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Cognitive Navigation for Intelligent Mobile Robots:A Learning-Based Approach With Topological Memory Configuration

IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 1933-1943页

作者： Qiming liu Xinru Cui Zhe liu Hesheng Wang Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China MoE Key Laboratory of Artificial Intelligence AI InstituteShanghai Jiao Tong UniversityShanghai 200240China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong UniversityShanghai 200240China

Autonomous navigation for intelligent mobile robots has gained significant attention,with a focus on enabling robots to generate reliable policies based on maintenance of spatial *** this paper,we propose a learning-based visual navigation pipeline that uses topological maps as memory *** introduce a unique online topology construction approach that fuses odometry pose estimation and perceptual similarity *** tackles the issues of topological node redundancy and incorrect edge connections,which stem from the distribution gap between the spatial and perceptual ***,we propose a differentiable graph extraction structure,the topology multi-factor transformer(TMFT).This structure utilizes graph neural networks to integrate global memory and incorporates a multi-factor attention mechanism to underscore elements closely related to relevant target cues for policy *** from photorealistic simulations on image-goal navigation tasks highlight the superior navigation performance of our proposed pipeline compared to existing memory *** validation through behavior visualization,interpretability tests,and real-world deployment further underscore the adapt-ability and efficacy of our method.

关键词： Graph neural networks(GNNs) spatial memory topological map visual navigation

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Removal of Cr(Ⅵ)by glutaraldehyde-crosslinked chitosan encapsulating microscale zero-valent iron:Synthesis,mechanism,and longevity

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Journal of Environmental Sciences 2024年第8期142卷 115-128页

作者： Yijun Duan Fang liu Xiang liu Miao Li School of Environment Tsinghua UniversityBeijing 100084China Transportation Institute of Inner Mongolia University Hohhot 010070China

Microscale zero-valent iron(mZVI)has shown great potential for groundwater Cr(Ⅵ)***,low Cr(Ⅵ)removal capacity caused by passivation restricted the wide use of *** prepared mZVI/GCS by encapsulating mZVI in a porous glutaraldehydecrosslinked chitosan matrix,and the formation of the passivation layer was alleviated by reducing the contact between zero-valent iron *** average pore diameter of mZVI/GCS was 8.775 nm,which confirmed the mesoporous characteristic of this *** of batch experiments demonstrated that mZVI/GCS exhibited high Cr(Ⅵ)removal efficiency in a wide range of pH(2-10)and temperature(5-35℃).Common groundwater coexisting ions slightly affected m ZVI/*** material showed great reusability,and the average Cr(Ⅵ)removal efficiency was 90.41%during eight *** this study,we also conducted kinetics and isotherms ***-second-order model was the most matched kinetics *** Cr(Ⅵ)adsorption process was fitted by both Langmuir and Freundlich isotherms models,and the maximum Langmuir adsorption capacity of m ZVI/GCS reached243.63 mg/g,which is higher than the adsorption capacities of materials reported in most of the previous ***,the column capacity for Cr(Ⅵ)removal of a mZVI/GCS-packed column was 6.4 times higher than that of a mZVI-packed column in a 50-day ***,mZVI/GCS with a porous structure effectively relieved passivation problems of mZVI and showed practical application prospects as groundwater Cr(Ⅵ)remediation material with practical application prospects.

关键词： Chitosan Glutaraldehyde mZVI Cr(Ⅵ) Groundwater

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Time-history performance optimization of flapping wing motion using a deep learning based prediction model

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Chinese Journal of Aeronautics 2024年第5期37卷 317-331页

作者： Tianqi WANG liu liu Jun LI Lifang ZENG School of Aeronautics and Astronautics Zhejiang UniversityHangzhou 310027China Huanjiang Laboratory Zhuji 311800China

Flapping Wing Micro Aerial Vehicles(FWMAVs)have caused great concern in various fields because of their high efficiency and *** wing motion is a very important factor that affects the performance of the aircraft,and previous works have always focused on the time-averaged performance ***,the time-history performance is equally important in the design of motion mechanism and flight control *** this paper,a time-history performance optimization framework based on deep learning and multi-island genetic algorithm is presented,which is designed in order to obtain the optimal two-dimensional flapping wing ***,the training dataset for deep learning neural network is constructed based on a validated computational fluid dynamics *** aerodynamic surrogate model for flapping wing is obtained after the convergence of *** surrogate model is tested and proved to be able to accurately and quickly predict the time-history curves of lift,thrust and ***,the optimization framework is used to optimize the flapping wing motion in two specific cases,in which the optimized propulsive efficiencies have been improved by over 40%compared with the ***,a dimensionless parameter C_(variation)is proposed to describe the variation of the time-history characteristics,and it is found that C_(variation)of lift varies significantly even under close time-averaged *** the importance of time-history performance in practical applications,the optimization that integrates the propulsion efficiency as well as C_(variation)is carried *** final optimal flapping wing motion balances good time-averaged and time-history performance.

关键词： FWMAV Flapping wing motion Deep learning Unsteady aerodynamic performance Optimization Time-history curve

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Towards cultivar-oriented gene discovery for better crops

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The Crop Journal 2024年第3期12卷 670-675页

作者： Dengcai liu Triticeae Research Institute Sichuan Agricultural UniversityChengdu 611130SichuanChina

The continued expansion of the world population,increasingly inconsistent climate and shrinking agricultural resources present major challenges to crop ***,the increasing ability to discover and manipulate genes creates new opportunities to develop more productive and resilient *** genes have been described in papers as being beneficial for yield ***,few of them have been translated into increased yield on *** contrast,commercial breeders are facing gene decidophobia,i.e.,puzzled about which gene to choose for breeding among the many identified,a huge chasm between gene discovery and cultivar *** purpose of this paper is to draw attention to the shortfalls in current gene discovery research and to emphasise the need to align with cultivar *** methodology dictates that genetic studies not only focus on gene discovery but also pay good attention to the genetic backgrounds,experimental validation in relevant environments,appropriate crop management,and data *** close of the gaps should accelerate the application of molecular study in breeding and contribute to future global food security.

