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Position-aware pushing and grasping synergy with deep reinforcement learning in clutter

CAAI Transactions on Intelligence Technology 2024年第3期9卷 738-755页

作者： Min Zhao Guoyu Zuo Shuangyue Yu Daoxiong Gong Zihao Wang ouattara Sie Intelligent Robotics Laboratory Faculty of Information TechnologyBeijing University of TechnologyBeijingChina Beijing Key Laboratory of Computational Intelligence and Intelligent Systems BeijingChina Laboratory of Biomechatronics and Intelligent Robotics(BIRO) Department of Mechanical and Aerospace EngineeringNorth Carolina State UniversityRaleighNorth CarolinaUSA

The positional information of objects is crucial to enable robots to perform grasping and pushing manipulations in *** effectively perform grasping and pushing manipu-lations,robots need to perceive the position information of objects,including the co-ordinates and spatial relationship between objects(e.g.,proximity,adjacency).The authors propose an end-to-end position-aware deep Q-learning framework to achieve efficient collaborative pushing and grasping in ***,a pair of conjugate pushing and grasping attention modules are proposed to capture the position information of objects and generate high-quality affordance maps of operating positions with features of pushing and grasping *** addition,the authors propose an object isolation metric and clutter metric based on instance segmentation to measure the spatial re-lationships between objects in cluttered *** further enhance the perception capacity of position information of the objects,the authors associate the change in the object isolation metric and clutter metric in cluttered environment before and after performing the action with reward function.A series of experiments are carried out in simulation and real-world which indicate that the method improves sample efficiency,task completion rate,grasping success rate and action efficiency compared to state-of-the-art end-to-end *** that the authors’system can be robustly applied to real-world use and extended to novel *** material is available at https://***/NhG\_k5v3NnM}{https://***/NhG\_k5v3NnM.

关键词： deep learning deep neural networks intelligent robots

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3D reconstruction and defect pattern recognition of bonding wire based on stereo vision

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CAAI Transactions on Intelligence Technology 2024年第2期9卷 348-364页

作者： Naigong Yu Hongzheng Li Qiao Xu ouattara Sie Essaf Firdaous Faculty of Information Technology Beijing University of TechnologyBeijingChina Beijing Key Laboratory of Computing Intelligence and Intelligent System Beijing University of TechnologyBeijingChina Engineering Research Center of Digital Community Ministry of EducationBeijingChina College of Robotic UniversitéFélix Houphouët‐BoignyAbidjanCôte d’Ivoire

Non-destructive detection of wire bonding defects in integrated circuits(IC)is critical for ensuring product quality after ***-processing-based methods do not provide a detailed evaluation of the three-dimensional defects of the bonding ***,a method of 3D reconstruction and pattern recognition of wire defects based on stereo vision,which can achieve non-destructive detection of bonding wire defects is *** contour features of bonding wires and other electronic components in the depth image is analysed to complete the 3D reconstruction of the bonding *** to filter the noisy point cloud and obtain an accurate point cloud of the bonding wire surface,a point cloud segmentation method based on spatial surface feature detection(SFD)was *** can extract more distinct features from the bonding wire surface during the point cloud segmentation ***,in the defect detection process,a directional discretisation descriptor with multiple local normal vectors is designed for defect pattern recognition of bonding *** descriptor combines local and global features of wire and can describe the spatial variation trends and structural features of *** experimental results show that the method can complete the 3D reconstruction and defect pattern recognition of bonding wires,and the average accuracy of defect recognition is 96.47%,which meets the production requirements of bonding wire defect detection.

关键词： bonding wire defect detection point cloud point cloud segmentation

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Optimal Classification of Minerals by Microscopic Image Analysis Based on Seven-State “Deep Learning” Combined with Optimizers

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Open Journal of Applied Sciences 2024年第6期14卷 1550-1572页

作者： Kouadio Krah Sie ouattara Gbele ouattara Alain Clement Joseph Vangah Laboratoire de Gnie Civil Gosciences et Sciences Gographiques Institut National Polytechnique Houphout Boigny (INPHB) Yamoussoukro Cte dIvoire Institut National Polytechnique Houphout Boigny (INPHB) Ecole Doctorale Polytechnique (EDP) Yamoussoukro Cte dIvoire Laboratoire des Sciences et Technologies de la Communication et de lInformation (LSTCI) Institut National Polytechnique Houphout Boigny (INP-HB) Yamoussoukro Cte dIvoire Ecole de Gomatique et du Territoire (EGT) Abidjan Cte dIvoire LARIS SFR MATHSTIC Universit dAngers Angers France Universit Virtuelle de Cte dIvoire Abidjan Cte dIvoire

