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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 manipulation.Mainstream pixel-wise grasp detection networks with encoder-decoder structure receive much attention due to good accuracy and efficiency.However,they usually transmit the high-level feature in the encoder to the decoder,and low-level features are neglected.It is noted that low-level features contain abundant detail information,and how to fully exploit low-level features remains unsolved.Meanwhile,the channel information in high-level feature is also not well mined.Inevitably,the performance of grasp detection is degraded.To solve these problems,we propose a grasp detection network with hierarchical multi-scale feature fusion and inverted shuffle residual.Both 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 fusion.Such a hierarchical fusion guarantees the quality of grasp prediction.Furthermore,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 branches.By such differentiation processing,more high-dimensional channel information is kept,which enhances the representation ability of the network.Besides,an information enhancement module is added before the encoder to reinforce input information.The 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

The importance of data assimilation components for initial conditions and subsequent error growth

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Science China Earth Sciences 2024年第1期67卷 105-116页

作者： Zhongrui WANG Haohao SUN Lili LEI Zhe-Min Tan Yi ZHANG Key Laboratory of Mesoscale Severe Weather Ministry of Educationand School of Atmospheric SciencesNanjing UniversityNanjing 210023China Frontiers Science Center for Critical Earth Material Cycling Nanjing UniversityNanjing 210023China

Despite a specific data assimilation method,data assimilation(DA)in general can be decomposed into components of the prior information,observation forward operator that is given by the observation type,observation error covariances,and background error covariances.In a classic Lorenz model,the influences of the DA components on the initial conditions(ICs)and subsequent forecasts are systematically investigated,which could provide a theoretical basis for the design of DA for different scales of interests.The forecast errors undergo three typical stages:a slow growth stage from 0 h to 5 d,a fast growth stage from 5 d to around 15 d with significantly different error growth rates for ensemble and deterministic forecasts,and a saturation stage after 15 d.Assimilation strategies that provide more accurate ICs can improve the predictability.Cycling assimilation is superior to offline assimilation,and a flow-dependent background error covariance matrix(Pf)provides better analyses than a static background error covariance matrix(B)for instantaneous observations and frequent time-averaged observations;but the opposite is true for infrequent time-averaged observations,since cycling simulation cannot construct informative priors when the model lacks predictive skills and the flow-dependent Pf cannot effectively extract information from low-informative observations as the static B.Instantaneous observations contain more information than time-averaged observations,thus the former is preferred,especially for infrequent observing systems.Moreover,ensemble forecasts have advantages over deterministic forecasts,and the advantages are enlarged with less informative observations and lower predictive-skill model priors.

关键词： Data assimilation Atmospheric predictability Background error covariances Ensemble forecasts

Sn-doped cobalt containing perovskite as the air electrode for highly active and durable reversible protonic ceramic electrochemical cells

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Journal of Advanced Ceramics 2024年第1期13卷 63-72页

作者： min Fu Wenjing Hu Hua Tong Xin Ling Linggui tan Fanglin Chen Zetian Tao School of Resources Environment and Safety EngineeringUniversity of South ChinaHengyang 421001China Department of Mechanical Engineering University of South CarolinaColumbia 29208USA

One potential solution to the problems of energy storage and conversion is the use of reversible protonic ceramic electrochemical cells(R-PCEC),which are based on the solid oxide fuel cell(SOFC)technology and offer a flexible route to the generation of renewable fuels.However,the R-PCEC development faces a range of significant challenges,including slow oxygen reaction kinetics,inadequate durability,and poor round-trip efficiency resulting from the inadequacy of an air electrode.To address these issues,we report novel B-sites doped Pr_(0.5)Ba_(0.5)Co_(0.7)Fe_(0.3)O_(3−δ)(PBCF)with varying amounts of Sn as the air electrode for R-PCEC to further enhance electrochemical performance at lower temperatures.At 600℃,R-PCEC with an air electrode consisting of Pr_(0.5)Ba_(0.5)Co_(0.7)Fe_(0.25)Sn_(0.05)O_(3+δ)has achieved peak power density of 1.12 W∙cm^(−2) in the fuel cell mode and current density of 1.79 A∙cm^(−2) in the electrolysis mode at a voltage of 1.3 V.Moreover,R-PCECs have shown good stability in the electrolysis mode of 100 h.This study presents a practical method for developing durable high-performance air electrodes for R-PCECs.

