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Attention-based efficient robot grasp detection network

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Frontiers of Information Technology & Electronic Engineering 2023年第10期24卷 1430-1444页

作者： xiaofei QIN wenkai HU Chen xiao Changxiang HE Songwen PEI Xuedian ZHANG School of Optical-Electrical and Computer Engineering University of Shanghai for Science and TechnologyShanghai 200093China College of Science University of Shanghai for Science and TechnologyShanghai 200093China Shanghai Key Laboratory of Modern Optical System Shanghai 200093China Key Laboratory of Biomedical Optical Technology and Devices of Ministry of Education Shanghai 200093China Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghai 201210China

To balance the inference speed and detection accuracy of a grasp detection algorithm,which are both important for robot grasping tasks,we propose an encoder–decoder structured pixel-level grasp detection neural network named the attention-based efficient robot grasp detection network(AE-GDN).Three spatial attention modules are introduced in the encoder stages to enhance the detailed information,and three channel attention modules are introduced in the decoder stages to extract more semantic information.Several lightweight and efficient DenseBlocks are used to connect the encoder and decoder paths to improve the feature modeling capability of AE-GDN.A high intersection over union(IoU)value between the predicted grasp rectangle and the ground truth does not necessarily mean a high-quality grasp configuration,but might cause a collision.This is because traditional IoU loss calculation methods treat the center part of the predicted rectangle as having the same importance as the area around the grippers.We design a new IoU loss calculation method based on an hourglass box matching mechanism,which will create good correspondence between high IoUs and high-quality grasp configurations.AEGDN achieves the accuracy of 98.9%and 96.6%on the Cornell and Jacquard datasets,respectively.The inference speed reaches 43.5 frames per second with only about 1.2×10^(6)parameters.The proposed AE-GDN has also been deployed on a practical robotic arm grasping system and performs grasping well.Codes are available at https://***/robvincen/robot_gradet.

关键词： Robot grasp detection Attention mechanism Encoder-decoder Neural network

Association of Remnant-like Particle Cholesterol with Major Adverse Cardiovascular Events in Subjects with Different Levels of Proprotein Convertase Subtilisin/Kexin 9:A 9.5-year Follow-up Study in a Beijing Community Population

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Cardiology Discovery 2023年第3期3卷 159-165页

作者： xiaona Wang Ruping Tie Ruihua Cao Xu Yang wenkai xiao Li Sheng Ping Ye Department of Geriatric Cardiology The Second Medical Center&National Clinical Research Center for Geriatric DiseasesChinese People's Liberation Army General HospitalBejing 100039China

Objective::The purpose of this study was to determine the relationship between remnant-like particle cholesterol(RLP-C)and major adverse cardiovascular events(MACEs)in patients with different levels of proprotein convertase subtilisin/kexin 9(PCSK9).Methods::From September 2007 to January 2009,1,859 subjects in Pingguoyuan communities in Beijing were initially screened.After excluding those with bedridden status,mental illness,severe systemic diseases,and missing data,1,680 subjects were recruited for follow up.All recruited subjects were followed up from February 2013 to September 2013(181 subjects were lost to follow-up)and from June 2017 to September 2018(174 subjects were lost to follow up).Finally,1,325 subjects were included in the study.General demographic characteristics,lifestyle and behaviors,disease history and use of medication was collected.Levels of total cholesterol,triglycerides,high-density lipoprotein cholesterol,low-density lipoprotein cholesterol,fast blood glucose,RLP-C,low-density lipoprotein triglycerides and PCSK9 were measured.The levels of RLP-C(low:RLP-C≤157 mg/L;high:RLP-C>157 mg/L)and PCSK9(low:PCSK9≤135.87μg/L;high:PCSK9>135.87μg/L)were represented using quartiles.Subjects were categorized into 4 groups according to their RLP-C and PCSK9 levels:Q4,high levels of RLP-C with high levels of PCSK9;Q3,high levels of RLP-C with low levels of PCSK9;Q2,low levels of RLP-C with high levels of PCSK9;and Q1,low levels of RLP-C with low levels of PCSK9.The association of RLP-C with MACEs in subjects with different PCSK9 levels was evaluated.Results::After a median follow-up of 9.5 years,1,325 subjects were included in the study and a total of 191 MACEs had occurred.The incidence of MACEs was higher in the RLP-C>157 mg/L group than the RLP-C≤157 mg/L group(18.40%vs.10.42%).Cox proportional hazards regression model analysis showed that increased RLP-C levels were associated with an increased risk of MACEs(hazard ratio:1.405;95%confidence interval:1.005-1.964;P<0.005).The incidence of MACEs was hig

关键词： Cardiovascular diseases Remnant-like particle cholesterol Proprotein convertase subtilisin/kexin 9 Major adverse cardiovascular events

The application of antimicrobial peptides as growth and health promoters for swine

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Journal of Animal Science and Biotechnology 2016年第1期7卷 20-25页

