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Journal of Bionic Engineering 2024年第1期21卷 112-125页

作者： Chuanku Yi Xuechao Chen Yu Zhang Zhangguo Yu Haoxiang Qi Yaliang Liu Qiang Huang School of Mechatronical Engineering Beijing Institute of TechnologyZizhuyaunHaidianBeijing 100081China beijing advanced innovation center for intelligent robots and systems Beijing Institute of Tec

There are many theories and tools for human or robot motion simulation,but most of them require complex *** LNZN model(a simplified model named by the proposers)simplifies the human model and facilitates simulation of the Ground Reaction Force(GRF)of body landing by spring damping model and ignoring joint rotation movements,which can reduce the amount of computation *** this paper,the LNZN model of human running is selected as the basis and is modified to obtain the LNZN model of a robot,which expands the application of the LNZN *** to the structure of the human foot,a foot structure is then added to the simplified model to reduce the *** also applied driving forces to the new model to simulate the whole high jump motion of the robot to expand the functions of the LNZN *** obtained GRF data were anastomotic to the actual experimental *** addition,the effects of variables,such as the mass,hardness,and damping,of the foot on the GRF at the moment of landing were also ***,based on the guidelines obtained for the design of the robot’s foot structure,we fabricated new robot’s feet and installed them on the actual robot and achieved a better cushioning effect than the original foot in experiments.

关键词： LNZN model-GRF simulation Humanoid foot structure Foot parameters

A high-sensitive and self-selective humanoid mechanoreceptor for spatiotemporal tactile stimuli cognition

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Nano Research 2024年第5期17卷 4400-4409页

作者： Shuxin Bi Xuan Zhao Fangfang Gao Xiaochen Xun Bin Zhao Liangxu Xu Tian Ouyang Qingliang Liao Yue Zhang Academy for advanced Interdisciplinary Science and Technology Beijing Advanced Innovation Center for Materials Genome EngineeringUniversity of Science and Technology(Beijing)Beijing 100083China Key Laboratory of advanced Materials and Devices for Post-Moore Chips Ministry of EducationBeijing Key Laboratory for Advanced Energy Materials and TechnologiesSchool of Materials Science and EngineeringUniversity of Science and Technology BeijingBeijing 100083China

The cognition of spatiotemporal tactile stimuli,including fine spatial stimuli and static/dynamic temporal stimuli,is paramount for intelligent robots to feel their surroundings and complete manipulation ***,current tactile sensors have restrictions on simultaneously demonstrating high sensitivity and performing selective responses to static/dynamic stimuli,making it a challenge to effectively cognize spatiotemporal tactile ***,we report a high-sensitive and self-selective humanoid mechanoreceptor(HMR)that can precisely respond to spatiotemporal tactile *** HMR with PDMS/chitosan@CNTs(PDMS:polydimethylsiloxane;CNT:carbon nanotube)graded microstructures and polyurethane hierarchical porous spacer exhibits high sensitivity of 3790.8 kPa^(-1).The HMR demonstrates self-selective responses to static and dynamic stimuli with mono signal through the hybrid of piezoresistive and triboelectric ***,it can respond to spatiotemporal tactile stimuli and generate distinguishable and multi-type characteristic *** the assistance of the convolutional neural network,multiple target objects can be easily identified with a high accuracy of 99.1%.This work shows great potential in object precise identification and dexterous manipulation,which is the basis of intelligent robots and natural human-machine interactions.

