With its generality and practicality, the combination of partial charging curves and machine learning(ML) for battery capacity estimation has attracted widespread attention. However, a clear classification,fair compar...With its generality and practicality, the combination of partial charging curves and machine learning(ML) for battery capacity estimation has attracted widespread attention. However, a clear classification,fair comparison, and performance rationalization of these methods are lacking, due to the scattered existing studies. To address these issues, we develop 20 capacity estimation methods from three perspectives:charging sequence construction, input forms, and ML models. 22,582 charging curves are generated from 44 cells with different battery chemistry and operating conditions to validate the performance. Through comprehensive and unbiased comparison, the long short-term memory(LSTM) based neural network exhibits the best accuracy and robustness. Across all 6503 tested samples, the mean absolute percentage error(MAPE) for capacity estimation using LSTM is 0.61%, with a maximum error of only 3.94%. Even with the addition of 3 m V voltage noise or the extension of sampling intervals to 60 s, the average MAPE remains below 2%. Furthermore, the charging sequences are provided with physical explanations related to battery degradation to enhance confidence in their application. Recommendations for using other competitive methods are also presented. This work provides valuable insights and guidance for estimating battery capacity based on partial charging curves.展开更多
Ag nanowires(AgNWs)have shown great application value in the field of flexible electronics due to their excellent optical and electrical properties,and the quality of its joints of AgNWs in the thin film network direc...Ag nanowires(AgNWs)have shown great application value in the field of flexible electronics due to their excellent optical and electrical properties,and the quality of its joints of AgNWs in the thin film network directly plays a key role in its performance.In order to further improve the joint quality of AgNWs under thermal excitation,the thermal welding process and atomic evolution behavior of AgNWs were investigated through a combination of in situ experimental and molecular dynamics simulations.The influence of processing time,temperature,and stress distribution due to spatial arrangement on nanojoints was systematically explored.What is more,the failure mechanisms and their atomic interface behavior of the nanojoints were also investigated.展开更多
Complete relativistic corrections of an effective Hamiltonian for a single-particle system in an external electromagnetic field and their unitary equivalent form up to the order of mα^(8) are obtained.The derivation ...Complete relativistic corrections of an effective Hamiltonian for a single-particle system in an external electromagnetic field and their unitary equivalent form up to the order of mα^(8) are obtained.The derivation is based on two approaches applying Foldy-Wouthuysen(FW)transformation to the Dirac Hamiltonian for a particle in an external electromagnetic field.The results are consistent with the previous work at the mα^(6) and mα^(8) order correction[Phys.Rev.A 71012503(2005);Phys.Rev.A 100012513(2019)].We also further consider the effect of anomalous magnetic moments,namely,the Dirac-Pauli equation,and obtain FW-Hamiltonians at the same order.The results obtained can be used for the subsequent calculation of relativistic and radiation effects in simple atomic and molecular systems.展开更多
In this study, a three-dimensional (3D) in-situ laser machining system integrating laser measurement and machining was built using a 3D galvanometer scanner equipped with a side-axis industrial camera. A line structur...In this study, a three-dimensional (3D) in-situ laser machining system integrating laser measurement and machining was built using a 3D galvanometer scanner equipped with a side-axis industrial camera. A line structured light measurement model based on a galvanometer scanner was proposed to obtain the 3D information of the workpiece. A height calibration method was proposed to further ensure measurement accuracy, so as to achieve accurate laser focusing. In-situ machining software was developed to realize time-saving and labor-saving 3D laser processing. The feasibility and practicability of this in-situ laser machining system were verified using specific cases. In comparison with the conventional line structured light measurement method, the proposed methods do not require light plane calibration, and do not need additional motion axes for 3D reconstruction;thus they provide technical and cost advantages. The insitu laser machining system realizes a simple operation process by integrating measurement and machining,which greatly reduces labor and time costs.展开更多
