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Grasp Detection with Hierarchical Multi-Scale Feature Fusion and Inverted Shuffle Residual

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Tsinghua Science and Technology 2024年第1期29卷 244-256页

作者： Wenjie Geng zhiqiang cao Peiyu Guan Fengshui Jing Min Tan Junzhi Yu State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China

Grasp detection plays a critical role for robot *** pixel-wise grasp detection networks with encoder-decoder structure receive much attention due to good accuracy and ***,they usually transmit the high-level feature in the encoder to the decoder,and low-level features are *** is noted that low-level features contain abundant detail information,and how to fully exploit low-level features remains ***,the channel information in high-level feature is also not well ***,the performance of grasp detection is *** solve these problems,we propose a grasp detection network with hierarchical multi-scale feature fusion and inverted shuffle *** low-level and high-level features in the encoder are firstly fused by the designed skip connections with attention module,and the fused information is then propagated to corresponding layers of the decoder for in-depth feature *** a hierarchical fusion guarantees the quality of grasp ***,an inverted shuffle residual module is created,where the high-level feature from encoder is split in channel and the resultant split features are processed in their respective *** such differentiation processing,more high-dimensional channel information is kept,which enhances the representation ability of the ***,an information enhancement module is added before the encoder to reinforce input *** proposed method attains 98.9%and 97.8%in image-wise and object-wise accuracy on the Cornell grasping dataset,respectively,and the experimental results verify the effectiveness of the method.

关键词： grasp detection hierarchical multi-scale feature fusion skip connections with attention inverted shuffle residual

A high precision two-axis GMR angular sensor manufactured by post-annealing

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Science China(Information Sciences) 2024年第6期67卷 465-466页

作者： Zitong ZHOU zhiqiang cao Shaohua YAN Xiaolong WANG Libo XIE Shiyang LU Dapeng ZHU Qunwen LENG Weisheng ZHAO School of Integrated Circuit Science and Engineering Beihang University Beihang Qingdao Microelectronics Research Institute Beihang University National Key Lab of Spintronics Institute of International InnovationBeihang University

Angle sensors are widely used in numerous fields such as industry,military,medical care,and the Internet of Things(IoT)[1].Magnetoresistance angle sensors have become a mainstream approach for angle measurement becaus... 详细信息

关键词： Annealing

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间歇式信息传输条件下无人机搜索覆盖规划

系统工程与电子技术 2024年第1期46卷 152-161页

作者：曹志强张佳辛斌北京理工大学自动化学院北京100081

在基站通信范围受限条件下,若无人机(unmanned aerial vehicle,UAV)执行覆盖搜索任务时经常返回至基站通信范围内实现间歇式信息传输,能够扩展其覆盖区域和提高执行任务的灵活性。为最小化所有环境位点信息传回基站的时间之和,需解决覆... 详细信息

在基站通信范围受限条件下,若无人机(unmanned aerial vehicle,UAV)执行覆盖搜索任务时经常返回至基站通信范围内实现间歇式信息传输,能够扩展其覆盖区域和提高执行任务的灵活性。为最小化所有环境位点信息传回基站的时间之和,需解决覆盖规划和间歇式通信时机选择的耦合问题。在覆盖的目标点较少且分散时,采用改进的层次聚类方法求解每次往返需要覆盖的路径点集合。在需要进行区域全覆盖时,则在求解完区域的覆盖路径后,以最小化时间之和为目标,对目标函数进行分析,确定最优返回次数的搜索范围,压缩解空间。对该搜索范围进行遍历搜索得到最优往返次数,然后利用遗传算法优化UAV返回位点。与前沿算法对比,所提算法在目标函数和覆盖路径质量上具有一定的提升。

关键词：通信耦合层次聚类解空间压缩遗传算法

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作为媒介物的档案:媒介本体论研究思潮下的理论考察

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档案与建设 2024年第9期 36-41页

作者：曹志强上海大学文化遗产与信息管理学院上海200444

文章通过梳理具身性、物质性与可供性在媒介研究领域的具体范式,反思其思想内核在档案学研究中的延展,总结出“身体—物质—社会”多元媒介认知框架并从身体与物质的技术性联结、物质与社会的生产性配置、社会与身体的规范性互构三方面... 详细信息

文章通过梳理具身性、物质性与可供性在媒介研究领域的具体范式,反思其思想内核在档案学研究中的延展,总结出“身体—物质—社会”多元媒介认知框架并从身体与物质的技术性联结、物质与社会的生产性配置、社会与身体的规范性互构三方面提出档案作为一种媒介物存在的形成基础、功能形态与意义生产。挖掘近现代媒介本体论研究思潮中的理论资源可为厘清档案与媒介关系以及重新认识档案提供思想启发。

关键词：档案本质本体论档案哲学媒介物

Opinion on the recent development of environmentally friendly marine anti-fouling coating

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Science China(Technological Sciences) 2016年第12期59卷 1968-1970页

作者： WANG Wei cao zhiqiang Department of Chemical Engineering and Materials Science College of EngineeringWayne State University