关键词： Cultivar innovation Data reusability Gene discovery Gene decidophobia Omnigenic model

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Thermoregulatory molecular sieving in crystals

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Science China Materials 2024年第10期67卷 3419-3420页

作者： Guozhen liu Wanqin Jin Gongping liu State Key Laboratory of Materials-Oriented Chemical Engineering College of Chemical EngineeringNanjing Tech UniversityNanjing 211800China

Sub-nanometer channels for the selective recognition of the components in chemical mixtures from others play a crucial role in the adsorption and membrane separation[1].It remains a grand challenge to separate small m... 详细信息

关键词： structure. molecular separation

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利用倒排文档实现基于内容的图像检索

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计算机与数字工程 2009年第7期37卷 143-146页

作者：刘明政蔡小芳鲁东大学管理学院烟台264025

提出了一种利用文本检索技术进行基于内容的图像检索的新方法。将每个图像的所有特征以变长列表的方式存储为特征文件,然后使用倒排文档来对特征文件进行索引。在查询时,系统计算出目标图像中含有的每种特征的词频,然后利用这些词频为... 详细信息

提出了一种利用文本检索技术进行基于内容的图像检索的新方法。将每个图像的所有特征以变长列表的方式存储为特征文件,然后使用倒排文档来对特征文件进行索引。在查询时,系统计算出目标图像中含有的每种特征的词频,然后利用这些词频为图像库中的每个含有相同特征的图像计算权重,从而检索出相关图像。

关键词：基于内容的图像检索倒排文档特征提取多媒体信息检索索引结构

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基于非线性支承的磁悬浮双转子系统碰摩特性研究

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武汉科技大学学报 2021年第2期44卷 125-133页

作者：姚俊夫王念先刘明政葛萍萍武汉科技大学冶金装备及其控制教育部重点实验室湖北武汉430081 武汉科技大学机械传动与制造工程湖北省重点实验室湖北武汉430081

采用Lankarani-Nikravesh模型,建立了磁悬浮双转子系统的定点碰摩动力学模型,并将磁悬浮轴承的非线性支承力模型融入动力学模型中,研究了非线性支承下磁悬浮双转子系统定点碰摩特性和各参数对系统定点碰摩响应的影响。结果表明,磁悬浮... 详细信息

采用Lankarani-Nikravesh模型,建立了磁悬浮双转子系统的定点碰摩动力学模型,并将磁悬浮轴承的非线性支承力模型融入动力学模型中,研究了非线性支承下磁悬浮双转子系统定点碰摩特性和各参数对系统定点碰摩响应的影响。结果表明,磁悬浮轴承的非线性支承特性对双转子系统的碰摩特性会造成较大影响,且系统碰摩对外加负载更加敏感;当负载较大时,非线性支承下磁悬浮双转子系统的碰摩更加剧烈;此外,合理选择比例系数和较大的微分系数可有效降低系统的碰摩程度。

关键词：双转子系统磁悬浮轴承非线性支承定点碰摩动力学特性

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Breakdown of effective medium theory:A study of photonic spin Hall effect in deep-subwavelength all-dielectric multilayers

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Science China(Physics,Mechanics & Astronomy) 2024年第4期67卷 173-174页

作者： Yongmin liu Department of Mechanical and Industrial Engineering Northeastern UniversityBoston 02115USA Department of Electrical and Computer Engineering Northeastern UniversityBoston 02115USA

Effective medium theory(EMT)has been widely applied in material science,electromagnetics and photonics to determine the effective material properties for inhomogeneous composites comprising subwavelength *** versatility of this foundational approach has been established through its application in classical Maxwell-Garnet models,which encompass relatively simple structures。

关键词： composites theory dielectric

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Fatigue-resistant sliding ferroelectricity

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Science China Materials 2024年第10期67卷 3417-3418页

作者： Zheng liu School of Materials Science and Engineering Nanyang Technological UniversitySingapore 639798Singapore

The direction of spontaneous polarization in ferroelectricity can be reoriented by an external electric *** special feature of ferroelectricity is important candidates for fabricating advanced nonvolatile random-access memory[1].However,repeatedly switching polarization induces the ferroelectric device performance degenerates due to a reduction of polarization.

关键词： polarization ferroelectric field.

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A REFINEMENT OF THE SCHWARZ-PICK ESTIMATES AND THE CARATHéODORY METRIC IN SEVERAL COMPLEX VARIABLES

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Acta Mathematica Scientia 2024年第4期44卷 1337-1346页

作者： Xiaosong liu Taishun liu School of Mathematics and Statistics Lingnan Normal UniversityZhanjiang 524048China Department of Mathematics Huzhou UniversityHuzhou 313000China

In this article,we first establish an asymptotically sharp result on the higher order Fréchet derivatives for bounded holomorphic mappings f(x)=f(0)+∞∑s=1Dskf(0)(x^(sk))/(sk)!:B_(X)→B_(Y),where B_X is the unit ball of *** next give a sharp result on the first order Fréchet derivative for bounded holomorphic mappings F(X)=F(0+)∞∑s=KD^(s)f(0)(x^(8)/s!):B_(X)→B_(Y),where B_(X)is the unit ball of *** results that we derive include some results in several complex variables,and extend the classical result in one complex variable to several complex variables.

关键词： refined Schwarz-Pick estimate bounded holomorphic mapping Carathéodory metric first order Fréchet derivative higher order Fréchet derivatives

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