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Your search keyword '"Lin, Shusen"' showing total 132 results
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132 results on '"Lin, Shusen"'

1. Optimal Scene Graph Planning with Large Language Model Guidance

Author

Dai, Zhirui, Asgharivaskasi, Arash, Duong, Thai, Lin, Shusen, Tzes, Maria-Elizabeth, Pappas, George, and Atanasov, Nikolay

Subjects
Data Management and Data Science, Information and Computing Sciences, Artificial Intelligence
Published
2024

2. Optimal Scene Graph Planning with Large Language Model Guidance

Author

Dai, Zhirui, Asgharivaskasi, Arash, Duong, Thai, Lin, Shusen, Tzes, Maria-Elizabeth, Pappas, George, and Atanasov, Nikolay

Subjects
Computer Science - Robotics
Abstract

Recent advances in metric, semantic, and topological mapping have equipped autonomous robots with semantic concept grounding capabilities to interpret natural language tasks. This work aims to leverage these new capabilities with an efficient task planning algorithm for hierarchical metric-semantic models. We consider a scene graph representation of the environment and utilize a large language model (LLM) to convert a natural language task into a linear temporal logic (LTL) automaton. Our main contribution is to enable optimal hierarchical LTL planning with LLM guidance over scene graphs. To achieve efficiency, we construct a hierarchical planning domain that captures the attributes and connectivity of the scene graph and the task automaton, and provide semantic guidance via an LLM heuristic function. To guarantee optimality, we design an LTL heuristic function that is provably consistent and supplements the potentially inadmissible LLM guidance in multi-heuristic planning. We demonstrate efficient planning of complex natural language tasks in scene graphs of virtualized real environments.

Published
2023

17. Precise and coordinated gearshift control for AMT gearshift system equipped with two linear actuators

Author

Lin Shusen, Li Bo, Tang Min, and Wang Libiao

Subjects
automated manual transmission, linear actuator, linear extended state observer, coordinated control, gearshift, Materials of engineering and construction. Mechanics of materials, TA401-492
Abstract

A type of automated manual transmission gearshift system that uses two linear actuators to perform gearshift events is presented. The shifting mechanism can be made simpler by using linear actuator to drive the shift fork directly. The mathematical model of the actuator is built and analyzed. Coordinated control of the engagement and disengagement processes is created based on a detailed analysis of the gearshift process in order to shorten the shift time. The force characteristics test reveals the nonlinear output characteristics. The precise displacement control need for coordinated control and stable control requirement for the shifting operation are satisfied by a linear extended state observer based controller. To verify the novel gearshift system and the control method, a test bench and control system are constructed. The results of the simulations indicate that the displacement control's accuracy is enhanced. As the speed difference reaches 500 r/min, the testing results demonstrate a noticeably reduced of shift force fluctuation and jerk generated during the gearshift process, from 20 m/s3 to 3.1 m/s3. With the improved gearshift system and control method, the gearshift coordinated control can also save 25 ms of shift time.

Published
2024
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37. Higher Water‐Splitting Performance of Boron‐Based Porous CoMnB Electrocatalyst over the Benchmarks at High Current in 1 m KOH and Real Sea Water (Adv. Sustainable Syst. 9/2022)

Author

Lin, Shusen, primary, Habib, Md Ahasan, additional, Mandavkar, Rutuja, additional, Kulkarni, Rakesh, additional, Burse, Shalmali, additional, Chung, Young‐Uk, additional, Liu, Changsheng, additional, Wang, Zilin, additional, Lin, Shiwei, additional, Jeong, Jae‐Hun, additional, and Lee, Jihoon, additional

Published
2022
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46. MoS 2 Nanoplatelets on Hybrid Core-Shell (HyCoS) AuPd NPs for Hybrid SERS Platform for Detection of R6G.

Author

Lin, Shusen, Mandavkar, Rutuja, Burse, Shalmali, Habib, Md Ahasan, Khalid, Tasmia, Joni, Mehedi Hasan, Chung, Young-Uk, Kunwar, Sundar, and Lee, Jihoon

Subjects
*SURFACE plasmon resonance, *SERS spectroscopy, *NANOPARTICLES, *CHARGE transfer
Abstract

In this work, a novel hybrid SERS platform incorporating hybrid core-shell (HyCoS) AuPd nanoparticles (NPs) and MoS2 nanoplatelets has been successfully demonstrated for strong surface-enhanced Raman spectroscopy (SERS) enhancement of Rhodamine 6G (R6G). A significantly improved SERS signal of R6G is observed on the hybrid SERS platform by adapting both electromagnetic mechanism (EM) and chemical mechanism (CM) in a single platform. The EM enhancement originates from the unique plasmonic HyCoS AuPd NP template fabricated by the modified droplet epitaxy, which exhibits strong plasmon excitation of hotspots at the nanogaps of metallic NPs and abundant generation of electric fields by localized surface plasmon resonance (LSPR). Superior LSPR results from the coupling of distinctive AuPd core-shell NP and high-density background Au NPs. The CM enhancement is associated with the charge transfer from the MoS2 nanoplatelets to the R6G. The direct contact via mixing approach with optimal mixing ratio can effectively facilitate the charges transfer to the HOMO and LUMO of R6G, leading to the orders of Raman signal amplification. The enhancement factor (EF) for the proposed hybrid platform reaches ~1010 for R6G on the hybrid SERS platform. [ABSTRACT FROM AUTHOR]

Published
2023
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