The development of artificial intelligence (AI), particularly deep learning, has made it possible to accelerate and improve the processing of data collected in different fields (commerce, medicine, surveillance or security, agriculture, etc.). Most related works use open source consistent image databases. This is the case for ImageNet reference data such as coco data, IP102, CIFAR-10, STL-10 and many others with variability representatives. The consistency of its images contributes to the spectacular results observed in its fields with deep learning. The application of deep learning which is making its debut in geology does not, to our knowledge, include a database of microscopic images of thin sections of open source rock minerals. In this paper, we evaluate three optimizers under the AlexNet architecture to check whether our acquired mineral images have object features or patterns that are clear and distinct to be extracted by a neural network. These are thin sections of magmatic rocks (biotite and 2-mica granite, granodiorite, simple granite, dolerite, charnokite and gabbros, etc.) which served as support. We use two hyper-parameters: the number of epochs to perform complete rounds on the entire data set and the “learning rate” to indicate how quickly the weights in the network will be modified during optimization. Using Transfer Learning, the three (3) optimizers all based on the gradient descent methods of Stochastic Momentum Gradient Descent (sgdm), Root Mean Square Propagation (RMSprop) algorithm and Adaptive Estimation of moment (Adam) achieved better performance. The recorded results indicate that the Momentum optimizer achieved the best scores respectively of 96.2% with a learning step set to 10−3 for a fixed choice of 350 epochs during this variation and 96, 7% over 300 epochs for the same value of the learning step. This performance is expected to provide excellent insight into image quality for future studies. Then they participate in the development of

关键词： Classification Convolutional Neural Network Deep Learning Optimizers Transfer Learning Rock Mineral Images

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Implications of Non-Carbonate Dolomite Minerals in the Formation of Red Soils in a Paleokarstic Context in the Taoudeni Basin in Burkina Faso

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Open Journal of Soil Science 2021年第2期11卷 59-71页

作者： Fidèle Kaboré Gounwendmanaghré Hubert Zongo Bright Fafali Dogbey korodjouma ouattara Younoussa Millogo Limata Kaboré Edmond Hien Prosper N. Zombré Laboratoire Sols Matériaux et Environnement (LSME) Université Joseph KI-ZERBO Ouagadougou Burkina Faso Laboratoire de Géosciences et Environnement Minier Université de Fada Ouagadougou Burkina Faso Department of Soil Resources Management CSIR-College of Science and Technology Accra Ghana Institut de l’Environnement et de Recherches Agricoles (INERA) Ouagadougou Burkina Faso Unité de Formation et de Recherche en Sciences et Techniques (UFR/ST) Université Nazi BONI Bobo-Dioulasso Burkina Faso Bureau des Mines et de la Géologie du Burkina Faso (BUMIGEB) Ouagadougou Burkina Faso Institut de Recherche pour le Développement (IRD) Montpellier France

Uncertainties remain as to the ability of certain carbonate rocks to form the red soils covering them. These doubts, which have been the subject of debate for several decades, become real when carbonate rocks are pure and low in insoluble residues. In the carbonate rocks of the Taoudeni basin in Burkina Faso, brown-red to red soils develop, at the top of hillsides and in karstic cavities. No study in the region has yet shown the existence in these carbonate rocks of sufficient insolubles to form soils after decalcification. The objective of this study was therefore to identify and quantify the minerals of carbonate rocks in order to identify the origin of red soils. Petrographic, chemical (XRF) and mineralogical (XRD) investigations on dominant carbonate rocks features in the study area show that the rocks studied are mainly magnesian dolomites (Dolomite > 50% of carbonate minerals and Ca/Mg ratio 12%) in other dolomitic features. These insoluble silicates formed of quartz, potassium feldspar (orthoclase), clays (talc, phlogopite and kaolinite) and iron oxides constitute the main original material of reddened soils in karstic cavities.