作者： Hao xiao Fangyuan Shao Miaomiao Wu wenkai Ren Xia Xiong Bie Tan Yulong Yin Observation and Experiment Station of Animal Nutrition and Feed Science in South-Central China Ministry of AgricultureHunan Provincial Engineering Research Center for Healthy Livestock and Poultry ProductionKey Laboratory of Agro-ecological Processes in Subtropical RegionInstitute of Subtropical AgricultureChinese Academy of Sciences University of the Chinese Academy of Sciences Department of Microbiology Molecular Geneticsand ImmunologyUniversity of Kansas Medical Center Hubei Collaborative Innovation Center for Animal Nutrition and Feed Safety Wuhan Polytechnic University

With the widespread ban on the use of antibiotics in swine feed, alternative measures need to be sought to maintain swine health and performance, Antimicrobial peptides （AMPs） are part of the nonspecific defense system and are natural antibiotics produced by plants, insects, mammalians, and micro-organisms as well as by chemical synthesis. Due to their broad microbicidal activity against various fungi, bacteria and enveloped viruses AMPs are a potential alternative to conventional antibiotics for use in swine production. This review focuses on the structure and mechanism of action of AMPs, as well as their effects on performance, immune function and intestinal health in pigs. The aim is to provide support for the application of AMPs as feed additives replacing antibiotics in swine nutrition.

关键词： Antimicrobial peptides Antibiotics Applications Swine

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LNG接收站焊缝射线智能检测算法优化研究

上海节能 2022年第7期 863-869页

作者：肖文凯申能(集团)有限公司

焊接技术已成为工业制造和工程领域不可或缺的技术,为了确保焊接工件的质量以及工程安全性,对焊接工件进行缺陷检测就变得非常重要。在焊接缺陷检测领域,胶片X射线成像检测是最常用的无损检测方法之一。目前主要采取的方式是人工分析焊... 详细信息

焊接技术已成为工业制造和工程领域不可或缺的技术,为了确保焊接工件的质量以及工程安全性,对焊接工件进行缺陷检测就变得非常重要。在焊接缺陷检测领域,胶片X射线成像检测是最常用的无损检测方法之一。目前主要采取的方式是人工分析焊缝图像,但人工检测存在效率低、不可靠、一致性差、对人眼有害等问题。结合计算机图像处理技术的进展,对X射线缺陷检测图像进行分析、检测和识别,通过对经典算法不断优化,较好地解决了人工评定对焊件缺陷的误判和漏判等可靠性和稳定性问题,使焊接质量评定更科学、客观和规范,进一步提高了射线检测的效率和准确率,对LNG接收站等能源领域重点工程建设智能化提升也有借鉴作用。

关键词：焊缝缺陷检测深度学习卷积神经网络

基于孤立森林、模态分解和神经网络的空间负荷态势感知

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电力系统自动化 2022年第18期46卷 190-198页

作者：肖白周文凯姜卓东北电力大学电气工程学院吉林省吉林市132012 北华大学计算机科学技术学院吉林省吉林市132021

精准的空间电力负荷态势感知能够为城市电网的优化规划提供科学指导。为此,提出了一种基于孤立森林、变分模态分解、多层感知机和门控循环单元(iForest-VMD-MLP-GRU)的空间电力负荷态势感知方法。在态势觉察阶段,运用孤立森林算法对电... 详细信息

精准的空间电力负荷态势感知能够为城市电网的优化规划提供科学指导。为此,提出了一种基于孤立森林、变分模态分解、多层感知机和门控循环单元(iForest-VMD-MLP-GRU)的空间电力负荷态势感知方法。在态势觉察阶段,运用孤立森林算法对电力地理信息系统中既定空间分辨率下的Ⅰ类元胞负荷实测数据的异常值进行识别,并采用拉格朗日内插值法对其进行修正,从而确定出合理的Ⅰ类元胞负荷数据;在态势理解阶段,对态势觉察到的Ⅰ类元胞负荷数据运用变分模态分解方法进行分解,得到不同中心频率的分量,并根据其能量值确定趋势分量和低频分量;在态势预测阶段,采用多层感知机和门控循环单元分别对趋势分量和低频分量进行预测,并将两个分量的预测结果进行反演重构,得到目标年的Ⅰ类元胞负荷态势感知结果,之后采用网格化技术将其转化为基于Ⅱ类元胞的结果。实例分析结果证明了所述方法的正确性与有效性。

关键词：空间电力负荷态势感知孤立森林变分模态分解门控循环单元多层感知机

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数据驱动的燃气应急抢修系统设计与实现

微型电脑应用 2022年第3期38卷 143-147页

作者：肖文凯申能(集团)有限公司上海201103 上海智慧能源工程技术研究中心上海201103

利用数字化技术重塑上海燃气,建立多源异构燃气数据的采集、治理、智能分析应用和数据服务,通过数据融合形成能源数字化资源。集中对燃气数据的模型、规范、标准和质量进行管控,规范燃气数据管理流程,智能挖掘燃气数据资源与价值。通过... 详细信息