Dynamic movement primitives(DMPs)as a robust and efcient framework has been studied widely for robot learning from demonstration.Classical DMPs framework mainly focuses on the movement learning in Cartesian or joint s...Dynamic movement primitives(DMPs)as a robust and efcient framework has been studied widely for robot learning from demonstration.Classical DMPs framework mainly focuses on the movement learning in Cartesian or joint space,and can’t properly represent end-efector orientation.In this paper,we present an extended DMPs framework(EDMPs)both in Cartesian space and 2-Dimensional(2D)sphere manifold for Quaternion-based orientation learning and generalization.Gaussian mixture model and Gaussian mixture regression(GMM-GMR)are adopted as the initialization phase of EDMPs to handle multi-demonstrations and obtain their mean and covariance.Additionally,some evaluation indicators including reachability and similarity are defned to characterize the learning and generalization abilities of EDMPs.Finally,a real-world experiment was conducted with human demonstrations,the endpoint poses of human arm were recorded and successfully transferred from human to the robot.The experimental results show that the absolute errors of the Cartesian and Riemannian space skills are less than 3.5 mm and 1.0°,respectively.The Pearson’s correlation coefcients of the Cartesian and Riemannian space skills are mostly greater than 0.9.The developed EDMPs exhibits superior reachability and similarity for the multi-space skills’learning and generalization.This research proposes a fused framework with EDMPs and GMM-GMR which has sufcient capability to handle the multi-space skills in multi-demonstrations.展开更多
Prostatic hyperplasia and tumor are common diseases,and the minimally invasive surgery inserting the instruments through the urethra into the prostate is commonly conducted.Taking the robotic manipulator for such surg...Prostatic hyperplasia and tumor are common diseases,and the minimally invasive surgery inserting the instruments through the urethra into the prostate is commonly conducted.Taking the robotic manipulator for such surgery into consideration,this paper analyses the workspace of the end effector,and proposes the distribution error of the fixed point and the tracking error of manipulator end effector on the cone bottom surface of the workspace as the basis for control implementation of the manipulator.The D-H coordinate system of the manipulator is established and the trajectory planning of the end effector in the Cartesian space is carried out.The digital model was established,and dynamics simulation was performed in Solidworks and Matlab/Simulink environment to guide the manipulator design.Trajectory mapping and synchronization control between virtual model and the actual manipulator are realized based on digital twin technique.The virtual manipulator can reflect the real-time state of the manipulator with data interaction by comparing the dynamics simulation results with the motor current values obtained by experiment.Experiment was carried out with PD feedback control and Newton-Euler dynamics based feedforward control to get the trajectory tracking characteristic of each motor,errors of the fixed point and tracking performance of the end effector of the manipulator.The results show that compared with PD feedback control,feed forward control implementation can achieve a reduction of 30.0%in the average error of the fixed point of the manipulator and a reduction of 33.3%in the maximum error.展开更多
Analytical formulas for the static multipole polarizabilities of hydrogen-like ions are derived by using the analytical wave functions and the reduced Green function and by applying a numerical fitting procedure.Our r...Analytical formulas for the static multipole polarizabilities of hydrogen-like ions are derived by using the analytical wave functions and the reduced Green function and by applying a numerical fitting procedure.Our results are then applied to the studies of blackbody radiation shifts to atomic energy levels at different temperatures.Our analytical results can be served as a benchmark for other theoretical methods.展开更多
Ceramic structural parts are one of the most widely utilized structural parts in the industry. However, they usually contain defects following the pressing process, such as burrs. Therefore, additional trimming is usu...Ceramic structural parts are one of the most widely utilized structural parts in the industry. However, they usually contain defects following the pressing process, such as burrs. Therefore, additional trimming is usually required, despite the deformation challenges and difficulty in positioning. This paper proposes an ultrafast laser processing system for trimming complex ceramic structural parts. Opto-electromechanical cooperative control software is developed to control the laser processing system. The trimming problem of the ceramic cores used in aero engines is studied. The regional registration method is introduced based on the iterative closest point algorithm to register the path extracted from the computer-aided design model with the deformed ceramic core. A zonal and layering processing method for three-dimensional contours on complex surfaces is proposed to generate the working data of high-speed scanning galvanometer and the computer numerical control machine tool, respectively. The results show that the laser system and the method proposed in this paper are suitable for trimming complex non-datum parts such as ceramic cores. Compared with the results of manual trimming, the method proposed in this paper has higher accuracy, efficiency, and yield. The method mentioned above has been used in practical application with satisfactory results.展开更多
