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Automatic Miscalibration Detection and Correction of LiDAR and Camera Using Motion Cues

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Chinese Journal of Mechanical Engineering 2024年第2期37卷 318-329页

作者： Pai Peng Dawei Pi Guodong Yin Yan wang Liwei xu Jiwei feng School of Mechanical Engineering Southeast UniversityNanjing 211102China School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210014China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingaporeSingapore

This paper aims to develop an automatic miscalibration detection and correction framework to maintain accurate calibration of LiDAR and camera for autonomous vehicle after the sensor ***,a monitoring algorithm that can continuously detect the miscalibration in each frame is designed,leveraging the rotational motion each individual sensor ***,as sensor drift occurs,the projection constraints between visual feature points and LiDAR 3-D points are used to compute the scaled camera motion,which is further utilized to align the drifted LiDAR scan with the camera ***,the proposed method is sufficiently compared with two representative approaches in the online experiments with varying levels of random drift,then the method is further extended to the offline calibration experiment and is demonstrated by a comparison with two existing benchmark methods.

关键词： Autonomous vehicle LiDAR and camera Miscalibration detection and correction Sensor drift

A disk I/O optimized system for concurrent graph processing jobs

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Frontiers of Computer Science 2024年第3期18卷 13-29页

作者： Xianghao xu Fang wang Hong JIANG Yongli CHENG Dan feng Peng FANG School of Computer Science and Engineering Nanjing University of Science and TechnologyNanjing 210094China Wuhan National Laboratory for Optoelectronics Huazhong University of Science and TechnologyWuhan 430074China Department of Computer Science&Engineering University of Texas at ArlingtonArlingtonTX 76019USA College of Computer and Data Science Fuzhou UniversityFuzhou 350108China Zhejiang Lab Hangzhou 311121China

In order to analyze and process the large graphs with high cost efficiency,researchers have developed a number of out-of-core graph processing systems in recent years based on just one commodity *** the other hand,with the rapidly growing need of analyzing graphs in the real-world,graph processing systems have to efficiently handle massive concurrent graph processing(CGP)***,due to the inherent design for single graph processing job,existing out-of-core graph processing systems usually incur unnecessary data accesses and severe competition of I/O bandwidth when handling the CGP *** this paper,we propose GraphCP,a disk I/O optimized out-of-core graph processing system that efficiently supports the processing of CGP *** proposes a benefit-aware sharing execution model to share the I/O access and processing of graph data among the CGP jobs and adaptively schedule the graph data loading based on the states of vertices,which efficiently overcomes above challenges faced by existing out-of-core graph processing ***,GraphCP adopts a dependency-based future-vertex updating model so as to reduce disk I/Os in the future *** addition,GraphCP organizes the graph data with a Source-Sorted Sub-Block graph representation for better processing capacity and I/O access *** evaluation results show that GraphCP is 20.5×and 8.9×faster than two out-of-core graph processing systems GridGraph and GraphZ,and 3.5×and 1.7×faster than two state-of-art concurrent graph processing systems Seraph and GraphSO.

关键词： graph processing disk I/O concurrent jobs

Managing the surge:A comprehensive review of the entire disposal framework for retired lithium-ion batteries from electric vehicles

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Journal of Energy Chemistry 2024年第5期92卷 648-680页

作者： Ruohan Guo feng wang M.Akbar Rhamdhani Yiming xu Weixiang Shen Department of Engineering Technologies School of ScienceComputing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia Department of Chemistry and Biotechnology School of ScienceComputing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia Department Mechanical and Product Design Engineering School of EngineeringSwinburne University of TechnologyMelbourne VIC 3122Australia

Anticipating the imminent surge of retired lithium-ion batteries(R-LIBs)from electric vehicles,the need for safe,cost-effective and environmentally friendly disposal technologies has *** paper seeks to offer a comprehensive overview of the entire disposal framework for R-LIBs,encompassing a broad spectrum of activities,including screening,repurposing and ***,we delve deeply into a thorough examination of current screening technologies,shifting the focus from a mere enumeration of screening methods to the exploration of the strategies for enhancing screening ***,we outline battery repurposing with associated key factors,summarizing stationary applications and sizing methods for R-LIBs in their second life.A particular light is shed on available reconditioning solutions,demonstrating their great potential in facilitating battery safety and lifetime in repurposing scenarios and identifying their techno-economic *** the realm of battery recycling,we present an extensive survey of pre-treatment options and subsequent material recovery ***,we introduce several global leading recyclers to illustrate their industrial processes and technical ***,relevant challenges and evolving trends are investigated in pursuit of a sustainable end-of-life management and disposal *** hope that this study can serve as a valuable resource for researchers,industry professionals and policymakers in this field,ultimately facilitating the adoption of proper disposal practices.

