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IEEE/CAA Journal of Automatica Sinica 2024年第12期11卷 2463-2475页

作者： haotian liu Yuchuang Tong Zhengtao Zhang CAS Engineering Laboratory for Intelligent Industrial Vision Institute of Automation Chinese Academy of Sciences the School of Artificial Intelligence University of Chinese Academy of Sciences IEEE

Image acquisition stands as a prerequisite for scrutinizing surfaces inspection in industrial high-end *** imaging systems often exhibit inflexibility, being confined to specific objects and encountering difficulties with diverse industrial structures lacking standardized computer-aided design(CAD) models or in instances of deformation. Inspired by the multidimensional observation of humans, our study introduces a universal image acquisition paradigm tailored for robotics, seamlessly integrating multi-objective optimization trajectory planning and control scheme to harness measured point clouds for versatile, efficient, and highly accurate image acquisition across diverse structures and scenarios. Specifically, we introduce an energybased adaptive trajectory optimization(EBATO) method that combines deformation and deviation with dual-threshold optimization and adaptive weight adjustment to improve the smoothness and accuracy of imaging trajectory and posture. Additionally, a multi-optimization control scheme based on a meta-heuristic beetle antennal olfactory recurrent neural network(BAORNN) is proposed to track the imaging trajectory while addressing posture, obstacle avoidance, and physical constraints in industrial scenarios. Simulations, real-world experiments, and comparisons demonstrate the effectiveness and practicality of the proposed paradigm.

关键词： Industrial robotics human observation-inspired meta-heuristic recurrent neural network motion planning and control universal image acquisition

Advancements in Humanoid Robots: A Comprehensive Review and Future Prospects

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 301-328页

作者： Yuchuang Tong haotian liu Zhengtao Zhang IEEE CAS Engineering Laboratory for Intelligent Industrial Vision Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China

This paper provides a comprehensive review of the current status, advancements, and future prospects of humanoid robots, highlighting their significance in driving the evolution of next-generation industries. By analyzing various research endeavors and key technologies, encompassing ontology structure,control and decision-making, and perception and interaction, a holistic overview of the current state of humanoid robot research is presented. Furthermore, emerging challenges in the field are identified, emphasizing the necessity for a deeper understanding of biological motion mechanisms, improved structural design,enhanced material applications, advanced drive and control methods, and efficient energy utilization. The integration of bionics, brain-inspired intelligence, mechanics, and control is underscored as a promising direction for the development of advanced humanoid robotic systems. This paper serves as an invaluable resource, offering insightful guidance to researchers in the field,while contributing to the ongoing evolution and potential of humanoid robots across diverse domains.

关键词： Future trends and challenges humanoid robots human-robot interaction key technologies potential applications

Universal time delay in static spherically symmetric spacetimes for null and timelike signals

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Chinese Physics C 2021年第8期45卷 28-35页

作者： haotian liu Junji Jia MOE Key Laboratory of Artificial Micro-and Nano-structures School of Physics and TechnologyWuhan UniversityWuhan 430072China

A perturbative method of computing the total travel time of both null and lightlike rays in arbitrary static spherically symmetric spacetimes in the weak field limit is *** resultant total time takes a quasi-series form of the impact *** coefficient of this series at a certain order n is shown to be determined by the asymptotic expansion of the metric functions to the order n+*** the leading order(s),the time delay,as well as the difference between the time delays of two types of relativistic signals,is shown to take a universal form for all SSS *** universal form depends on the mass M and a post-Newtonian parameter γ of the *** analytical result is numerically verified using the central black hole of galaxy M87 as the gravitational lensing center.

关键词： time delay static spherically symmetric gravitational lensing timelike geodesics

气相色谱-离子迁移谱技术在食品真实性鉴别中的应用研究进展

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食品科学 2025年第1期46卷 227-236页

作者：张碧莹隋雨萌张鑫李永杰孔保华刘昊天陈倩东北农业大学食品学院黑龙江哈尔滨150030

气相色谱-离子迁移谱是一种灵敏的检测、鉴别和监测不同基质中痕量物质的分析技术,能够通过气相色谱和离子迁移谱对分析物质进行二次快速分离和高精准定性。由于气相色谱-离子迁移谱具有环保、使用便捷、操作简单及适用于工业大量连续... 详细信息

气相色谱-离子迁移谱是一种灵敏的检测、鉴别和监测不同基质中痕量物质的分析技术,能够通过气相色谱和离子迁移谱对分析物质进行二次快速分离和高精准定性。由于气相色谱-离子迁移谱具有环保、使用便捷、操作简单及适用于工业大量连续检测等优点,近年来逐渐成为食品真实性鉴别的热门分析技术。本文主要介绍气相色谱-离子迁移谱的类型、结构、工作原理和分析方法,重点综述其在食品真实性鉴别中的应用,以期为食品真实性问题的解决提供理论参考。