基金supported by the National Natural Science Foundation of China (52075420)the National Key Research and Development Program of China (2020YFB1708400)。
文摘With its generality and practicality, the combination of partial charging curves and machine learning(ML) for battery capacity estimation has attracted widespread attention. However, a clear classification,fair comparison, and performance rationalization of these methods are lacking, due to the scattered existing studies. To address these issues, we develop 20 capacity estimation methods from three perspectives:charging sequence construction, input forms, and ML models. 22,582 charging curves are generated from 44 cells with different battery chemistry and operating conditions to validate the performance. Through comprehensive and unbiased comparison, the long short-term memory(LSTM) based neural network exhibits the best accuracy and robustness. Across all 6503 tested samples, the mean absolute percentage error(MAPE) for capacity estimation using LSTM is 0.61%, with a maximum error of only 3.94%. Even with the addition of 3 m V voltage noise or the extension of sampling intervals to 60 s, the average MAPE remains below 2%. Furthermore, the charging sequences are provided with physical explanations related to battery degradation to enhance confidence in their application. Recommendations for using other competitive methods are also presented. This work provides valuable insights and guidance for estimating battery capacity based on partial charging curves.
基金supported by National Natural Science Foundation of China(Grant Nos.52022078 and 51875450)Shaanxi Provincial Key Research and Development Program(Grant No.2021ZDLGY10-02)the fund of the State Key Laboratory of Solidification Processing in NPU,(Grant No.SKLSP202203)。
文摘Ag nanowires(AgNWs)have shown great application value in the field of flexible electronics due to their excellent optical and electrical properties,and the quality of its joints of AgNWs in the thin film network directly plays a key role in its performance.In order to further improve the joint quality of AgNWs under thermal excitation,the thermal welding process and atomic evolution behavior of AgNWs were investigated through a combination of in situ experimental and molecular dynamics simulations.The influence of processing time,temperature,and stress distribution due to spatial arrangement on nanojoints was systematically explored.What is more,the failure mechanisms and their atomic interface behavior of the nanojoints were also investigated.
基金supported by the National Natural Science Foundation of China(Grant Nos.12074295 and 12104420)。
文摘Complete relativistic corrections of an effective Hamiltonian for a single-particle system in an external electromagnetic field and their unitary equivalent form up to the order of mα^(8) are obtained.The derivation is based on two approaches applying Foldy-Wouthuysen(FW)transformation to the Dirac Hamiltonian for a particle in an external electromagnetic field.The results are consistent with the previous work at the mα^(6) and mα^(8) order correction[Phys.Rev.A 71012503(2005);Phys.Rev.A 100012513(2019)].We also further consider the effect of anomalous magnetic moments,namely,the Dirac-Pauli equation,and obtain FW-Hamiltonians at the same order.The results obtained can be used for the subsequent calculation of relativistic and radiation effects in simple atomic and molecular systems.
文摘In this study, a three-dimensional (3D) in-situ laser machining system integrating laser measurement and machining was built using a 3D galvanometer scanner equipped with a side-axis industrial camera. A line structured light measurement model based on a galvanometer scanner was proposed to obtain the 3D information of the workpiece. A height calibration method was proposed to further ensure measurement accuracy, so as to achieve accurate laser focusing. In-situ machining software was developed to realize time-saving and labor-saving 3D laser processing. The feasibility and practicability of this in-situ laser machining system were verified using specific cases. In comparison with the conventional line structured light measurement method, the proposed methods do not require light plane calibration, and do not need additional motion axes for 3D reconstruction;thus they provide technical and cost advantages. The insitu laser machining system realizes a simple operation process by integrating measurement and machining,which greatly reduces labor and time costs.
基金Supported by National Natural Science Foundation of China(Grant No.52175029)Key Industrial Chain Projects of Shaanxi Province(Grant No.2018ZDCXL-GY-06-05).