关键词： mechanoreceptors self-selective high-sensitive spatiotemporal tactile stimuli cognition sensors

Advances in sodium-ion batteries at low-temperature: Challenges and strategies

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Journal of Energy Chemistry 2024年第3期90卷 518-539,I0012页

作者： Haoran Bai Xiaohui Zhu Huaisheng Ao Guangyu He Hai Xiao Yinjuan Chen Key Laboratory of advanced Catalytic Materials and Technology Advanced Catalysis and Green Manufacturing Collaborative Innovation CenterChangzhou UniversityChangzhou 213164JiangsuChina Department of Chemistry Tsinghua UniversityBeijing 100084China

With the continuing boost in the demand for energy storage,there is an increasing requirement for batteries to be capable of operation in extreme environmental ***-ion batteries(SIBs) have emerged as a highly promising energy storage solution due to their promising performance over a wide range of temperatures and the abundance of sodium resources in the earth's *** to lithiumion batteries(LIBs),although sodium ions possess a larger ionic radius,they are more easily desolvated than lithium *** rthermore,SIBs have a smaller Stokes radius than lithium ions,resulting in improved sodium-ion mobility in the ***,SIBs demonstrate a significant decrease in performance at low temperatures(LT),which constrains their operation in harsh weather *** the increasing interest in SIBs,there is a notable scarcity of research focusing specifically on their mechanism under LT *** review explores recent research that considers the thermal tolerance of SIBs from an inner chemistry process perspective,spanning a wide temperature spectrum(-70 to100℃),particularly at LT *** addition,the enhancement of electrochemical performance in LT SIBs is based on improvements in reaction kinetics and cycling stability achieved through the utilization of effective electrode materials and electrolyte ***,the safety concerns associated with SIBs are addressed and effective strategies are proposed for mitigating these ***,prospects conducted to extend the environmental frontiers of commercial SIBs are discussed mainly from three viewpoints including innovations in materials,development and research of relevant theoretical mechanisms,and intelligent safety management system establishment for larger-scale energy storage SIBs.

关键词： Low-temperature Sodium-ion batteries Reaction kinetics Cycle stability Safety concerns of Sodium-ion batteries

Industry-Oriented Detection Method of PCBA Defects Using Semantic Segmentation Models

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1438-1446页

作者： Yang Li Xiao Wang Zhifan He Ze Wang Ke Cheng Sanchuan Ding Yijing Fan Xiaotao Li Yawen Niu Shanpeng Xiao Zhenqi Hao Bin Gao Huaqiang Wu Department of Internet of Things Technology and Application China Mobile Research InstituteBeijing 100053China beijing advanced innovation center for Integrated Circuits the School of Integrated CircuitTsinghua UniversityBeijing 100084China SigmaStar Technology Limited Xiamen 361199China IEEE

Automated optical inspection(AOI)is a significant process in printed circuit board assembly(PCBA)production lines which aims to detect tiny defects in *** AOI equipment has several deficiencies including low throughput,large computation cost,high latency,and poor flexibility,which limits the efficiency of online PCBA *** this paper,a novel PCBA defect detection method based on a lightweight deep convolution neural network is *** this method,the semantic segmentation model is combined with a rule-based defect recognition algorithm to build up a defect detection *** improve the performance of the model,extensive real PCBA images are collected from production lines as *** optimization methods have been applied in the model according to production demand and enable integration in lightweight computing *** results show that the production line using our method realizes a throughput more than three times higher than traditional *** method can be integrated into a lightweight inference system and pro-mote the flexibility of *** proposed method builds up a general paradigm and excellent example for model design and optimization oriented towards industrial requirements.

关键词： Automated optical inspection(AOI) deep learning defect detection printed circuit board assembly(PCBA) semantic segmentation.

Method for the fruit tree recognition and navigation in complex environment of an agricultural robot

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International Journal of Agricultural and Biological Engineering 2024年第2期17卷 221-229页

作者： Xiaolin Xie Yuchao Li Lijun Zhao Xin Jin Shengsheng Wang Xiaobing Han College of Agricultural Equipment Engineering Henan University of Science and TechnologyLuoyang 471003HenanChina Collaborative innovation center of Machinery Equipment advanced Manufacturing of Henan Province Luoyang 471003HenanChina Longmen Laboratory Luoyang 471003HenanChina College of intelligent and Manufacturing Engineering Chongqing University of Arts and SciencesChongqing 402160China

