arXiv subjects

Shengmin Zhang

Publications and source records attributed to Shengmin Zhang.

9 recordsLinked to original sources

arXiv2024

Revolutionizing Battery Disassembly: The Design and Implementation of a Battery Disassembly Autonomous Mobile Manipulator Robot(BEAM-1)

The efficient disassembly of end-of-life electric vehicle batteries(EOL-EVBs) is crucial for green manufacturing and sustainable development. The current pre-programmed disassembly conducted by the Autonomous Mobile Manipulator Robot(AMMR) struggles to meet the disassembly requirements in dynamic environments, complex scenarios, and unstructured processes. In this paper, we propose a Battery Disassembly AMMR(BEAM-1) system based on NeuralSymbolic AI. It detects the environmental state by leveraging a combination of multi-sensors and neural predicates and then translates this information into a quasi-symbolic space. In real-time, it identifies the optimal sequence of action primitives through LLM-heuristic tree search, ensuring high-precision execution of these primitives. Additionally, it employs positional speculative sampling using intuitive networks and achieves the disassembly of various bolt types with a meticulously designed end-effector. Importantly, BEAM-1 is a continuously learning embodied intelligence system capable of subjective reasoning like a human, and possessing intuition. A large number of real scene experiments have proved that it can autonomously perceive, decide, and execute to complete the continuous disassembly of bolts in multiple, multi-category, and complex situations, with a success rate of 98.78%. This research attempts to use NeuroSymbolic AI to give robots real autonomous reasoning, planning, and learning capabilities. BEAM-1 realizes the revolution of battery disassembly. Its framework can be easily ported to any robotic system to realize different application scenarios, which provides a ground-breaking idea for the design and implementation of future embodied intelligent robotic systems.

cs.RO↗

arXiv2024

New characterizations for supersolvability of fusion system and $p$-nilpotency of finite groups

Let $p$ be a prime, $S$ be a $p$-group and $\mathcal{F}$ be a saturated fusion system over $S$. Then $\mathcal{F}$ is said to be supersolvable, if there exists a series of $S$, namely $1 = S_0 \leq S_1 \leq \cdots \leq S_n = S$, such that $S_{i+1}/S_i$ is cyclic, $i=0,1,\cdots, n-1$, $S_i$ is strongly $\mathcal{F}$-closed, $i=0,1,\cdots,n$. In this paper, we investigate the characterizations for supersolvability of $\mathcal{F}_S (G)$ under the assumption that certain subgroups of $G$ satisfy different kinds of generalized normalities in section \ref{1003}. Moreover, we obtain the more advanced and remarkable result of characterizations for generalized saturated fusion system $\mathcal{F}$ in section \ref{Section 4}. Finally, we apply the results in section \ref{1003} and \ref{Section 4} and give characterizations for $p$-nilpotency of finite groups under the assumption that some subgroups of $G$ satisfy different kinds of generalized normalities.

math.GR↗

arXiv2024

A new characterization of $E_8 (p)$ via its vanishing elements

Let $G$ be a finite group, and $g \in G$. Then $g$ is said to be a vanishing element of $G$, if there exists an irreducible character $\chi$ of $G$ such that $\chi (g)=0$. Denote by ${\rm Vo} (G)$ the set of the orders of vanishing elements of $G$. We say a non-abelian group $G$ is V-recognizable, if any group $N$ with ${\rm Vo} (N) = {\rm Vo} (G)$ is isomorphic to $G$. In this paper, we investigate the V-recognizability of $E_8 (p)$, where $p$ is a prime number. As an application, among the 610 primes $p$ with $p<10000$ and $p \equiv 0,1,4\,(\!\!\!\mod 5)$, we obtain that the method is always valid for confirming the V-recognizability of $E_8 (p)$ for all such $p$ but $ 919,1289,1931,3911,4691,5381$ and $7589 $.

math.GR↗

arXiv2023

On generalized covering and avoidance properties of finite groups and saturated fusion systems

A subgroup $A$ of a finite group $G$ is said to be a $CAP$-subgroup of $G$, if for any chief factor $H/K$ of $G$, either $A H= AK$ or $A\cap H = A \cap K$. Let $p$ be a prime, $S$ be a $p$-group and $\mathcal{F}$ be a saturated fusion system over $S$. Then $\mathcal{F}$ is said to be supersolvable, if there exists a series of $S$, namely $1 = S_0 \leq S_1 \leq \cdots \leq S_n = S$, such that $S_{i+1}/S_i$ is cyclic, and $S_i$ is strongly $\mathcal{F}$-closed for any $i=0,1,\cdots,n$. In this paper, we first introduce the concept of strong $p$-$CAP$-subgroups, and investigate the structure of finite groups under the assumptions that some subgroups of $G$ are partial $CAP$-subgroups or strong $(p)$-$CAP$-subgroups of $G$, and obtain some criteria for a group $G$ to be $p$-supersolvable. After that, we investigate the characterizations for supersolvability of $\mathcal{F}_S (G)$ under the assumptions that some subgroups of $G$ are partial $CAP$-subgroups or strong $(p)$-$CAP$-subgroups of $G$, and obtain some criteria for a fusion system $\mathcal{F}_S (G)$ to be supersolvable. The above results improve some known results and develop some new results about $CAP$-subgroups from fusion systems.