关键词： triple conducting oxide dual-element doping protonic ceramic electrochemical cells(PCECs) catalytic

Comparison of biliary protein spectrum in gallstone patients with obesity and those with normal body weight

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Hepatobiliary & Pancreatic Diseases International 2024年第4期23卷 385-392页

作者： min-Zhi Chen Ping Xie Xiao-Chang Wu Zhen-Hua tan Hai Qian Zhi-Hong Ma Xing Yao Department of Hepatopancreatobiliary Surgery Huzhou Central HospitalAffiliated Huzhou HospitalZhejiang University School of MedicineHuzhou 313000China Huzhou Key Laboratory of Molecular Medicine Huzhou Central HospitalAffiliated Huzhou HospitalZhejiang University School of MedicineHuzhou 313000China

Background:Obesity is a common public health issue and is currently deemed a disease.Research has shown that the risk of gallstones in individuals with obesity is elevated.This study aimed to explore the bile proteomics differences between cholelithiasis patients with obesity and normal body weight.Methods:Bile samples from 20 patients(10 with obesity and 10 with normal body weight)who underwent laparoscopic cholecystectomy at our center were subjected to tandem mass tag labeling(TMT)and liquid chromatography-tandem mass spectrometry(LC-MS/MS),followed by further bioinformatic analysis.Results:Among the differentially expressed proteins,23 were upregulated and 67 were downregulated.Bioinformatic analysis indicated that these differentially expressed proteins were mainly involved in cell development,inflammatory responses,glycerolipid metabolic processes,and protein activation cascades.In addition,the activity of the peroxisome proliferator-activated receptor(PPAR,a subfamily of nuclear receptors)signaling pathway was decreased in the Kyoto Encyclopedia of Genes and Genomes(KEGG)enrichment analysis.Two downregulated proteins in the PPAR signaling pathway,APO A-I and APO A-II,were confirmed using enzyme-linked immunosorbent assay.Conclusions:The PPAR signaling pathway may play a crucial role in the development of cholelithiasis among patients with obesity.Furthermore,biliary proteomics profiling of gallstones patients with obesity is revealed,providing a reference for future research.

关键词： Proteome profiling Gallstones Obesity-associated gallstones tandem mass tag labeling PPAR signaling

Room-temperature phonon-coupled single-photon emission in hexagonal boron nitride

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Science China(Physics,Mechanics & Astronomy) 2024年第5期67卷 109-114页

作者： Jia-min Lai Qing-Hai tan Feilong Song Haonan Chang Yanpei Lv Xue-Lu Liu Jinghua Teng Weibo Gao Ping-Heng tan Jun Zhang State Key Laboratory of Superlattices and Microstructures Institute of SemiconductorsChinese Academy of SciencesBeijing100083China Key Laboratory of Magnetic Molecules and Magnetic Information Materials of ministry of Education&Research Institute of Materials Science Shanxi Normal UniversityTaiyuan 030000China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijing 100049China Division of Physics and Applied Physics School of Physical and Mathematical SciencesNanyang Technological UniversitySingapore 637371Singapore Institute of Materials Research and Engineering(IMRE) Agency for ScienceTechnology and Research(A*STAR)Singapore 138634Singapore

Photon-lattice(phonon)coupling is fundamental to light-matter interaction,particularly when it reaches the quantum limit of the phonon-coupled single-photon emission,which holds great potential for quantum manipulation and quantum information transduction.Here,we report single defect state-phonon coupling in hexagonal boron nitride(h BN)at room temperature.An ultrabroad spectrum of single-photon emissions can be achieved by selecting the excitation energies.Using photoluminescence excitation spectroscopy,we observe single-phonon-assisted resonance-enhanced single-photon emission,along with multiple phonon replicas that herald the creation of phonon Fock state.We also develop a transition model to gain insight into the physical process behind the single defect state-phonon coupling.Our work sets the stage for manipulating electron-phonon coupling state with single quantum-level precision at room temperature.

关键词： temperature phonon hexagonal

Dynamic changes of rumen microbiota and serum metabolome revealed increases in meat quality and growth performances of sheep fed bio‑fermented rice straw

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Journal of Animal Science and Biotechnology 2024年第3期15卷 1207-1226页

作者： Yin Yin Kyawt min Aung Yao Xu Zhanying Sun Yaqi Zhou Weiyun Zhu Varijakshapanicker Padmakumar Zhankun tan Yanfen Cheng Laboratory of Gastrointestinal Microbiology National Center for International Research on Animal Gut NutritionNanjing Agricultural UniversityNanjing 210095China Department of Animal Nutrition University of Veterinary ScienceNay Pyi Taw 15013Myanmar International Livestock Research Institute Nairobi 00100Kenya College of Animal Science Tibet Academy of Agricultural and Animal Husbandry SciencesLhasa 850000China State Key Laboratory of Grassland Agro‑Ecosystems Center for Grassland MicrobiomeCollege of Pastoral Agriculture Science and TechnologyLanzhou UniversityLanzhou 730000China

Background Providing high-quality roughage is crucial for improvement of ruminant production because it is an essential component of their feed.Our previous study showed that feeding bio-fermented rice straw(BF)improved the feed intake and weight gain of sheep.However,it remains unclear why feeding BF to sheep increased their feed intake and weight gain.Therefore,the purposes of this research were to investigate how the rumen micro-biota and serum metabolome are dynamically changing after feeding BF,as well as how their changes influence the feed intake,digestibility,nutrient transport,meat quality and growth performances of sheep.Twelve growing Hu sheep were allocated into 3 groups:alfalfa hay fed group(AH:positive control),rice straw fed group(RS:negative control)and BF fed group(BF:treatment).Samples of rumen content,blood,rumen epithelium,muscle,feed offered and refusals were collected for the subsequent analysis.Results Feeding BF changed the microbial community and rumen fermentation,particularly increasing(Pminant production with mini-mizing production cos