To realize the visual navigation of agricultural robots in the complex environment of orchards,this study proposed a method for fruit tree recognition and navigation based on *** YOLOv5s model was selected and trained to identify the trunks of the left and right rows of fruit trees;the quadratic curve was fitted to the bottom center of the fruit tree recognition box,and the identified fruit trees were divided into left and right columns by using the extreme value point of the quadratic curve to obtain the left and right rows of fruit trees;the straight-line equation of the left and right fruit tree rows was further solved,the median line of the two straight lines was taken as the expected navigation path of the robot,and the path tracing navigation experiment was carried out by using the improved LQR control *** experimental results show that under the guidance of the machine vision system and guided by the improved LQR control algorithm,the lateral error and heading error can converge quickly to the desired navigation path in the four initial states of[0 m,−0.34 rad],[0.10 m,0.34 rad],[0.15 m,0 rad]and[0.20 m,−0.34 rad].When the initial speed was 0.5 m/s,the average lateral error was 0.059 m and the average heading error was 0.2787 rad for the navigation trials in the four different initial *** average driving was 5.3 m into the steady state,the average value of steady state lateral error was 0.0102 m,the average value of steady state heading error was 0.0253 rad,and the average relative error of the robot driving along the desired navigation path was 4.6%.The results indicate that the navigation algorithm proposed in this study has good robustness,meets the operational requirements of robot autonomous navigation in orchard environment,and improves the reliability of robot driving in orchard.

关键词： fruit tree recognition visual navigation YOLOv5 complex environments orchards

Transcriptomic analysis of Andrias davidianus meat and experimental validation for exploring its bioactive components as functional foods

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Food Science and Human Wellness 2024年第1期13卷 166-172页

作者： Changge Guan Zhenglin Tan Shucheng Li Yi Wang Naoyuki Yamamoto Chong Zhang Songjun Wang Junjie Chen Xinhui Xing Key Laboratory for Industrial Biocatalysis Ministry of Education of ChinaDepartment of Chemical EngineeringTsinghua UniversityBeijing 100084China School of Life Science and Technology Tokyo Institute of TechnologyYokohama 226-0026Japan Sensing system Research center National Institute of Advanced Industrial Science and TechnologyTsukuba 305-8565Japan center for Synthetic and systems Biology Tsinghua UniversityBeijing 100084China Henan Giant Salamander Protection and Development Association Luoyang 471000China intelligent Computing Research center Harbin Institute of TechnologyShenzhen 518071China Institute of Biopharmaceutical and Health Engineering Tsinghua Shenzhen International Graduate SchoolShenzhen 518055China Institute of Biomedical Health Technology and Engineering Shenzhen Bay LaboratoryShenzhen 518067China

Andrias davidianus(Chinese giant salamander,CGS)is the largest and oldest extant amphibian species in the world and is a source of prospective functional food in ***,the progress of functional peptides mining was slow due to lack of reference genome and protein sequence *** this study,we illustrated full-length transcriptome sequencing to interpret the proteome of CGS meat and obtain 10703 coding DNA *** functional annotation and amino acid composition analysis,we have discovered various genes related to signal transduction,and 16 genes related to *** have also found vast variety of functional peptides through protein coding sequence(CDS)analysis by comparing the data obtained with the functional peptide ***-Pro-Ile predicted by the CDS analysis was released from the CGS meat through enzymatic hydrolysis,suggesting that our approach is *** study suggested that transcriptomic analysis can be used as a reference to guide polypeptide mining in CGS meat,thereby providing a powerful mining strategy for the bioresources with unknown genomic and proteomic sequences.

