ***,fabricating and programming strategies are still ***,we report an approach to fabricate helical microswimmers based on thermoplastic SMP(polylactic acid).Melt-spun polylactic acid fibers containing magnetic particles were enwound to form helical *** shape recovery behaviors were programmed by annealing and *** forms of helical microswimmers(constant-helix-angle conical helix,constant-pitch conical helix,and straight helix)with controlled morphological parameters were *** obtained microswimmers showed 3D locomotion capability under rotating magnetic *** maximum swimming velocity of microswimmers was nearly six body lengths per second,and the near-wall swimming of conical helixes along their sharp end exhibited a smaller ***,we demonstrated programmed shape-switching processes(spring-like contraction and elongation,coiling and uncoiling)and self-repairing of the *** demonstrations of potential applications,tasks of mobile microstent,cargo delivery,and minimally invasive injection were carried *** multifunctional shape-memory microswimmers have immense potential in a variety of applications.

关键词： helical microrobot magnetic actuation Shape Memory Polymer(SMP) polylactic acid magnetic particles