关键词：气相色谱-离子迁移谱真实性鉴别食品应用

Hierarchical model updating strategy of complex assembled structures with uncorrelated dynamic modes

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Chinese Journal of Aeronautics 2022年第3期35卷 281-296页

作者： Chengwei FEI haotian liu Rhea PATRICIA LIEM Yatsze CHOY Lei HAN Department of Aeronautics and Astronautics Fudan UniversityShanghai 200433China Department of Mechanical and Aerospace Engineering Hong Kong University of Science and TechnologyHong Kong 999077China Department of Mechanical Engineering Hong Kong Polytechnic UniversityHong Kong 999077China

In structural simulation and design,an accurate computational model directly determines the effectiveness of performance *** establish a high-fidelity dynamic model of a complex assembled structure,a Hierarchical Model Updating Strategy(HMUS)is developed for Finite Element(FE)model updating with regard to uncorrelated *** principle of HMUS is first elaborated by integrating hierarchical modeling concept,model updating technology with proper uncorrelated mode treatment,and parametric *** the developed strategy,the correct correlated mode pairs amongst the uncorrelated modes are identified by an error minimization *** proposed updating technique is validated by the dynamic FE model updating of a simple fixed–fixed *** proposed HMUS is then applied to the FE model updating of an aeroengine stator system(casings)to demonstrate its *** studies reveal that(A)parametric modeling technique is able to build an efficient equivalent model by simplifying complex structure in geometry while ensuring the consistency of mechanical characteristics;(B)the developed model updating technique efficiently processes the uncorrelated modes and precisely identifies correct Correlated Mode Pairs(CMPs)between FE model and experiment;(C)the proposed HMUS is accurate and efficient in the FE model updating of complex assembled structures such as aeroengine casings with large-scale model,complex geometry,high-nonlinearity and numerous parameters;(D)it is appropriate to update a complex structural FE model *** efforts of this study provide an efficient updating strategy for the dynamic model updating of complex assembled structures with experimental test data,which is promising to promote the precision and feasibility of simulation-based design optimization and performance evaluation of complex structures.

关键词： Aeroengine casings Assembled structures Correlated mode pair Hierarchical model updating Objective function Uncorrelated modes

Dynamic parametric modeling-based model updating strategy of aeroengine casings

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Chinese Journal of Aeronautics 2021年第12期34卷 145-157页

作者： Chengwei FEI haotian liu Shaolin LI Huan LI Liqiang AN Cheng LU Department of Aeronautics and Astronautics Fudan UniversityShanghai 200433China School of Energy and Power Engineering Beihang UniversityBeijing 100083China Beijing Key Laboratory of Aero-Engine Structure and Strength Beijing 100083China Department of Mechanical Engineering North China Electric Power UniversityBaoding 071003China

For accurate Finite Element(FE)modeling for the structural dynamics of aeroengine casings,Parametric Modeling-based Model Updating Strategy(PM-MUS)is proposed based on efficient FE parametric modeling and model updating techniques regarding uncorrelated/correlated mode *** structure is parametrically modeled by simplifying initial structural FE model and equivalently simulating mechanical *** modes between FE model and experiment are reasonably handled by adopting an objective function to recognize correct correlated modes *** parametrized FE model is updated to effectively describe structural dynamic characteristics in respect of testing *** model updating technology is firstly validated by the detailed FE model updating of one fixed–fixed beam structure in light of correlated/uncorrelated mode shapes and measured mode *** PM-MUS is applied to the FE parametrized model updating of an aeroengine stator system(casings)which is constructed by the proposed parametric modeling *** revealed in this study,(A)the updated models by the proposed updating strategy and dynamic test data is accurate,and(B)the uncorrelated modes like close modes can be effectively handled and precisely identify the FE model mode associated the corresponding experimental mode,and(C)parametric modeling can enhance the dynamic modeling updating of complex structure in the accuracy of mode *** efforts of this study provide an efficient dynamic model updating strategy(PM-MUS)for aeroengine casings by parametric modeling and experimental test data regarding uncorrelated modes.

关键词： Aeroengine casings Correlated mode pair Model updating Parametric modeling Structural dynamics Uncorrelated modes

Whole-process design and experimental validation of landing gear lower drag stay with global/local linked driven optimization strategy

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Chinese Journal of Aeronautics 2021年第2期34卷 318-328页

作者： Chengwei FEI haotian liu Zhengzheng ZHU Liqiang AN Shaolin LI Cheng LU Department of Aeronautics and Astronautics Fudcm UniversityShanghai 200433China School of Aeronautics Northwestern Polytechnical UniversityXi'an 710072Xi'anChina Department of Mechanical Engineering North China Electric Power UniversityBaoding 071003China School of Energy and Power Engineering Beihang UniversityBeijing 100083China Beijing Key Laboratory of Aero-Engine Structure and Strength Beijing 100083China

