A5101576507- Civil and Geotechnical Engineering Research
- Topic Modeling
- Natural Language Processing Techniques
- Grouting, Rheology, and Soil Mechanics
- Geotechnical Engineering and Soil Stabilization
- Advanced Measurement and Metrology Techniques
- Multimodal Machine Learning Applications
- Robot Manipulation and Learning
- Robotics and Sensor-Based Localization
- Manufacturing Process and Optimization
- Advanced machining processes and optimization
- Gaze Tracking and Assistive Technology
- Geotechnical Engineering and Analysis
- Teleoperation and Haptic Systems
- Power Line Inspection Robots
- Industrial Vision Systems and Defect Detection
- Cryospheric studies and observations
- Arctic and Antarctic ice dynamics
- Robotic Path Planning Algorithms
- Image and Object Detection Techniques
- Web Data Mining and Analysis
- Recycled Aggregate Concrete Performance
- Advanced Image and Video Retrieval Techniques
- Indoor and Outdoor Localization Technologies
- Climate change and permafrost
Tsinghua University
2024-2025
Beihang University
2016-2023
City College
2014
We present WebGLM, a web-enhanced question-answering system based on the General Language Model (GLM). Its goal is to augment pre-trained large language model (LLM) with web search and retrieval capabilities while being efficient for real-world deployments. To achieve this, we develop WebGLM strategies LLM-augmented retriever, bootstrapped generator, human preference-aware scorer. Specifically, identify address limitations of WebGPT (OpenAI), through which enabled accuracy, efficiency,...
Large language models (LLMs) have fueled many intelligent web agents, but most existing ones perform far from satisfying in real-world navigation tasks due to three factors: (1) the complexity of HTML text data (2) versatility actions on webpages, and (3) task difficulty open-domain nature web. In light these challenges, we develop open AutoWebGLM based ChatGLM3-6B. can serve as a powerful automated agent that outperform GPT-4. Inspired by human browsing patterns, first design an...
We present WebGLM, an enhanced LLM-based retrieval question-answering system based on the ChatGLM3-6B, offering significant improvements over previous systems. aim to augment a pre-trained large language model (LLM) with web search and reliable capabilities while being efficient for real-world deployments. Leveraging LLM’s in-context learning ability robust filter strategy, we create high-quality training dataset address hallucination issue self-check mechanism. Our base model, excels in...
Purpose Aiming at the problems of geometric precision misalignment and unconsidered physical constraints between large components during measurement-assisted assembly, a self-adaptive alignment strategy based on dynamic compliance center (DCC) is proposed in this paper, using force information to guide compliantly. Design/methodology/approach First, process described, its geometrical mechanical characteristics are analyzed six-dimensional force/torque (F/T). The setting method DCC studied...
In cabin-type component alignment, digital measurement technology is usually adopted to provide guidance for assembly. Depending on the system of measurement, alignment process can be divided into measurement-assisted assembly (MAA) and force-driven MAA, relative pose between components directly measured guide assembly, while in only contact state recognized according six-dimensional force torque (6D F/T) completed based preset strategy. Aiming improve efficiency this paper proposed a...
This paper presents the implementation of an autonomous aerial manipulation using a hexacopter equipped with two DOF robotic arm. The kinematic and dynamic models are developed by considering characteristics combined platform. A novel adaptive sliding mode controller is proposed for both position velocity control. By building SSD (Single Shot Detection) deep neural network based on learning, object detection solution developed. three dimensional coordinates target relative to multirotor...
With the development of digital measurement technology and flexible pose adjustment technology, assisted assembly (MAA) is adopted in large component alignment process to ensure quality. Aiming optimize improve quality, this paper proposes a feature-based optimization method. Firstly, constraint model based on feature elaborated illustrates relationship between feature, characteristic relative components. Secondly, an method introduced, which calculates coordination mating characteristics...
Global Localization in indoor environment remains a challenging problem since the is always sparse and similar. At startup stage of robot, particle filter algorithm, widely used localization method, may converge particles to several different positions because similar structures environment, resulting failures. In this paper, global method combining maximum likelihood estimation (MLE) single shot detector (SSD) detection network proposed. Firstly, we build an dataset consisting 10 classes...
A high speed railway foundation with a thick top sand layer overlying muck was treated three methods respectively: both the and being by pre-stressed concrete pipe pile geogrid on (PP foundation), only jet grouting (JP dynamic compaction (DC foundation). Based in-suit test data measured during construction of embankment, settlement characteristics were analysed. The results show that when choosing treatment method, not load level geological feature should be paid attention to, but also aim...
During the shallow-buried tunnel excavation, formation will be affected and nearby buildings caused fracture. By using three dimensional software MIDAS/GTS, interactions among structures-soil-tunnel system is considered in this paper, working condition of underground excavation simulated independent foundation frame structures. It indicated that building tilt to side as horizontal distance L between tunnels increasing, after reaching certain distance, influence tends little, at same time,...
Cabin alignment usually adopts manual assembly method and has shown a trend towards automation with the development of digital measurement technology 6D position adjustment technology. Aiming to improve quality efficiency cabin alignment, this paper proposed force-driven human-robot cooperative approach analyzed its adaptive motion control method. Firstly, mechanism was elaborated force/torque calculating introduced. Secondly, an presented, which could recognize dimensions desired adjust...