文摘Dynamic movement primitives(DMPs)as a robust and efcient framework has been studied widely for robot learning from demonstration.Classical DMPs framework mainly focuses on the movement learning in Cartesian or joint space,and can’t properly represent end-efector orientation.In this paper,we present an extended DMPs framework(EDMPs)both in Cartesian space and 2-Dimensional(2D)sphere manifold for Quaternion-based orientation learning and generalization.Gaussian mixture model and Gaussian mixture regression(GMM-GMR)are adopted as the initialization phase of EDMPs to handle multi-demonstrations and obtain their mean and covariance.Additionally,some evaluation indicators including reachability and similarity are defned to characterize the learning and generalization abilities of EDMPs.Finally,a real-world experiment was conducted with human demonstrations,the endpoint poses of human arm were recorded and successfully transferred from human to the robot.The experimental results show that the absolute errors of the Cartesian and Riemannian space skills are less than 3.5 mm and 1.0°,respectively.The Pearson’s correlation coefcients of the Cartesian and Riemannian space skills are mostly greater than 0.9.The developed EDMPs exhibits superior reachability and similarity for the multi-space skills’learning and generalization.This research proposes a fused framework with EDMPs and GMM-GMR which has sufcient capability to handle the multi-space skills in multi-demonstrations.
基金Supported by National Natural Science Foundation of China(Grant No.51675400).
文摘Prostatic hyperplasia and tumor are common diseases,and the minimally invasive surgery inserting the instruments through the urethra into the prostate is commonly conducted.Taking the robotic manipulator for such surgery into consideration,this paper analyses the workspace of the end effector,and proposes the distribution error of the fixed point and the tracking error of manipulator end effector on the cone bottom surface of the workspace as the basis for control implementation of the manipulator.The D-H coordinate system of the manipulator is established and the trajectory planning of the end effector in the Cartesian space is carried out.The digital model was established,and dynamics simulation was performed in Solidworks and Matlab/Simulink environment to guide the manipulator design.Trajectory mapping and synchronization control between virtual model and the actual manipulator are realized based on digital twin technique.The virtual manipulator can reflect the real-time state of the manipulator with data interaction by comparing the dynamics simulation results with the motor current values obtained by experiment.Experiment was carried out with PD feedback control and Newton-Euler dynamics based feedforward control to get the trajectory tracking characteristic of each motor,errors of the fixed point and tracking performance of the end effector of the manipulator.The results show that compared with PD feedback control,feed forward control implementation can achieve a reduction of 30.0%in the average error of the fixed point of the manipulator and a reduction of 33.3%in the maximum error.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.11674253,11474316,and 91636216)。
文摘Analytical formulas for the static multipole polarizabilities of hydrogen-like ions are derived by using the analytical wave functions and the reduced Green function and by applying a numerical fitting procedure.Our results are then applied to the studies of blackbody radiation shifts to atomic energy levels at different temperatures.Our analytical results can be served as a benchmark for other theoretical methods.
基金the National Key R&D Program of China(Grant No.2016YFB1102500)the Key R&D Project in Shaanxi Province(Grant No.2019ZDLGY01-07)the Science and Technology Program of Jiangsu Province,China(Grant No.SBK2019041271).
文摘Ceramic structural parts are one of the most widely utilized structural parts in the industry. However, they usually contain defects following the pressing process, such as burrs. Therefore, additional trimming is usually required, despite the deformation challenges and difficulty in positioning. This paper proposes an ultrafast laser processing system for trimming complex ceramic structural parts. Opto-electromechanical cooperative control software is developed to control the laser processing system. The trimming problem of the ceramic cores used in aero engines is studied. The regional registration method is introduced based on the iterative closest point algorithm to register the path extracted from the computer-aided design model with the deformed ceramic core. A zonal and layering processing method for three-dimensional contours on complex surfaces is proposed to generate the working data of high-speed scanning galvanometer and the computer numerical control machine tool, respectively. The results show that the laser system and the method proposed in this paper are suitable for trimming complex non-datum parts such as ceramic cores. Compared with the results of manual trimming, the method proposed in this paper has higher accuracy, efficiency, and yield. The method mentioned above has been used in practical application with satisfactory results.