关键词： Dolostone Mineralogy Parent Material Alteration Rubification

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Predictive Study of Trace Metal Pollution of Gold Panning Sites in Birimian Formations: Case of the Yaouré Furrow (Côte d’Ivoire)

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Open Journal of Applied Sciences 2024年第7期14卷 1691-1714页

作者： Tonga Paul Tiemoko Gbele ouattara Kouassi Ernest Ahoussi Laboratoire des Sciences Gographiques du Gnie Civil et des Gosciences Institut National Polytechnique Flix Houphout-Boigny (INP-HB) Yamoussoukro Cte dIvoire Laboratoiredes Sciences du Sol delEauetdes Gomatriaux Universit Flix Houphout-Boigny (UFHB) Abidjan-Cocody Cte dIvoire

The present study was carried out on small-scale gold mining sites in the Yaouré region of Côte d’Ivoire. This region is geologically representative of the Birimian formations (2.1 Ga) of West Africa. The aim is to determine the potentially toxic trace metals (TMEs) generated by these sites, with a view to preventing possible contamination and/or metal pollution of the waters that provide fish products for local populations. To this end, a sampling campaign was carried out, resulting in the collection of 20 mining waste samples analyzed by X-ray fluorescence spectrometry (XRF) and 10 by X-ray diffractometer (XRD). The XRF analysis detected 06 predominant TMEs: arsenic, chromium, copper, nickel, zinc and vanadium. Statistical analysis was carried out to determine the distributions and correlations between these ETMs. To assess contamination and/or pollution levels, the following indices were calculated on the basis of reference concentrations of upper continental crust MTEs: Enrichment Factor, Geo-accumulation Index, Concentration Factor, Degree of contamination and those related to ecological risks. The results of statistical analyses and indices have shown that arsenic and chromium are the most predominant and can be, depending on the chemical form, potentially more toxic. The results of the DRX analysis show the occurrence of several minerals carrying these two MTEs, especially that of a rare mineral, Stenhuggarite, an arsenic oxide linked to hydrothermal veins. The majority of gold mining operations in West Africa are located in the birimian zone, hence the need for environmental monitoring by the relevant authorities, to prevent potential ecological risks to water and possibly health risks via the food chain.

关键词： Small-Scale Mining Metallic Trace Elements Mining Discharges Contamination Pollution Contamination Pollution Index

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Quantitative Comparative Study of the Performance of Lossless Compression Methods Based on a Text Data Model

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Open Journal of Applied Sciences 2024年第7期14卷 1944-1962页

作者： Namogo Silué Sié ouattara Mouhamadou Dosso Alain Clément Laboratoire des Sciences et Technologies de la Communication et de lInformation (LSTCI) Institut National Polytechnique Houphout Boigny (INPHB) Yamoussoukro Cte dIvoire Institut National Polytechnique Houphout Boigny (INPHB) Yamoussoukro Cte dIvoire UFR Mathmatique-Informatique Ecole Doctorale Sciences-Technologie et Agriculture Durable (ED STAD) Universit Felix Houphout-Boigny (UFHB) Abidjan Cte dIvoire Ecole de Gomatique et du Territoire (EGT) Abidjan Cte dIvoire LARIS SFR MATHSTIC Universit dAngers Angers France

Data compression plays a key role in optimizing the use of memory storage space and also reducing latency in data transmission. In this paper, we are interested in lossless compression techniques because their performance is exploited with lossy compression techniques for images and videos generally using a mixed approach. To achieve our intended objective, which is to study the performance of lossless compression methods, we first carried out a literature review, a summary of which enabled us to select the most relevant, namely the following: arithmetic coding, LZW, Tunstall’s algorithm, RLE, BWT, Huffman coding and Shannon-Fano. Secondly, we designed a purposive text dataset with a repeating pattern in order to test the behavior and effectiveness of the selected compression techniques. Thirdly, we designed the compression algorithms and developed the programs (scripts) in Matlab in order to test their performance. Finally, following the tests conducted on relevant data that we constructed according to a deliberate model, the results show that these methods presented in order of performance are very satisfactory:- LZW- Arithmetic coding- Tunstall algorithm- BWT + RLELikewise, it appears that on the one hand, the performance of certain techniques relative to others is strongly linked to the sequencing and/or recurrence of symbols that make up the message, and on the other hand, to the cumulative time of encoding and decoding.

