检索结果-南通市图书馆

Camera,LiDAR,and IMU Based Multi-Sensor Fusion SLAM:A Survey

在线全文

学校读者我要写书评

暂无评论

Tsinghua Science and Technology 2024年第2期29卷 415-429页

作者： jun zhu Hongyi Li Tao Zhang Department of Automation Tsinghua UniversityBeijing 100084China

In recent years,Simultaneous Localization And Mapping(SLAM)technology has prevailed in a wide range of applications,such as autonomous driving,intelligent robots,Augmented Reality(AR),and Virtual Reality(VR).Multi-sensor fusion using the most popular three types of sensors(e.g.,visual sensor,LiDAR sensor,and IMU)is becoming ubiquitous in SLAM,in part because of the complementary sensing capabilities and the inevitable shortages(e.g.,low precision and long-term drift)of the stand-alone sensor in challenging *** this article,we survey thoroughly the research efforts taken in this field and strive to provide a concise but complete review of the related ***,a brief introduction of the state estimator formation in SLAM is ***,the state-of-the-art algorithms of different multi-sensor fusion algorithms are *** we analyze the deficiencies associated with the reviewed approaches and formulate some future research *** paper can be considered as a brief guide to newcomers and a comprehensive reference for experienced researchers and engineers to explore new interesting orientations.

关键词： multi-sensor fusion Simultaneous Localization And Mapping(SLAM) navigation localization

Could π-aromaticity cross an unsaturated system to a fully saturated one?

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Chinese Chemical Letters 2024年第6期35卷 298-302页

作者： Shicheng Dong jun zhu State Key Laboratory of Physical Chemistry of Solid Surfaces Collaborative Innovation Center of Chemistry for Energy Materials(iChem)Fujian Provincial Key Laboratory of Theoretical and Computational ChemistryCollege of Chemistry and Chemical EngineeringXiamen UniversityXiamen 361005China School of Science and Engineering The Chinese University of Hong KongShenzhen 518172China

The classification of π-/σ-aromaticity depends on the electrons with the dominating ***,π-andσ-aromaticity are used to describe the unsaturated and saturated systems,***,it is rarely reported that π-aromaticity is dominated in a saturated *** we demonstrate that π-aromaticity could be dominating in several fully saturated four-membered rings(4MRs),supported by various aromaticity indices including ΔBL,NICS,EDDB,MCI,and Ad *** origin of suchπ-aromaticity in saturated rings could be attributed to an introduction of two additional electrons into the π-type LUMO of the parent neutral *** findings represent a novel approach to achieve π-aromaticity into a fully saturated system which has traditionally been dominated by σ-aromaticity.

关键词： π-Aromaticity Saturated rings Silicon

In Vivo Voltammetric Imaging of Metal Nanoparticle-Catalyzed Single-Cell Electron Transfer by Fermi Level-Responsive Graphene

在线全文

学校读者我要写书评

暂无评论

Research 2024年第1期2023卷 271-280页

作者： Qing Xia Rui Liu Xueqin Chen Zixuan Chen jun-Jie zhu State Key Laboratory of Analytical Chemistry for Life Science School of Chemistry and Chemical EngineeringNanjing UniversityNanjing 210023P.R.China Shenzhen Research Institute of Nanjing University Shenzhen 518000P.R.China

Metal nanomaterials can facilitate microbial extracellular electron transfer(EET)in the electrochemically active ***,the role of nanomaterials/bacteria interaction in this process is still ***,we reported the single-cell voltammetric imaging of Shewanella oneidensis MR-1 at the single-cell level to elucidate the metal-enhanced EET mechanism in vivo by the Fermi level-responsive graphene *** oxidation currents of~20 fA were observed from single native cells and gold nanoparticle(AuNP)-coated cells in linear sweep voltammetry *** the contrary,the oxidation potential was reduced by up to 100 mV after AuNP *** revealed the mechanism of AuNP-catalyzed direct EET decreasing the oxidation barrier between the outer membrane cytochromes and the *** method offered a promising strategy to understand the nanomaterials/bacteria interaction and guide the rational construction of EET-related microbial fuel cells.