math.GR↗

arXiv2023

The influence of weakly $S\Phi$-supplemented subgroups on fusion systems of finite groups

Let $G$ be a finite group and $H$ be a subgroup of $G$. Then $H$ is called a weakly $S\Phi$-supplemented subgroup of $G$, if there exists a subgroup $T$ of $G$ such that $G =HT$ and $H \cap T \leq \Phi (H) H_{sG}$, where $H_{sG}$ denotes the subgroup of $H$ generated by all subgroups of $H$ which are $S$-permutable in $G$. Let $p$ be a prime, $S$ be a $p$-group and $\mathcal{F}$ be a saturated fusion system over $S$. Then $\mathcal{F}$ is said to be supersolvable, if there exists a series of $S$, namely $1 = S_0 \leq S_1 \leq \cdots \leq S_n = S$, such that $S_{i+1}/S_i$ is cyclic, $i=0,1,\cdots, n-1$, $S_i$ is strongly $\mathcal{F}$-closed, $i=0,1,\cdots,n$. In this paper, we investigate the structure of fusion system $\mathcal{F}_S (G)$ under the assumption that certain subgroups of $S$ are weakly $S\Phi$-supplemented in $G$, and obtain several new characterizations of supersolvability of $\mathcal{F}_S (G)$.

math.GR↗

arXiv2023

On the $ICPC$-property of finite subgroups

Let $G$ be a finite group and $A$ be a subgroup of $G$. Then $A$ is called a $p$-$CAP$-subgroup of $G$, if $A$ covers or avoids every $pd$-chief factor of $G$. A subgroup $H$ of $G$ is said to be an $ICPC$-subgroup of $G$, if $H \cap [H,G] \leq H_{pcG}$, where $H_{pcG}$ is a $p$-$CAP$-subgroup of $G$ contained in $H$. In this paper, we investigate the structure of $G$ under the assumption that certain subgroups are $ICPC$-subgroups of $G$, and characterization of $p$-nilpotency and other results are obtained.

math.GR↗

arXiv2023

On the $ICSPC$-property of finite subgroups

Let $G$ be a finite group and $H$ be a subgroup of $G$. Then $H$ is said to be a $p$-$CAP$-subgroup of $G$, if $H$ covers or avoids any $pd$-chief factor of $G$. Furthermore, $H$ is said to be a strong $p$-$CAP$-subgroup of $G$, if for any $H \leq K \leq G$, $H$ is a $p$-$CAP$-subgroup of $K$. A subgroup $L$ is called an $ICSPC$-subgroup of $G$, if $[L,G] \cap L \leq L_{spcG}$, where $L_{spcG}$ denotes a strong $p$-$CAP$-subgroup of $G$ contained in $L$. In this paper, we investigate the structure of $G$ under the assumption that certain subgroups of $G$ are $ICSPC$-subgroups of $G$. Characterizations for $p$-nilpotency and solvably saturated formation are obtained. We also get several criteria for the structure of $G$ under the assumption that certain subgroups of $G$ are $ICSPC$-subgroups of $G$.

math.GR↗

arXiv2023

On the finite solvable $PNC$-groups

A subgroup $H$ of a finite group $G$ is said to be an NC-subgroup of $G$, if $ H^G N_G (H) =G$, where $H^G$ denotes the normal closure of $H$ in $G$. A finite group $G$ is called a PNC-group, if any subgroup of $G$ is an NC-subgroup of $G$, and $G$ is said to be an ON-group, if for any subgroup $H$ of $G$, either $N_G (H)=H,\,H^G=G$, or $H \unlhd G$. In this paper, we firstly investigate the basic properties of solvable PNC-groups, and then give several sufficient conditions for $G$ to be a solvable PNC-group. In the end of this paper, we discover some characterizations for minimal non-ON-groups, ON-groups, non-abelian simple groups whose second maximal subgroups are solvable PNC-groups and groups whose proper (maximal) subgroups are solvable PNC-groups.

math.GR↗

arXiv2022

Autonomous Electric Vehicle Battery Disassembly Based on NeuroSymbolic Computing

The booming of electric vehicles demands efficient battery disassembly for recycling to be environment-friendly. Due to the unstructured environment and high uncertainties, battery disassembly is still primarily done by humans, probably assisted by robots. It is highly desirable to design autonomous solutions to improve work efficiency and lower human risks in high voltage and toxic environments. This paper proposes a novel framework of the NeuroSymbolic task and motion planning method to disassemble batteries in an unstructured environment using robots automatically. It enables robots to independently locate and disassemble battery bolts, with or without obstacles. This study not only provides a solution for intelligently disassembling electric vehicle batteries but also verifies its feasibility through a set of test results with the robot accomplishing the disassembly tasks in a complex and dynamic environment.

cs.RO↗