关键词： Arithmetic Coding BWT Compression Ratio Comparative Study Compression Techniques Shannon-Fano Huffman Lossless Compression LZW Performance Redundancy RLE Text Data Tunstall

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Local Plants Potentially Suitable for Phytoremediation of Soils Polluted by Heavy Metals: The Case of Landfill Sites

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Journal of Geoscience and Environment Protection 2024年第7期12卷 72-88页

作者： Kpan Kpan Kouakou Gains Touré Mamadou ouattara Nouffou Doudjo Kouassi Kouadio Claude Ehouman N’guetta Moïse ouattara Djibril Tiho Seydou UFR Sciences de la Nature Universit Nangui Abrogoua Abidjan Cte dIvoire UFR Agroforesterie Universit Jean Lorougnon Gud Daloa Cte dIvoire

Landfills are contaminated sites that need to be cleaned up to prevent human and environmental exposure to pollutants. This article aims to identify local plants capable of restoring soil polluted by heavy metals. To this end, plant species at the Bonoua landfill were inventoried. X-ray fluorescence spectrometry was used to determine the heavy metal content of soil and plants from the landfill. The bioconcentration factor (BCF) of metals in plants was evaluated. The Bonoua landfill is covered with 62 plant species, comprising 28 botanical families and 50 genera. The BCF varied from 0.08 (titanium) to 2.27 (strontium) for Phyllanthus amarus;from 0.06 (titanium) to 1.83 (copper) for Alternanthera sessilis and from 0.03 (arsenic) to 2.10 (strontium) for Amaranthus spinosus. Phyllanthus amarus, Alternanthera sessilis, and Amaranthus spinosus are strontium-accumulating species (BCF > 1). Similarly, copper BCF values were above 1 for Phyllanthus amarus, and Alternanthera sessilis. These two plant species are therefore copper accumulators. In short, Phyllanthus amarus, Alternanthera sessilis, and Amaranthus spinosus are candidate species for phytoremediation of heavy metal-polluted soils, given their BCF > 1.

关键词： Heavy Metals Phytoremediation Phyllanthus amarus Alternanthera sessilis Amaranthus spinosus

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Theoretical Study of Benzothiazole and Its Derivatives: Molecular Structure, Spectroscopic Properties, NBO, MEP and TD-DFT Analyses

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Journal of Materials Science and Chemical Engineering 2024年第3期12卷 31-50页

作者： Konaté Abdoulaye Bédé Affoué Lucie ouattara Lamoussa Koné Soleymane Bamba Kafoumba Laboratory of Constitution and Reaction of Matter University Félix Houphou&#235t-Boigny Abidjan Ivory Coast Department of Marine Sciences University of San-Pedro San-Pedro Ivory Coast Laboratory of Thermodynamics and Physico-Chemistry of Environment University Nangui Abrogoua Abidjan Ivory Coast

Benzothiazole (BTH) and its derivatives are organic molecules with biologic actions. Because of their many applications, they are produced on a massive scale and used in a number of environmental compartments. Their discharge into water produces environmental problems, exposing our environment to public health problems. A solution that can contribute to their deterioration is becoming a necessity. For this reason, a conceptual analysis of the reactivity of benzothiazole and four of its compounds was undertaken in order to investigate certain aspects of their biodegradability. A theoretical investigations of the compounds studied were conducted in the gas and water phases with the most widely used density functional theory method, Becke-3-Parameter-Lee-Yang-Parr (B3LYP) with 6-31G+ (d, p) basis. Reactivity study calculated global indices of reactivity revealed that 2-SCH3_BTH is the most reactive. Dipole moment values analysis reveals that 2-NH2_BTH is the most soluble in water, while the lipophilicity shows that 2-NH2_BTH is the most hydrophilic compound. Thermodynamic parameters values reflect that reactions are respectively exothermic and spontaneous. By analyzing an Electrostatic Molecular Potential (EMP) map, researchers can pinpoint reactive sites on a molecule and anticipate its reactivity. This assessment is further enhanced by incorporating global and local reactivity descriptors. Additionally, an exploration of frontier molecular orbitals offers valuable insights into the molecule’s charge transfer characteristics. Moreover, a combined examination of internal and external molecular interactions unveils hyperconjugative interactions arising from charge delocalization, as elucidated through natural bond orbital (NBO) analysis.