关键词： Fermi voltammetry Electron

Advances of Electrochemical and Electrochemiluminescent Sensors Based on Covalent Organic Frameworks

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Nano-Micro Letters 2024年第2期16卷 395-422页

作者： Yue Cao Ru Wu Yan‑Yan Gao Yang Zhou jun‑Jie zhu Key Laboratory for Organic Electronics and Information Displays(KLOEID)and Institute of Advanced Materials(IAM) Nanjing University of Posts and Telecommunications(NJUPT)Nanjing 210023People’s Republic of China State Key Laboratory of Analytical Chemistry for Life Science School of Chemistry and Chemical EngineeringNanjing UniversityNanjing 210023People’s Republic of China

Covalent organic frameworks(COFs),a rapidly developing category of crystalline conjugated organic polymers,possess highly ordered structures,large specific surface areas,stable chemical properties,and tunable pore *** the first report of boroxine/boronate ester-linked COFs in 2005,COFs have rapidly gained popularity,showing important application prospects in various fields,such as sensing,catalysis,separation,and energy *** them,COFs-based electrochemical(EC)sensors with upgraded analytical performance are arousing extensive *** this review,therefore,we summarize the basic properties and the general synthesis methods of COFs used in the field of electroanalytical chemistry,with special emphasis on their usages in the fabrication of chemical sensors,ions sensors,immunosensors,and ***,the emerged COFs in the electrochemiluminescence(ECL)realm are thoroughly covered along with their preliminary ***,final conclusions on state-of-the-art COFs are provided in terms of EC and ECL sensors,as well as challenges and prospects for extending and improving the research and applications of COFs in electroanalytical chemistry.

关键词： Covalent organic frameworks Electrochemistry Electrochemiluminescence Sensors

Understanding adversarial attacks on observations in deep reinforcement learning

在线全文

学校读者我要写书评

暂无评论

Science China(Information Sciences) 2024年第5期67卷 69-83页

作者： You QIAOBEN Chengyang YING Xinning ZHOU Hang SU jun zhu Bo ZHANG Department of Computer Science and Technology Beijing National Research Center for Information Science and Technology Tsinghua-Bosch Joint Center for Machine Learning Institute for Artificial Intelligence Tsinghua University Peng Cheng Laboratory

Deep reinforcement learning models are vulnerable to adversarial attacks that can decrease the cumulative expected reward of a victim by manipulating its observations. Despite the efficiency of previous optimization-based methods for generating adversarial noise in supervised learning, such methods might not achieve the lowest cumulative reward since they do not generally explore the environmental ***, a framework is provided to better understand the existing methods by reformulating the problem of adversarial attacks on reinforcement learning in the function space. The reformulation approach adopted herein generates an optimal adversary in the function space of targeted attacks, repelling them via a generic two-stage framework. In the first stage, a deceptive policy is trained by hacking the environment and discovering a set of trajectories routing to the lowest reward or the worst-case performance. Next, the adversary misleads the victim to imitate the deceptive policy by perturbing the observations. Compared to existing approaches, it is theoretically shown that our adversary is strong under an appropriate noise level. Extensive experiments demonstrate the superiority of the proposed method in terms of efficiency and effectiveness, achieving state-of-the-art performance in both Atari and MuJoCo environments.