关键词： Bio-fermentation Growth rate Meat quality Metabolome Microbiota Rice straw

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Circuit-level convergence of electronics and photonics:basic concepts and recent advances

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Frontiers of Optoelectronics 2022年第2期15卷 17-33页

作者： Min Tan Yuhang Wang Ken Xingze Wang Yuan Yu Xinliang Zhang School of Optical and Electronic Information Huazhong University of Science and TechnologyWuhan 430074China Wuhan National Laboratory for Optoelectronics Huazhong University of Science and TechnologyWuhan 430074China School of Physics Huazhong University of Science and TechnologyWuhan 430074China

Integrated photonics is widely regarded as an important post-Moore’s law research direction.However,it suffers from intrinsic limitations,such as lack of control and satisfactory photonic memory,that cannot be solved in the optical domain and must be combined with electronics for practical use.Inevitably,electronics and photonics will converge.The photonic fabrication and integration technology is gradually maturing and electronics-photonics convergence(EPC)is experiencing a transition from device integration to circuit design.We derive a conceptual framework consisting of regulator,oscillator,and memory for scalable integrated circuits based on the fundamental concepts of purposeful behavior in cybernetics,entropy in information theory,and symmetry breaking in physics.Leveraging this framework and emulating the successes experienced by electronic integrated circuits,we identify the key building blocks for the integrated circuits for EPC and review the recent advances.

关键词： Integrated photonics Electronics-photonics convergence(EPC) Scalability Stability Feedback

A proteomic landscape of pharmacologic perturbations for functional relevance

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Journal of Pharmaceutical Analysis 2024年第1期14卷 128-139页

作者： Zhiwei Liu Shangwen Jiang Bingbing Hao Shuyu Xie Yingluo Liu Yuqi Huang Heng Xu Cheng Luo min Huang minjia tan Jun-Yu Xu State Key Laboratory of Drug Research Shanghai Institute of Materia MedicaChinese Academy of SciencesShanghai201203China School of Chinese Materia Medica Nanjing University of Chinese MedicineNanjing210023China Zhongshan Institute for Drug Discovery Shanghai Institute of Materia MedicaChinese Academy of SciencesZhongshanGuangdong528400China State Key Laboratory of Pharmaceutical Biotechnology Nanjing UniversityNanjing210023China

Pharmacological perturbation studies based on protein-level signatures are fundamental for drug discovery. In the present study, we used a mass spectrometry (MS)-based proteomic platform to profile the whole proteome of the breast cancer MCF7 cell line under stress induced by 78 bioactive compounds. The integrated analysis of perturbed signal abundance revealed the connectivity between phenotypic behaviors and molecular features in cancer cells. Our data showed functional relevance in exploring the novel pharmacological activity of phenolic xanthohumol, as well as the noncanonical targets of clinically approved tamoxifen, lovastatin, and their derivatives. Furthermore, the rational design of synergistic inhibition using a combination of histone methyltransferase and topoisomerase was identified based on their complementary drug fingerprints. This study provides rich resources for the proteomic landscape of drug responses for precision therapeutic medicine.

关键词： Proteomics Drug Perturbation Drug target Drug combination

Enhancing photoresponsiveness of metal-organic polyhedra by modifying microenvironment

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Nano Research 2024年第6期17卷 5712-5717页

作者： Long Zheng Peng tan Qian Song Sheng-Tao Wang min Li Xiao-Qin Liu Lin-Bing Sun State Key Laboratory of Materials-Oriented Chemical Engineering Jiangsu National Synergetic Innovation Center for Advanced Materials(SICAM)College of Chemical EngineeringNanjing Tech UniversityNanjing 211816China

Photoresponsiveness of materials is critical to their tunability and efficiency in terminal applications.Photoresponsive metal-organic polyhedra(PMOPs)feature intrinsic pores and remote controllability,but aggregation of PMOPs in solid state hampers their photoresponsiveness seriously.Herein,we report the construction of a new PMOP(Cu_(24)(C_(16)H_(12)N_(2)O_(4))_(12)(C_(18)H_(22)O_(5))12,denoted as MOP-PR-LA),where long alkyl(LA)chains act as the intermolecular poles,propping against adjacent PMOP molecules to create individual microenvironment benefiting the isomerization of photoresponsive(PR)moieties.Upon ultraviolet(UV)-and visible-light irradiation,MOP-PR-LA is much easier to isomerize than the counterpart MOP-PR without LA.For propylene adsorption,MOP-PR has a low change of adsorption capacity(9.9%),while that of MOP-PR-LA reaches 58.6%.Density functional theory calculations revealed that PR in the cis state has a negative effect on adsorption,while the trans state of PR favors adsorption.This work might open an avenue for the construction of photoresponsive materials with high responsiveness and controllability.

关键词： photoresponsive adsorption metal-organic polyhedra azobenzene long alkyl chains propylene capture