关键词： Lithium-ion battery Battery reproposing and recycling Miaieiials recovery technologies Techno-economic issues End-of-life management Disposal framework

Towards complex scenes: A deep learning-based camouflaged people detection method for snapshot multispectral images

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Defence Technology（防务技术） 2024年第4期34卷 269-281页

作者： Shu wang Dawei Zeng Yixuan xu Gonghan Yang feng Huang Liqiong Chen School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou 350108China

Camouflaged people are extremely expert in actively concealing themselves by effectively utilizing cover and the surrounding environment. Despite advancements in optical detection capabilities through imaging systems, including spectral, polarization, and infrared technologies, there is still a lack of effective real-time method for accurately detecting small-size and high-efficient camouflaged people in complex real-world scenes. Here, this study proposes a snapshot multispectral image-based camouflaged detection model, multispectral YOLO(MS-YOLO), which utilizes the SPD-Conv and Sim AM modules to effectively represent targets and suppress background interference by exploiting the spatial-spectral target information. Besides, the study constructs the first real-shot multispectral camouflaged people dataset(MSCPD), which encompasses diverse scenes, target scales, and attitudes. To minimize information redundancy, MS-YOLO selects an optimal subset of 12 bands with strong feature representation and minimal inter-band correlation as input. Through experiments on the MSCPD, MS-YOLO achieves a mean Average Precision of 94.31% and real-time detection at 65 frames per second, which confirms the effectiveness and efficiency of our method in detecting camouflaged people in various typical desert and forest scenes. Our approach offers valuable support to improve the perception capabilities of unmanned aerial vehicles in detecting enemy forces and rescuing personnel in battlefield.

关键词： Camouflaged people detection Snapshot multispectral imaging Optimal band selection MS-YOLO Complex remote sensing scenes

Synthesis,Style Editing,and Animation of 3D Cartoon Face

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Tsinghua Science and Technology 2024年第2期29卷 506-516页

作者： Ming Guo feng xu Shunfei wang Zhibo wang Ming Lu Xiufen Cui Xiao Ling School of Software and BNRist Tsinghua UniversityBeijing 100084China Department of Multimedia and Smart Guangdong OPPO Mobile Telecommunications Corp.Ltd.Dongguan 523860China Intel Labs IntelBeijing 100089China

As a popular kind of stylized face,cartoon faces have rich application *** is challenging to create personalized 3D cartoon faces directly from 2D real ***,in order to adapt to more application scenarios,automatic style editing,and animation of cartoon faces is also a crucial problem that is urgently needed to be solved in the industry,but has not yet had a perfect *** solve this problem,we first propose“3D face cartoonizer”,which can generate high-quality 3D cartoon faces with texture when fed into 2D facial *** contribute the first 3D cartoon face hybrid dataset and a new training strategy which first pretrains our network with low-quality triplets in a reconstruction-then-generation manner,and then finetunes it with high-quality triplets in an adversarial manner to fully leverage the hybrid ***,we implement style editing for 3D cartoon faces based on k-means,which can be easily achieved without retrain the neural *** addition,we propose a new cartoon faces'blendshape generation method,and based on this,realize the expression animation of 3D cartoon faces,enabling more practical *** dataset and code will be released for future research.

关键词： cartoon 3D face animation computer graphics

Exact Box-Constrained Economic Operating Region for Power Grids Considering Renewable Energy Sources

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Journal of Modern Power Systems and Clean Energy 2024年第2期12卷 514-523页

作者： Huating xu Bin feng Chutong wang Chuangxin Guo Jian Qiu Mingyang Sun College of Electrical Engineering Zhejiang UniversityHangzhou 310027China Department of Control Science and Engineering Zhejiang UniversityHangzhou 310027China

The growing integration of renewable energy sources manifests as an effective strategy for reducing carbon emissions. This paper strives to efficiently approximate the set of optimal scheduling plans(OSPs) to enhance the performance of the steady-state adaptive cruise method(SACM) of power grid, improving the ability of dealing with operational uncertainties. Initially, we provide a mathematical definition of the exact boxconstrained economic operating region(EBC-EOR) for the power grid and its dispatchable components. Following this, we introduce an EBC-EOR formulation algorithm and the corresponding bi-level optimization models designed to explore the economic operating boundaries. In addition, we propose an enhanced big-M method to expedite the computation of the EBCEOR. Finally, the effectiveness of the EBC-EOR formulation, its economic attributes, correlation with the scheduling plan underpinned by model predictive control, and the significant improvement in computational efficiency(over twelvefold) are verified through case studies conducted on two test systems..

