arXiv subjects

Xueyu Zhang

Publications and source records attributed to Xueyu Zhang.

4 recordsLinked to original sources

arXiv2025

Inversion of biological strategies in engineering technology: in case underwater soft robot

This paper proposes a biomimetic design framework based on biological strategy inversion, aiming to systematically map solutions evolved in nature to the engineering field. By constructing a "Function-Behavior-Feature-Environment" (F-B-Cs in E) knowledge model, combined with natural language processing (NLP) and multi-criteria decision-making methods, it achieves efficient conversion from biological strategies to engineering solutions. Using underwater soft robot design as a case study, the effectiveness of the framework in optimizing drive mechanisms, power distribution, and motion pattern design is verified. This research provides scalable methodological support for interdisciplinary biomimetic innovation.

cs.RO↗

arXiv2025

Feature Selection Based on Reinforcement Learning and Hazard State Classification for Magnetic Adhesion Wall-Climbing Robots

Magnetic adhesion tracked wall-climbing robots face potential risks of overturning during high-altitude operations, making their stability crucial for ensuring safety. This study presents a dynamic feature selection method based on Proximal Policy Optimization (PPO) reinforcement learning, combined with typical machine learning models, aimed at improving the classification accuracy of hazardous states under complex operating conditions. Firstly, this work innovatively employs a fiber rod-based MEMS attitude sensor to collect vibration data from the robot and extract high-dimensional feature vectors in both time and frequency domains. Then, a reinforcement learning model is used to dynamically select the optimal feature subset, reducing feature redundancy and enhancing classification accuracy. Finally, a CNN-LSTM deep learning model is employed for classification and recognition. Experimental results demonstrate that the proposed method significantly improves the robot's ability to assess hazardous states across various operational scenarios, providing reliable technical support for robotic safety monitoring.

cs.RO↗

arXiv2024

Improved ICNN-LSTM Model Classification Based on Attitude Sensor Data for Hazardous State Assessment of Magnetic Adhesion Climbing Wall Robots

Magnetic adhesion tracked climbing robots are widely utilized in high-altitude inspection, welding, and cleaning tasks due to their ability to perform various operations against gravity on vertical or inclined walls. However, during operation, the robot may experience overturning torque caused by its own weight and load, which can lead to the detachment of magnetic plates and subsequently pose safety risks. This paper proposes an improved ICNN-LSTM network classification method based on Micro-Electro-Mechanical Systems (MEMS) attitude sensor data for real-time monitoring and assessment of hazardous states in magnetic adhesion tracked climbing robots. Firstly, a data acquisition strategy for attitude sensors capable of capturing minute vibrations is designed. Secondly, a feature extraction and classification model combining an Improved Convolutional Neural Network (ICNN) with a Long Short-Term Memory (LSTM) network is proposed. Experimental validation demonstrates that the proposed minute vibration sensing method achieves significant results, and the proposed classification model consistently exhibits high accuracy compared to other models. The research findings provide effective technical support for the safe operation of climbing robots

cs.RO↗

arXiv2016

The role of spin fluctuations in the conductivity of CrO$_2$

We present a time-resolved terahertz spectroscopic study of the half-metallic ferromagnet CrO$_2$. The ultrafast conductivity dynamics excited by an optical pump displays a very short (several picoseconds) and a very long (several hundred picoseconds) characteristic time scales. We attribute the former to the electron-phonon relaxation and the latter to the spin-lattice relaxation. We use this distinction to quantify the relative contribution of the scattering by spin fluctuations to the resistivity of CrO$_2$: we find that they contribute less than one half of all scattering events below room temperature. This contribution rises to $\sim70$ % as the temperature approaches $T_C$=390 K. The small effect of spin fluctuations on the resistivity is unexpected in the light of the proposed double-exchange nature of the electronic and magnetic properties of CrO$_2$.

cond-mat.str-el↗