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Robot trajectory planning for autonomous 3D reconstruction of cockpit in aircraft final assembly testing

Chinese Journal of Aeronautics 2024年第3期37卷 332-350页

作者： Yanzhe WANG Zemin PAN qian YANG Changxi DENG Yanding WEI The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China School of Information Science and Engineering NingboTech UniversityNingbo 315100China AVIC Xi’an Aircraft Industry(Group)Company Ltd. Xi’an 710089China Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China

The trend towards automation and intelligence in aircraft final assembly testing has led to a new demand for autonomous perception of unknown cockpit operation scenes in robotic collaborative airborne system *** address this demand,a robotic automated 3D reconstruction cell which enables to autonomously plan the robot end-camera’s trajectory is developed for image acquisition and 3D modeling of the cockpit operation scene.A continuous viewpoint path planning algorithm is proposed that incorporates both 3D reconstruction quality and robot path quality into optimization *** metrics for viewpoint position paths and orientation paths are introduced together for the first time in 3D *** ensure safe and effective movement,two spatial constraints,Domain of View Admissible Position(DVAP)and Domain of View Admissible Orientation(DVAO),are implemented to account for robot reachability and collision *** using diffeomorphism mapping,the orientation path is transformed into 3D,consistent with the position *** orientation and position paths can be optimized in a unified framework to maximize the gain of reconstruction quality and path smoothness within DVAP and *** reconstruction cell is capable of automatic data acquisition and fine scene modeling,using the generated robot C-space *** and physical scene experiments have confirmed the effectiveness of the proposed method to achieve highprecision 3D reconstruction while optimizing robot motion quality.

关键词： Aircraft assembly testing Aircraft cockpit 3D modeling Camera viewpoint Robot trajectory planning

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MAUN:Memory-Augmented Deep Unfolding Network for Hyperspectral Image Reconstruction

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1139-1150页

作者： qian Hu Jiayi Ma Yuan Gao Junjun Jiang Yixuan Yuan Electronic Information School Wuhan UniversityWuhan 430072China School of Computer Science and Technology Harbin Institute of TechnologyHarbin 150001China Department of Electronic Engineering Chinese University of Hong KongHong Kong 999077China

Spectral compressive imaging has emerged as a powerful technique to collect the 3D spectral information as 2D *** algorithm for restoring the original 3D hyperspectral images(HSIs)from compressive measurements is pivotal in the imaging *** approaches painstakingly designed networks to directly map compressive measurements to HSIs,resulting in the lack of interpretability without exploiting the imaging *** some recent works have introduced the deep unfolding framework for explainable reconstruction,the performance of these methods is still limited by the weak information transmission between iterative *** this paper,we propose a Memory-Augmented deep Unfolding Network,termed MAUN,for explainable and accurate HSI ***,MAUN implements a novel CNN scheme to facilitate a better extrapolation step of the fast iterative shrinkage-thresholding algorithm,introducing an extra momentum incorporation step for each iteration to alleviate the information ***,to exploit the high correlation of intermediate images from neighboring iterations,we customize a cross-stage transformer(CSFormer)as the deep denoiser to simultaneously capture self-similarity from both in-stage and cross-stage features,which is the first attempt to model the long-distance dependencies between iteration *** experiments demonstrate that the proposed MAUN is superior to other state-of-the-art methods both visually and *** code is publicly available at https://***/HuQ1an/MAUN.

关键词： Deep folding iteration

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Multi-faceted spatio-temporal network for weather-aware air traffic flow prediction in multi-airport system

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Chinese Journal of Aeronautics 2024年第7期37卷 301-316页

作者： Kaiquan CAI Shuo TANG Shengsheng qian Zhiqi SHEN Yang YANG School of Electronic and Information Engineering Beihang UniversityBeijing 100191China State Key Laboratory of CNS/ATM Beijing100191China Institute of Automation Chinese Academy of SciencesBeijing 100190China Research Institute for Frontier Science Beihang UniversityBeijing 100191China