关键词： deep learning reinforcement learning adversarial robustness adversarial attack

FPGA-based position reconstruction method for neutron beam flux spatial distribution measurement in BNCT

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Nuclear Science and Techniques 2024年第3期35卷 96-108页

作者： Wei Jiang Ping Cao Yi-Ming Wu Xian-Ke Liu zhu-jun Fang Zhi-Yong Zhang Bin Shi jun Chen State Key Laboratory of Particle Detection and Electronics University of Science and Technology of ChinaHefei 230026China Department of Modern Physics University of Science and Technology of ChinaHefei 230026China School of Nuclear Science and Technology University of Science and Technology of ChinaHefei 230026China National Key Laboratory for Metrology and Calibration Techniques China Institute of Atomic EnergyBeijing 102413China

A new measurement method for the spatial distribution of neutron beam flux in boron neutron capture therapy(BNCT)is being developed based on the two-dimensional Micromegas *** address the issue of long processing times in traditional offline position reconstruction methods,this paper proposes a field programmable gate array based online position reconstruction method utilizing the micro-time projection chamber *** method encapsulates key technical aspects:a self-adaptive serial link technique built upon the dynamical adjustment of the delay chain length,fast sorting,a coordinate-matching technique based on the mapping between signal timestamps and random access memory(RAM)addresses,and a precise start point-merging technique utilizing a circular combined *** performance test of the selfadaptive serial link shows that the bit error rate of the link is better than 10-12 at a confidence level of 99%,ensuring reliable data *** experiment utilizing the readout electronics and Micromegas detector shows a spatial resolution of approximately 1.4 mm,surpassing the current method’s resolution level of 5 *** beam experiment confirms that the readout electronics system can obtain the flux spatial distribution of neutron beams online,thus validating the feasibility of the position reconstruction *** online position reconstruction method avoids traditional methods,such as bubble sorting and traversal searching,simplifies the design of the logic firmware,and reduces the time complexity from O(n2)to O(n).This study contributes to the advancement in measuring neutron beam flux for BNCT.

关键词： Position reconstruction FPGA Readout electronics Neutron flux spatial distribution

Simulation of the Ecosystem Productivity Responses to Aerosol Diffuse Radiation Fertilization Effects over the Pan-Arctic during 2001–19

在线全文

学校读者我要写书评

暂无评论

Advances in Atmospheric Sciences 2024年第1期41卷 84-96页

作者： Zhiding ZHANG Xu YUE Hao ZHOU jun zhu Yadong LEI Chenguang TIAN Jiangsu Key Laboratory of Atmospheric Environment Monitoring and Pollution Control Collaborative Innovation Center of Atmospheric Environment and Equipment TechnologySchool of Environmental Science and EngineeringNanjing University of Information Science&Technology(NUIST)Nanjing 210044China Climate Change Research Center Institute of Atmospheric Physics(IAP)Chinese Academy of Sciences(CAS)Beijing 100029China University of Chinese Academy of Sciences Beijing 100049China State Key Laboratory of Severe Weather&Key Laboratory of Atmospheric Chemistry of CMA Chinese Academy of Meteorological SciencesBeijing 100081China

The pan-Arctic is confronted with air pollution transported from lower *** have shown that aerosols help increase plant photosynthesis through the diffuse radiation fertilization effects(DRFEs).While such DRFEs have been explored at low to middle latitudes,the aerosol impacts on pan-Arctic ecosystems and the contributions by anthropogenic and natural emission sources remain less ***,we perform regional simulations at 0.2o×0.2ousing a well-validated vegetation model(Yale Interactive terrestrial Biosphere,YIBs)in combination with multi-source of observations to quantify the impacts of aerosol DRFEs on the net primary productivity(NPP)in the pan-Arctic during *** show that aerosol DRFEs increase pan-Arctic NPP by 2.19 Pg C(12.8%)yr^(-1)under clear-sky conditions,in which natural and anthropogenic sources contribute to 8.9% and 3.9%,*** all-sky conditions,such DRFEs are largely dampened by cloud to only 0.26 Pg C(1.24%)yr^(-1),with contributions of 0.65% by natural and 0.59% by anthropogenic *** aerosols cause a positive NPP trend of 0.022% yr^(-1)following the increased fire activities in the *** contrast,anthropogenic aerosols induce a negative trend of-0.01% yr^(-1)due to reduced emissions from the middle *** trends in aerosol DRFEs show a turning point in the year of 2007 with more positive NPP trends by natural aerosols but negative NPP trends by anthropogenic aerosols *** affected by modeling uncertainties,this study suggests a likely increasing impact of aerosols on terrestrial ecosystems in the pan-Arctic under global warming.