关键词： Benzothiazole Reactivity DFT/B3LYP Stability TD-DFT

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A Rare Etiology of a Life-Threatening Subdural Hematoma: Case Report and Literature Review

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Open Journal of Modern Neurosurgery 2024年第2期14卷 108-113页

作者： Ibrahim Dao Hassan Baallal Narcisse Mike Wendpuiré Ouédraogo Ousmane ouattara Department of Neurosurgery University Hospital Souro Sanou Nazi Boni University Bobo Dioulasso Burkina Faso Higher Institute of Health Sciences Nazi Boni University Bobo Dioulasso Burkina Faso Department of Neurosurgery Avicenne Military Teaching Hospital University Caddi Ayyad Marrakech Morocco

Background: Life-threatening subdural hematoma is commonly related to trauma and rarely revealed by neoplasm. Observation: We report a case of a 53-year-old suffering from mild headache and without a history of trauma, was admitted unconscious due to a subdural hematoma on radiological investigations. Beside the left subdural hematoma, there was also alytic lesion of the sphenoid wing and the temporal bone on the same side. An emergent removal of the subdural hematoma and an excision of the bone lesion were performed. Pathological examination diagnosed a cavernous hemangioma of the skull. The postoperative period was uneventful with a dramatic recovery of the patient. Conclusion: A quick worsening of a chronic headache, acute impairment of an uncommon headache deserve prompt investigation and emergent surgical management in case of intracranial hematoma. Any bone and dural abnormalities at the vicinity of a subdural hematoma require total excision with clean border and pathological examination.

关键词： Cavernous Hemangioma Subdural Hematoma Emergency Skull Surgery

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PCR-HRM for Genomic Surveillance of SARS-CoV-2: A Variant Detection Tool in Côte d’Ivoire, West Africa

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American Journal of Molecular Biology 2024年第3期14卷 166-185页

作者： Aboubacar Sylla Solange Kakou-Ngazoa Tata Gniré Safiatou Coulibaly Yakoura Karidja ouattara Mireille Sylvie Kouamé-Sina Zeinab ouattara David Ngolo Coulibaly Brice Kouakou Bla Mireille Dosso Molecular Biology Platform Pasteur Institute Cte dIvoire Abidjan Cte dIvoire Laboratory of Biology and Health UFR Biosciences University Flix Houphout Boigny Abidjan Cte dIvoire Genetic and Cancer Laboratory Molecular Genetics Platform Pasteur Institute Cte dIvoire Abidjan Cte dIvoire Epidemic Virus Department Pasteur Institute Cte dIvoire Abidjan Cte dIvoire

The rise of new viruses, like SARS-CoV-2 causing the COVID-19 outbreak, along with the return of antibiotic resistance in harmful bacteria, demands a swift and efficient reaction to safeguard the health and welfare of the global population. It is crucial to have effective measures for prevention, intervention, and monitoring in place to address these evolving and recurring risks, ensuring public health and international security. In countries with limited resources, utilizing recombinant mutation plasmid technology in conjunction with PCR-HRM could help differentiate the existence of novel variants. cDNA synthesis was carried out on 8 nasopharyngeal samples following viral RNA extraction. The P1 segment of the SARS-CoV-2 Spike S protein was amplified via conventional PCR. Subsequently, PCR products were ligated with the pGEM-T Easy vector to generate eight recombinant SARS-CoV-2 plasmids. Clones containing mutations were sequenced using Sanger sequencing and analyzed through PCR-HRM. The P1 segment of the S gene from SARS-CoV-2 was successfully amplified, resulting in 8 recombinant plasmids generated from the 231 bp fragment. PCR-HRM analysis of these recombinant plasmids differentiated three variations within the SARS-CoV-2 plasmid population, each displaying distinct melting temperatures. Sanger sequencing identified mutations A112C, G113T, A114G, G214T, and G216C on the P1 segment, validating the PCR-HRM findings of the variations. These mutations led to the detection of L452R or L452M and F486V protein mutations within the protein sequence of the Omicron variant of SARS-CoV-2. In summary, PCR-HRM is a vital and affordable tool for distinguishing SARS-CoV-2 variants utilizing recombinant plasmids as controls.

关键词： Genomic Surveillance SARS-CoV-2 PCR-HRM Variants Côte d’Ivoire

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