As one of the core modules for air traffic flow management,Air Traffic Flow Prediction(ATFP)in the Multi-Airport System(MAS)is a prerequisite for demand and capacity balance in the complex meteorological *** to the challenge of implicit interaction mechanism among traffic flow,airspace capacity and weather impact,the Weather-aware ATFP(Wa-ATFP)is still a nontrivial *** this paper,a novel Multi-faceted Spatio-Temporal Graph Convolutional Network(MSTGCN)is proposed to address the Wa-ATFP within the complex operations of ***,a spatio-temporal graph is constructed with three different nodes,including airport,route,and fix to describe the topology structure of ***,a weather-aware multi-faceted fusion module is proposed to integrate the feature of air traffic flow and the auxiliary features of capacity and weather,which can effectively address the complex impact of severe weather,e.g.,***,to capture the latent connections of nodes,an adaptive graph connection constructor is *** experimental results with the real-world operational dataset in Guangdong-Hong Kong-Macao Greater Bay Area,China,validate that the proposed approach outperforms the state-of-the-art machine-learning and deep-learning based baseline approaches in performance.

关键词： Air traffic control Graph neural network Multi-faceted information Air traffic flow prediction Multi-airport system

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Light-Activated Virtual Sensor Array with Machine Learning for Non-Invasive Diagnosis of Coronary Heart Disease

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Nano-Micro Letters 2024年第12期16卷 427-448页

作者： Jiawang Hu Hao qian Sanyang Han Ping Zhang Yuan Lu Department of Chemical Engineering Tsinghua UniversityBeijing 100084People’s Republic of China Key Laboratory of Industrial Biocatalysis Ministry of EducationTsinghua UniversityBeijing 100084People’s Republic of China Department of Cardiology Xuanwu HospitalCapital Medical UniversityBeijing 100053People’s Republic of China Department of Cardiology Beijing Tsinghua Changgung HospitalSchool of Clinical MedicineTsinghua UniversityBeijing 102218People’s Republic of China Institute of Biopharmaceutical and Health Engineering Shenzhen International Graduate SchoolTsinghua UniversityShenzhen 518055People’s Republic of China

Early non-invasive diagnosis of coronary heart disease(CHD)is ***,it is challenging to achieve accurate CHD diagnosis via detecting *** this work,heterostructured complexes of black phosphorus(BP)and two-dimensional carbide and nitride(MXene)with high gas sensitivity and photo responsiveness were formulated using a self-assembly strategy.A light-activated virtual sensor array(LAVSA)based on BP/Ti_(3)C_(2)Tx was prepared under photomodulation and further assembled into an instant gas sensing platform(IGSP).In addition,a machine learning(ML)algorithm was introduced to help the IGSP detect and recognize the signals of breath samples to diagnose *** to the synergistic effect of BP and Ti_(3)C_(2)Tx as well as photo excitation,the synthesized heterostructured complexes exhibited higher performance than pristine Ti_(3)C_(2)Tx,with a response value 26%higher than that of pristine Ti_(3)C_(2)*** addition,with the help of a pattern recognition algorithm,LAVSA successfully detected and identified 15 odor molecules affiliated with alcohols,ketones,aldehydes,esters,and ***,with the assistance of ML,the IGSP achieved 69.2%accuracy in detecting the breath odor of 45 volunteers from healthy people and CHD *** conclusion,an immediate,low-cost,and accurate prototype was designed and fabricated for the noninvasive diagnosis of CHD,which provided a generalized solution for diagnosing other diseases and other more complex application scenarios.

关键词： Black phosphorus/MXene heterostructures Light-activated virtual sensor array Diagnosis of coronary heart disease Machine learning

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Ultrahigh performance passive radiative cooling by hybrid polar dielectric metasurface thermal emitters

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Opto-Electronic Advances 2024年第4期7卷 17-25页

作者： Yinan Zhang Yinggang Chen Tong Wang qian Zhu Min Gu Institute of Photonic Chips University of Shanghai for Science and TechnologyShanghai 200093China Centre for Artificial-Intelligence Nanophotonics School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and TechnologyShanghai 200093China

Real-world passive radiative cooling requires highly emissive,selective,and omnidirectional thermal emitters to maintain the radiative cooler at a certain temperature below the ambient temperature while maximizing the net cooling *** various selective thermal emitters have been demonstrated,it is still challenging to achieve these conditions sim-ultaneously because of the extreme difficulty in controlling thermal emission of photonic structures in *** we demonstrated hybrid polar dielectric metasurface thermal emitters with machine learning inverse design,en-abling a high emissivity of~0.92 within the atmospheric transparency window 8-13μm,a large spectral selectivity of~1.8 and a wide emission angle up to 80 degrees,*** selective and omnidirectional thermal emitter has led to a new record of temperature reduction as large as~15.4°C under strong solar irradiation of~800 W/m2,signific-antly surpassing the state-of-the-art *** designed structures also show great potential in tackling the urban heat island effect,with modelling results suggesting a large energy saving and deployment area *** research will make significant impact on passive radiative cooling,thermal energy photonics and tackling global climate change.