关键词： diffuse radiation fertilization effects anthropogenic aerosols natural aerosols pan-Arctic net primary productivity

Elemene Antitumor Drugs Development Based on "Molecular Compatibility Theory" and Clinical Application: A Retrospective and Prospective Outlook

在线全文

学校读者我要写书评

暂无评论

Chinese Journal of Integrative Medicine 2024年第1期30卷 62-74页

作者： JIANG Xiao-ying SHI Li-ping zhu jun-long BAI Ren-ren XIE Tian School of Pharmacy Hangzhou Normal UniversityHangzhou(311121)China Key Laboratory of Elemene Class Anti-cancer Chinese Medicines Engineering Laboratory of Development and Application of Traditional Chinese MedicinesCollaborative Innovation Center of Traditional Chinese Medicines of Zhejiang ProvinceHangzhou Normal UniversityHangzhou(311121)China Good Clinical Practice Center Affliliated Hospital of Nanjing University of Chinese MedicineNanjing(210000)China

Elemene, derived from Curcuma wenyujin, one of the "8 famous genuine medicinal materials of Zhejiang province," exhibits remarkable antitumor activity. It has gained wide recognition in clinical practice for effectiveness on tumors. Dr. XIE Tian introduced the innovative concept of "molecular compatibility theory" by combining Chinese medicine principles, specifically the "monarch, minister, assistant, and envoy" theory, with modern biomedical technology. This groundbreaking approach, along with a systematic analysis of Chinese medicine and modern biomedical knowledge, led to the development of elemene nanoliposome formulations. These novel formulations offer numerous advantages, including low toxicity, well-defined composition, synergistic effects on multiple targets, and excellent biocompatibility. Following the principles of the "molecular compatibility theory", further exploration of cancer treatment strategies and methods based on elemene was undertaken. This comprehensive review consolidates the current understanding of elemene's potential antitumor mechanisms, recent clinical investigations, advancements in drug delivery systems, and structural modifications. The ultimate goal of this review is to establish a solid theoretical foundation for researchers, empowering them to develop more effective antitumor drugs based on the principles of "molecular compatibility theory".

关键词： molecular compatibility theory Chinese integrative medicine elemene antitumor activity drug delivery structural modification

A Feature Transformation and Selection Method to Acquire an Interpretable Model Incorporating Nonlinear Effects

在线全文

学校读者我要写书评

暂无评论

Acta Mathematica Sinica,English Series 2024年

作者： Yu ZHENG Jin zhu jun Xian zhu Xue Qin WANG International Institute of Finance School of Management University of Science and Technology of China Saw Swee Hock School of Public Health National University of Singapore Department of Statistical Science School of Mathematics Sun Yat-Sen University

Finding a highly interpretable nonlinear model has been an important yet challenging problem, and related research is relatively scarce in the current literature. To tackle this issue, we propose a new algorithm called Feat-ABESS based on a framework that utilizes feature transformation and selection for re-interpreting many machine learning algorithms. The core idea behind Feat-ABESS is to parameterize interpretable feature transformation within this framework and construct an objective function based on these parameters. This approach enables us to identify a proper interpretable feature transformation from the optimization perspective. By leveraging a recently advanced optimization technique, Feat-ABESS can obtain a concise and interpretable model. Moreover, Feat-ABESS can perform nonlinear variable selection. Our extensive experiments on 205 benchmark datasets and case studies on two datasets have demonstrated that Feat-ABESS can achieve powerful prediction accuracy while maintaining a high level of interpretability. The comparison with existing nonlinear variable selection methods exhibits Feat-ABESS has a higher true positive rate and a lower false discovery rate.

关键词：