关键词： Chinese giant salamander Transcriptomic analysis Bioactive components Functional peptides mining

An Integrated Carbon Dioxide Capture and Methanation Process

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CCS Chemistry 2024年第5期6卷 1174-1183页

作者： Xiaochen Zhang Mengzhu Li Xingwu Liu Ang Li Yuchen Deng Mi Peng Yu Zhang Charlotte Vogt Matteo Monai Junxian Gao Xuetao Qin Yao Xu Qiaolin Yu Meng Wang Guofu Wang Zheng Jiang Xiaodong Han Casper Brady Wei-Xue Li Wu Zhou Jin-Xun Liu Bingjun Xu Bert M.Weckhuysen Ding Ma beijing National Laboratory for Molecular Sciences College of Chemistry and Molecular EngineeringPeking UniversityBeijing 100871 China Academy of Aerospace Science and innovation Beijing 100088 National Energy center for Coal to Liquids Synfuels China Co.Ltd.Beijing 101400 beijing Key Laboratory of Microstructure and Property of advanced Materials Beijing University of TechnologyBeijing Inorganic Chemistry and Catalysis group Institute for Sustainable and Circular Chemistry and Debye Institute for Nanomaterials ScienceFaculty of ScienceUtrecht University3584 CG Utrecht State Key Laboratory of Coal Conversion Institute of Coal ChemistryChinese Academy of SciencesTaiyuan 030001 Shanghai Synchrotron Radiation Facility Zhangjiang LadShanghai Advanced Research InstituteChinese Academy of SciencesShanghai 201210 center for Catalytic Science and Technology University of DelawareNewarkDelaware 19716 Key Laboratory of Precision and intelligent Chemistry School of Chemistry and Materials ScienceUniversity of Science and Technology of ChinaHefeiAnhui 230026 Hefei National Laboratory University of Science and Technology of ChinaHefei 230088 School of Physical Sciences CAS Key Laboratory of Vacuum PhysicsUniversity of Chinese Academy of SciencesBeijing 100049

Reducing the ever-growing level of CO_(2)in the atmosphere is critical for the sustainable development of human society in the context of global *** of the capture and upgrading of CO_(2)is,therefore,highly desirable since each process step is costly,both energetically and ***,we report a CO_(2)direct air capture(DAC)and fixation process that produces *** concentrations of CO_(2)(∼400 ppm)in the air are captured by an aqueous solution of sodium hydroxide to form *** carbonate is subsequently hydrogenated to methane,which is easily separated from the reaction system,catalyzed by TiO2-supported Ru in the aqueous phase with a selectivity of 99.9%among gas-phase *** concurrent regenerated hydroxide,in turn,increases the alkalinity of the aqueous solution for further CO_(2)capture,thereby enabling this one-ofits-kind continuous CO_(2)capture and methanation *** simulations demonstrate the energy feasibility of this CO_(2)DAC and methanation process,highlighting its promise for potential largescale applications.

关键词： CO_(2)capture and methanation process sodium hydroxide carbonate Ru/TiO_(2) catalytic mechanism CO_(2)activation and hydrogenation

A state of art review on time series forecasting with machine learning for environmental parameters in agricultural greenhouses

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Information Processing in Agriculture 2024年第2期11卷 143-162页

作者： Gedi Liu Keyang Zhong Huilin Li Tao Chen Yang Wang National innovation center for Digital Fishery China Agricultural University100083 BeijingChina Key Laboratory of Smart Farming Technologies for Aquatic Animal and Livestock Ministry of Agriculture and Rural AffairsChina Agricultural University100083 BeijingChina beijing Engineering and Technology Research center for Internet of Things in Agriculture China Agricultural University100083 BeijingChina College of Information and Electrical Engineering China Agricultural University100083 BeijingChina Department of Chemical and Process Engineering University of SurreyGU27XH GuildfordUnited Kingdom