关键词： Exact box-constrained economic operating region(EBC-EOR) big-M method intelligent scheduling steady-state adaptive cruise uncertainty renewable energy source

Decohesion of graphene from a uniaxially-stretched substrate:Failure analysis of a frictional adhesive interface

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Friction 2024年第3期12卷 510-521页

作者： Bo PENG Chaochen xu Qingao wang Pei ZHAO Xiqiao feng Qunyang LI AML Department of Engineering MechanicsTsinghua UniversityBeijing 100084China State Key Laboratory of Tribology in Advanced Equipment Tsinghua UniversityBeijing 100084China Center for X-Mechanics and Institute of Applied Mechanics Zhejiang UniversityHangzhou 310027China State Key Laboratory of Fluid Power and M

Composite structures consisting of two-dimensional(2D)materials deposited on elastic substrates have a wide range of potential applications in flexible *** such devices,robust 2D film/substrate interfacial adhesion is essential for their reliable performance when subjected to external thermal and mechanical *** better understand the strength and failure behavior of the 2D film/substrate interfaces,two types of graphene/polymer samples with distinct interfacial adhesion properties are fabricated and tested by uniaxially stretching the *** on the interfacial adhesion,two drastically different debonding rates are observed,i.e.,rapid snap-through debonding and more progressive crack *** by the experimental observation,we propose an improved shear-lag model with a trapezoidal-shaped cohesive zone to derive an analytical solution for the decohesion *** theoretical model reveals that the decohesion behavior of the frictional adhesive interface is governed by three dimensionless ***,the dimensionless length of the film essentially determines the decohesion rate;while the other two parameters affect the critical substrate strain to initiate *** fitting the experimental data with the theoretical model,the intrinsic adhesion properties of the two samples are obtained with physically meaningful *** work offers an analytical solution to describing the decohesion behavior of general thin film/substrate systems with a frictional adhesive interface,which is beneficial for characterizing and optimizing the mechanical properties of various thin film/polymer devices.

关键词： film/substrate systems adhesion frictional sliding interface decohesion cohesive-zone model

Tunable quantum anomalous Hall effects in ferromagnetic van der Waals heterostructures

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National Science Review 2024年第3期11卷 100-107页

作者： feng xue Yusheng Hou Zhe wang Zhiming xu Ke He Ruqian Wu Yong xu Wenhui Duan Beijing Academy of Quantum Information Sciences State Key Laboratory of Low Dimensional Quantum Physics Department of Physics Tsinghua University Guangdong Provincial Key Laboratory of Magnetoelectric Physics and Devices Center for Neutron Science and Technology School of Physics Sun Yat-sen University State Key Laboratory of Surface Physics Key Laboratory of Computational Physical Sciences and Department of PhysicsFudan University Frontier Science Center for Quantum Information Department of Physics and Astronomy University of California-Irvine Tencent Quantum Laboratory Tencent Technology(Shenzhen)Co.Ltd RIKEN Center for Emergent Matter Science(CEMS) Institute for Advanced Study Tsinghua University

The quantum anomalous Hall effect（QAHE） has unique advantages in topotronic applications, but it is still challenging to realize the QAHE with tunable magnetic and topological properties for building functional devices. Through systematic first-principles calculations, we predict that the in-plane magnetization induced QAHE with Chern numbers C = ±1 and the out-of-plane magnetization induced QAHE with high Chern numbers C = ±3 can be realized in a single material candidate, which is composed of van der Waals（vdW）coupled Bi and MnBi2Te4monolayers. The switching between different phases of QAHE can be controlled in multiple ways, such as applying strain or（weak） magnetic field or twisting the vdW materials. The prediction of an experimentally available material system hosting robust, highly tunable QAHE will stimulate great research interest in the field. Our work opens a new avenue for the realization of tunable QAHE and provides a practical material platform for the development of topological electronics.

关键词： quantum anomalous Hall effect topological quantum phase transition van der Waals heterostructures tunable Chern number high Chern number

Numerical simulation of melt flow and temperature field during DC casting 2024 aluminium alloy under different casting conditions

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China Foundry 2024年第4期21卷 387-396页

作者： Jin-chuan wang Yu-bo Zuo Qing-feng Zhu Jing Li Rui wang xu-dong Liu Key Laboratory of Electromagnetic Processing of Materials Ministry of EducationNortheastern UniversityShenyang 110819China School of Materials Science and Engineering Northeastern UniversityShenyang 110819China Engineering Research Center of Advanced Materials Preparing Technology Ministry of EducationShenyang 110819China CAS Key Laboratory of Nuclear Materials and Safety Assessment Institute of Metal ResearchChinese Academy of SciencesShenyang 110016China

Casting speed,casting temperature and secondary cooling water flow rate are the main process parameters affecting the DC casting *** parameters significantly influence the flow and temperature fields during casting,which are crucial for the quality of the ingot and can determine the success or failure of the casting *** simulation,with the advantages of low cost,rapid execution,and visualized results,is an important method to study and optimize the DC casting *** the present work,a simulation model of DC casting 2024 aluminum alloy was established,and the reliability of the model was ***,the influence of casting parameters on flow field and temperature field was studied in detail by numerical simulation *** show that with the increase of casting speed,the melt flow becomes faster,the depths of slurry zone and mushy zone increase,and the variation of slurry zone depth is greater than that of mushy *** an increase in casting temperature,the melt flow rate increases,the depth of the slurry zone becomes shallower,and the depth of the mushy zone experiences only minor *** simulation results further indicate that the increase of the flow rate of the secondary cooling water slightly reduces the depths of both slurry and mushy zone.

关键词： aluminium DC casting flow field temperature field numerical simulation