关键词： radiative cooling dielectric metasurfaces machine learning thermal emitters

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Structural and magnetic properties of micropolycrystalline cobalt thin films fabricated by direct current magnetron sputtering

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International Journal of Minerals,Metallurgy and Materials 2024年第2期31卷 384-394页

作者： Kerui Song Zhou Li Mei Fang Zhu Xiao qian Lei School of Materials Science and Engineering Central South UniversityChangsha 410083China State Key Laboratory of Powder Metallurgy Central South UniversityChangsha 410083China Hunan Key Laboratory of Super-Microstructure and Ultrafast Process School of Physics and electronicsCentral South UniversityChangsha 410083China Key Laboratory of Non-Ferrous Metal Materials Science and Engineering Ministry of EducationChangsha 410083China

Pure cobalt(Co)thin films were fabricated by direct current magnetron sputtering,and the effects of sputtering power and pres-sure on the microstructure and electromagnetic properties of the films were *** the sputtering power increases from 15 to 60 W,the Co thin films transition from an amorphous to a polycrystalline state,accompanied by an increase in the intercrystal pore ***,the resistivity decreases from 276 to 99μΩ·cm,coercivity increases from 162 to 293 Oe,and in-plane magnetic aniso-tropy *** the sputtering pressure decreases from 1.6 to 0.2 Pa,grain size significantly increases,resistivity significantly de-creases,and the coercivity significantly increases(from 67 to 280 Oe),which can be attributed to the increase in defect ***-pondingly,a quantitative model for the coercivity of Co thin films was *** polycrystalline films sputtered under pressures of 0.2 and 0.4 Pa exhibit significant in-plane magnetic anisotropy,which is primarily attributable to increased microstress.

关键词： cobalt thin film magnetron sputtering microstructure electromagnetic properties

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Boosting oxygen vacancies by modulating the morphology of Au decorated In_(2)O_(3)with enhanced CO_(2)hydrogenation activity to CH_(3)OH

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Journal of Environmental Sciences 2024年第6期140卷 91-102页

作者： Ruxian Hou Jiewen Xiao qian Wu Tianyu Zhang qiang Wang Beijing Key Lab for Source Control Technology of Water Pollution College of Environmental Science and EngineeringBeijing Forestry UniversityBeijing 100083China Engineering Research Center for Water Pollution Source Control&Eco-remediation College of Environmental Science and EngineeringBeijing Forestry UniversityBeijing 100083China

CO_(2)hydrogenation to methanol has become one of the most promising ways for CO_(2)utilization,however,the CO_(2)conversion rate and methanol selectivity of this reaction still need to be improved for industrial *** we investigated the structure-activity relationship for CO_(2)conversion to methanol of In_(2)O_(3)-based catalysts by modulating morphology and decorating *** different Au/In_(2)O_(3)catalysts were prepared,their activity follow the sequence of Au/In_(2)O_(3)-nanosphere(Au/In_(2)O_(3)-NS)>Au/In_(2)O_(3)-nanoplate(Au/In_(2)O_(3)-NP)>Au/In_(2)O_(3)-hollow microsphere(Au/In_(2)O_(3)-HM).Au/In_(2)O_(3)-NS exhibited the best performance with good CO_(2)conversion of 12.7%,high methanol selectivity of 59.8%,and large space time yield of 0.32 g CH_(3)OH/(hr·gcat)at 300℃.The high performance of Au/In_(2)O_(3)-NS was considered as the presence of *** contributes to the creation of more surface oxygen vacancies,which further promoted the CO_(2)adsorption and facilitated CO_(2)activation to form the formate intermediates towards *** work clearly suggests that the activity of In_(2)O_(3)catalyst can be effective enhanced by structure engineering and Au decorating.