Agricultural greenhouse production has to require a stable and acceptable environment,it is therefore essential for future greenhouse production to obtain full and precisely internal dynamic environment *** modeling based on machine learning methods,e.g.,intelligent time series prediction modeling,is a popular and suitable way to solve the above *** this article,a systematic literature review on applying advanced time series models has been systematically conducted via a detailed analysis and evaluation of 61 pieces selected from 221 *** historical process of time series model application from the use of data and information strategies was first ***,the accuracy and generalization of the model from the selection of model parameters and time steps,providing a new perspective for model development in this field,were compared and ***,the systematic review results demonstrate that,compared with traditional models,deep neural networks could increase data structure mining capabilities and overall information simulation capabilities through innovative and effective structures,thereby it could also broaden the selection range of environmental parameters for agricultural facilities and achieve environmental prediction end-to-end optimization via intelligent time series model based on deep neural networks.

关键词： Horticultural greenhouse environment Time series algorithms Prediction Deep neural networks

6D pose annotation and pose estimation method for weak-corner objects under low-light conditions

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Science China(Technological Sciences) 2023年第3期66卷 630-640页

作者： JIANG ZhiHong CHEN JinHong JING YaMan HUANG Xiao LI Hui School of Mechatronic Engineering Beijing Institute of TechnologyBeijing 100081China beijing advanced innovation center for intelligent robots and systems Beijing 100081China Key Laboratory of Biomimetic robots and systems Ministry of EducationBeijing 100081China

In unstructured environments such as disaster sites and mine tunnels,it is a challenge for robots to estimate the poses of objects under complex lighting backgrounds,which limit their *** to the shadows produced by a point light source,the brightness of the operation scene is seriously unbalanced,and it is difficult to accurately extract the features of *** is especially difficult to accurately label the poses of objects with weak corners and *** study proposes an automatic pose annotation method for such objects,which combine 3D-2D matching projection and rendering technology to improve the efficiency of dataset annotation.A 6D object pose estimation method under low-light conditions(LP_TGC)is then proposed,including(1)a light preprocessing neural network model based on a low-light preprocessing module(LPM)to balance the brightness of a picture and improve its quality;and(2)a 6D pose estimation model(TGC)based on the keypoint *** typical datasets are constructed to verify our method,the experimental results validated and demonstrated the effectiveness of the proposed LP_TGC *** estimation model based on the preprocessed image can accurately estimate the pose of the object in the mentioned unstructured environments,and it can improve the accuracy by an average of~3%based on the ADD metric.

关键词： 6D object pose estimation 6D pose annotation low-light conditions

Design and fabrication of a gecko-inspired surface for improving the grasping ability of a humanoid dexterous hand

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Science China(Technological Sciences) 2023年第3期66卷 784-792页

作者： JIANG ZhiHong SHEN MingHui MA YiFan CHE JiangTao LI Hui School of Mechatronic Engineering Beijing Institute of TechnologyBeijing 100081China beijing advanced innovation center for intelligent robots and systems Beijing 100081China Key Laboratory of Biomimetic robots and systems Ministry of EducationBeijing 100081China China Electronics Standardization Institute Beijing 100007China

Many studies have examined the design,fabrication and characteristics of gecko-inspired adhesives,but applied research on gecko-inspired surfaces in humanoid dexterous hands is relatively ***,a wedged slanted structure with a curved substrate suitable for humanoid dexterous fingers was designed and manufactured via ultraprecision machining and replica *** adhesion and friction properties of the wedged slanted structure show obvious anisotropic characteristics in the gripping and releasing directions,and the influence of structural parameters and motion parameters on the adhesion and friction was systematically *** humanoid dexterous fingers with gecko-inspired surfaces greatly increased the grasping force limit(increase to 4.02 times)based on the grasping of measuring cups with different volumes of water and improved the grasping stability based on the picking up of smooth steel balls of different *** study shows that this process,based on ultraprecision machining and replica molding,is a green,high-efficiency,and low-cost method to fabricate large-area biomimetic surfaces that has potential applications in dexterous humanoid hands to improve grasping ability,stability and adaptability.

关键词： gecko-inspired surface curved substrate ultraprecision machining friction humanoid dexterous hand