Landing gear lower drag stay is a key component which connects fuselage and landing gear and directly effects the safety and performance of aircraft takeoff and landing. To effectively design the lower drag stay and reduce the weight of landing gear, Global/local Linked Driven Optimization Strategy(GLDOS) was developed to conduct the overall process design of lower drag stay in respect of optimization thought. The whole-process optimization involves two stages of structural conceptual design and detailed design. In the structural conceptual design, the landing gear lower drag stay was globally topologically optimized by adopting multiple starting points algorithm. In the detailed design, the local size and shape of landing gear lower drag stay were globally optimized by the gradient optimization strategy. The GLDOS method adopts different optimization strategies for different optimization stages to acquire the optimum design effect. Through the experimental validation, the weight of the optimized lower dray stay with the developed GLDOS is reduced by 16.79% while keeping enough strength and stiffness, which satisfies the requirements of engineering design under the typical loading conditions. The proposed GLDOS is validated to be accurate and efficient in optimization scheme and design cycles. The efforts of this paper provide a whole-process optimization approach regarding different optimization technologies in different design phases, which is significant in reducing structural weight and enhance design tp wid 1 precision for complex structures in aircrafts.

关键词： Global/local linked driven optimization Landing gear Lower drag stay Optimization Whole-process design

Deep insight into the B-cell associated tertiary lymphoid structure and tumor immunotherapy

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Cancer Biology & Medicine 2024年第2期21卷 125-131页

作者： Jilong Yang Jin Xu haotian liu Wanyi Xiao Gengpu Zhang Department of Bone and Soft Tissue Tumor Tianjin Medical University Cancer Institute&HospitalNational Clinical Research Center for CancerKey Laboratory of Cancer Prevention and TherapyTianjinTianjin’s Clinical Research Center for CancerKey Laboratory of Molecular Cancer EpidemiologyTianjin 300060China Department of Anaesthesiology Tianjin University Tianjin HospitalTianjin 300211China

Bod et al.1 recently published a study in Nature that garnered attention to B cell-associated anti-tumor immunity and immunotherapy of melanoma and other *** a promising supplemental immunotherapy to mainstream method... 详细信息

关键词： immunotherapy immunity

Reinforcement Learning with Enhanced Safety for Optimal Dispatch of Distributed Energy Resources in Active Distribution Networks

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Journal of Modern Power Systems and Clean Energy 2024年第5期12卷 1484-1494页

作者： Xu Yang haotian liu Wenchuan Wu Qi Wang Peng Yu Jiawei Xing Yuejiao Wang the State Key Laboratory of Power Systems Department of Electrical EngineeringTsinghua UniversityBeijing 100084China the State Grid Shandong Electric Power Company Jinan 250000China

As numerous distributed energy resources(DERs)are integrated into the distribution networks,the optimal dispatch of DERs is more and more imperative to achieve transition to active distribution networks(ADNs).Since accurate models are usually unavailable in ADNs,an increasing number of reinforcement learning(RL)based methods have been proposed for the optimal dispatch ***,these RL based methods are typically formulated without safety guarantees,which hinders their application in real *** this paper,we propose an RL based method called supervisor-projector-enhanced safe soft actor-critic(S3AC)for the optimal dispatch of DERs in ADNs,which not only minimizes the operational cost but also satisfies safety constraints during online *** the proposed S3AC,the data-driven supervisor and projector are pre-trained based on the historical data from supervisory control and data acquisition(SCADA)system,effectively providing enhanced safety for executed *** studies on several IEEE test systems demonstrate the effectiveness and safety of the proposed S3AC.

关键词： Reinforcement learning(RL) safety constraint optimal dispatch active distribution network(ADN) distributed energy resource(DER)

Fatigue Analysis of Liquefied Petroleum Gas Cylinders for Safety Risk Assessment

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Journal of Shanghai Jiaotong university(Science) 2020年第3期25卷 394-397页

作者： ZHOU Feng liu haotian LA Jiankai School of Mechanical Engineering Dalian Jiaotong UniversityDalian 116028LiaoningChina

With the widespread application of liquefied petroleum gas (LPG),the safety of LPG cylinder has received more and more *** the safety of LPG cylinder,we conduct a safety risk assessment of cylinder using the failure mode and effect analysis (FMEA) *** the most influential inflatable fatigue under normal conditions as the research object,we use FE-safe software to analyze the fatigue *** risk compliance coefficients of various failure modes are calculated and classified according to the risk *** this way,the service life of the LPG cylinder weld is *** presented method improves the safety risk assessment process of LPG cylinder and provides a good theoretical and practical basis for similar pressure vessel risk assessment.

关键词： liquefied petroleum gas(LPG)cylinder safety risk assessment failure mode and effect analysis(FMEA) fatigue analysis