关键词： CO_(2)hydrogenation Methanol Au/In_(2)O_(3) Morphology Oxygen vacancies

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Mechanical property of cylindrical sandwich shell with gradient core of entangled wire mesh

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Defence Technology（防务技术） 2024年第1期31卷 510-522页

作者： Xin Xue Chao Zheng Fu-qiang Lai Xue-qian Wu Institute of Metal-rubber&Vibration Noise School of Mechanical Engineering and AutomationFuzhou UniversityFuzhou350116China Fujian Metallurgical Industry Design Institute Fuzhou350116China

To explore the wide-frequency damping and vibration-attenuation performances in the application of aerospace components,the cylindrical sandwich shell structure with a gradient core of entangled wire mesh was proposed in this ***,the gradient cores of entangled wire mesh in the axial and radial directions were prepared by using an in-house Numerical Control weaving machine,and the metallurgical connection between skin sheets and the gradient core was performed using vacuum ***,to investigate the mechanical properties of cylindrical sandwich shells with axial or radial gradient cores,quasi-static and dynamic mechanical experiments were carried *** primary evaluations of mechanical properties include secant stiffness,natural frequency,Specific Energy Absorption(SEA),vibration acceleration level,and so *** results suggest that the vibration-attenuation performance of the sandwich shell is remarkable when the high-density core layer is at the end of the shell or abuts the inner *** axial gradient material has almost no influence on the vibration frequencies of the shell,whereas the vibration frequencies increase dramatically when the high-density core layer approaches the ***,compared to the conventional sandwich shells,the proposed functional grading cylindrical sandwich shell exhibits more potential in mass reduction,stiffness designing,and energy dissipation.

关键词： Entangled wire mesh Gradient cylindrical sandwich shell Vacuum brazing Secant stiffness Damping

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Disparity estimation for multi-scale multi-sensor fusion

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Journal of Systems Engineering and Electronics 2024年第2期35卷 259-274页

作者： SUN Guoliang PEI Shanshan LONG qian ZHENG Sifa YANG Rui Suzhou Automotive Research Institute Tsinghua UniversitySuzhou 215000China Beijing Smarter Eye Technology Co. Ltd.Beijing 100023China College of Artifical Intelligence Tianjin University of Science and TechnologyTianjin 300457China State Key Laboratory of Automotive Safety and Energy Tsinghua UniversityBeijing 100084China Department of Precision Instrument Tsinghua UniversityBeijing 100084China

The perception module of advanced driver assistance systems plays a vital *** schemes often use a single sensor for data processing and environmental perception or adopt the information processing results of various sensors for the fusion of the detection *** paper proposes a multi-scale and multi-sensor data fusion strategy in the front end of perception and accomplishes a multi-sensor function disparity map generation scheme.A binocular stereo vision sensor composed of two cameras and a light deterction and ranging(LiDAR)sensor is used to jointly perceive the environment,and a multi-scale fusion scheme is employed to improve the accuracy of the disparity *** solution not only has the advantages of dense perception of binocular stereo vision sensors but also considers the perception accuracy of LiDAR *** demonstrate that the multi-scale multi-sensor scheme proposed in this paper significantly improves disparity map estimation.

关键词： stereo vision light deterction and ranging(LiDAR) multi-sensor fusion multi-scale fusion disparity map

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Quick-scanning X-ray absorption fine structure beamline at SSRF

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Nuclear Science and Techniques 2024年第6期35卷 1-13页

作者： Yu Chen qian Gao Zheng Jiang Jiong Li Shuo Zhang Shanghai Synchrotron Radiation Facility Shanghai Advanced Research InstituteChinese Academy of SciencesShanghai 201204China National Synchrotron Radiation Laboratory University of Science and Technology of ChinaHefei 230029China

The layout and characteristics of the hard X-ray spectroscopy beamline(BL11B)at the Shanghai synchrotron radiation facility are described ***11B is a bending-magnet beamline dedicated to conventional and millisecond-scale quick-scanning X-ray absorption fine *** is equipped with a cylindrical collimating mirror,a double-crystal monochromator comprising Si(111)and Si(311),a channel-cut quick-scanning Si(111)monochromator,a toroidal focusing mirror,and a high harmonics rejection *** can provide 5-30 keV of X-rays with a photon flux of~5×10^(11)photons/s and an energy resolution of~1.31×10^(-4)at 10 *** performance of the beamline can satisfy the demands of users in the fields of catalysis,materials,and environmental *** paper presents an overview of the beamline design and a detailed description of its performance and capabilities.

关键词： Bending magnet beamline X-ray absorption fine structure Quick-scanning XAFS In situ Synchrotron radiation

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