Marine biofouling is a global problem that is detrimental to both moving ships and static underwater *** microorganisms tend to attach to any unprotected surface and grow into biofilm,which can be hardly removed even under high shear flow condition[1].With the long-term accumulation of marine organisms,ships suffer significantly from the increase on the net weight as well as the drag when *** drag causes fuel power penalties of up to86%at cruising speed;it is notable even a very thin layer

关键词： fouling biofilm suffer friendly removed Marine hardly attach ships underwater

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三维重建结合人工血管应用于自体肾移植术治疗医源性输尿管损伤1例及文献复习

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泌尿外科杂志（电子版） 2024年第1期16卷 83-86页

作者：余东阳曹志强仪陇县人民医院泌尿外科四川南充637600

报告利用三维重建结合人工血管应用于自体肾移植术治疗医源性输尿管损伤患者1例。患者女,62岁,右侧输尿管损伤4个月后于中国医科大学附属盛京医院入院治疗。对该患者增强CT资料做三维影像数据处理,结果显示其右上输尿管完全撕脱且右肾... 详细信息

报告利用三维重建结合人工血管应用于自体肾移植术治疗医源性输尿管损伤患者1例。患者女,62岁,右侧输尿管损伤4个月后于中国医科大学附属盛京医院入院治疗。对该患者增强CT资料做三维影像数据处理,结果显示其右上输尿管完全撕脱且右肾静脉较短。后腹腔镜下见肾周严重粘连,取肾难度较大,遂转为开放手术,因其右肾静脉较短,故采用人工血管重建肾静脉,自体移植肾术顺利完成。术中热缺血时间3 min,冷缺血时间2 h 55 min,失血量约为400 ml。术后随访患者移植肾功能良好,生活质量明显改善。在有丰富肾移植术经验的中心,三维重建结合人工血管应用于自体肾移植术治疗医源性输尿管损伤具有可行性。

关键词：三维重建人工血管医源性输尿管损伤自体肾移植术

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MEASUREMENT AND ANALYSIS OF MAGNETIC FIELDS OF ELECTROMAGNETIC CASTING ALUMINUM ALLOYS

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Transactions of Nonferrous Metals Society of China 1996年第1期6卷 100-105页

作者： cao zhiqiang Zhang Xingguo Jin Junze Research Center of Foundry Engineering Dalian University of TechnologyDalian 116024

Results of magnetic field investigation in a Kaiser type caster show that magnetic induction decays rapidly on moving inward from the outer surface and is almost doubled near *** the presence of screenings magnetic field strength is attenuated near periphery,but it isn't influenced within the *** resultant electromagnetic pressure balances with static head of liquid column,i.e,the upper magnetic induction is smaller than the lower'***»the maximum pressure moves downward about 1 cm from half height of inductor.

关键词： electromagnetic casting magnetic induction electromganetic pressure

Strategies to improve micelle stability for drug delivery

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Nano Research 2018年第10期11卷 4985-4998页

作者： Yang Lu Ershuai Zhang Jianhai Yang zhiqiang cao Department of Chemical Engineering and Materials Science Wayne State University Detroit 48202 MI USA

Micelles have been studied as drug delivery carriers for decades. Their use can potentially result in high drug accumulation at the target site through the enhanced permeability and retention effect. Nevertheless, the lack of stability of micelles in the physiological environment limits their efficacy as a drug carrier. In particular, micelles tend to disassociate and prematurely release the encapsulated drugs, lowering delivery efficacy and creating toxicity concerns. Many efforts to enhance the stability of micelles have focused mainly on decreasing the critical micelle forming concentration and improving blood circulation. Herein, we review different strategies including crosslinking and non-crosslinking approaches designed to stabilize micelles and offer perspectives on future research directions.

关键词： micelle stability crosslinking critical micelle concentration (CMC) drug delivery

H13钢表面激光熔覆Al_(0.8)CoCr_(0.23)FeNi_(x)W高熵合金涂层及其性能

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特种铸造及有色合金 2024年第4期44卷 546-550页

作者：单华亮陶美悦庄文晨曹志强大连理工大学辽宁省凝固控制与数字化制备技术重点实验室大连116024 大连理工大学宁波研究院宁波315016

以热作模具钢H13为基体,通过激光熔覆在其表面制备了Al_(0.8)CoCr_(0.23)FeNi_(x)W(x=0,0.25,0.5,0.75,1)高熵合金涂层,并研究Ni对组织结构及其热稳定性和耐磨性影响。结果发现Al_(0.8)CoCr_(0.23)FeNi_(x)W高熵合金组织结构随Ni元素的添加发生结构变化,Ni的添加促进μ-Fe7W6相生成,起到弥散强化作用,提高涂层的硬度及其耐磨性。在800℃保温后测试其涂层的稳定性,结果表明Al_(0.8)CoCr_(0.23)FeNi_(x)W高熵合金涂层均有较高的硬度和耐磨性,8 h保温后硬度(HV)仍高于500。

关键词：热作模具钢高温磨损高熵合金

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