利用数字化技术重塑上海燃气,建立多源异构燃气数据的采集、治理、智能分析应用和数据服务,通过数据融合形成能源数字化资源。集中对燃气数据的模型、规范、标准和质量进行管控,规范燃气数据管理流程,智能挖掘燃气数据资源与价值。通过对抢修事故数据的实时动态数据分析,建立智能分析模型,实现调度优化、应急事故分析、站点管理、路径推荐等功能,拓展基于互联网的燃气智能化服务。

关键词：数据驱动应急抢修大数据数据挖掘

城镇燃气企业工业互联网创新发展的现状及建议

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上海煤气 2022年第4期 19-22页

作者：肖文凯申能(集团)有限公司

在“双碳”战略的大背景下,城镇燃气企业(即城燃企业)面对自身存在的问题和发展要求,陆续提出各自的数字化战略。未来,推进工业互联网创新发展是城镇燃气企业高质量发展的必然要求,其中“韧性”“创新”和“文化”是行业领军企业的三大... 详细信息

在“双碳”战略的大背景下,城镇燃气企业(即城燃企业)面对自身存在的问题和发展要求,陆续提出各自的数字化战略。未来,推进工业互联网创新发展是城镇燃气企业高质量发展的必然要求,其中“韧性”“创新”和“文化”是行业领军企业的三大核心能力。领军企业将以数字化产业提升为核心、数字化客户服务为优势、数字化运营管理为保障、数字化协同发展为桥梁,促进工业互联网与燃气业务深度融合,为城燃企业发展赋能。

关键词：城镇燃气工业互联网创新数字化转型

Uncertainty Visualisation of a 3D Geological Geometry Model and Its Application in GIS-Based Mineral Resource Assessment:A Case Study in Huayuan District,Northwestern Hunan Province,China

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Journal of Earth Science 2021年第2期32卷 358-369页

作者： Nan Li Cangbai Li wenkai Chu Keyan xiao Weihan Tao Xianglong Song Rui Cao Yang Xu Mingjing Fan MNR Laboratory of Metallogeny and Mineral Resource Assessment Institute of Mineral ResourcesChinese Academy of Geological SciencesBeijing 100037China Centre for Exploration Targeting the University of Western Australia35 Stirling HighwayCrawleyWA 6009Australia School of Earth Sciences and Resources China University of GeosciencesBeijing 100083China Technical Guidance Center for Mineral Resources Exploration Ministry of Natural ResourcesBeijing 100120China China Deep Exploration Center(SinoProbe Center) Chinese Academy of Geological SciencesBeijing 100037China

This paper reports an application of uncertainty visualisation of a regional scale(1:50000)3 D geological geometry model to be involved in GIS-based 3 D mineral potential assessment of the Xiangxibei lead-zinc mineral concentration area in northwestern Hunan District,China.Three-dimensional(3 D)geological modelling is a process of interpretation that combines a set of input measurements in geometry.Today,technology has become a necessary part of GIS-based deep prospecting.However,issues of sparse data and imperfect understanding exist in the process so that there are several uncertainties in 3 D geological modelling.And these uncertainties are inevitably transmitted into the post-processing applications,such as model-based mineral resource assessment.Thus,in this paper,first,a big-data-based method was used to estimate the uncertainty of a 3 D geological model;second,a group of expectations of geological geometry uncertainty were calculated and integrated into ore-bearing stratoisohypse modelling,which is one of the major favourable parameters of assessment for Lead-Zinc(Pb-Zn)deep prospectivity mapping in northwestern Hunan;and finally,prospecting targets were improved.

关键词： uncertainty 3D geological modelling Monte Carlo simulation prospectivity mapping

Molecular cytogenetic map visualizes the heterozygotic genome and identifies translocation chromosomes in Citrus sinensis

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Journal of Genetics and Genomics 2023年第6期50卷 410-421页

作者： Shipeng Song Hui Liu Luke Miao Li He Wenzhao Xie Hong Lan Changxiu Yu wenkai Yan Yufeng Wu xiao-peng Wen Qiang Xu Xiuxin Deng Chunli Chen National Key Laboratory for Germplasm Innovation and Utilization for Fruit and Vegetable Horticultural Crops Hubei Hongshan LaboratoryWuhanHubei 430070China College of Life Science and Technology Huazhong Agricultural UniversityWuhanHubei 430070China National-local Joint Engineering Laboratory of Citrus Breeding and Cultivation/Horticulture Institute Sichuan Academy of Agricultural SciencesChengduSichuan 610066China National Key Laboratory of Crop Genetics and Improvement Huazhong Agricultural UniversityWuhanHubei 430070China Hubei Province Engineering Research Center of Legume Plants College of Life ScienceJianghan UniversityWuhanHubei 430056China State Key Laboratory for Crop Genetics and Germplasm Enhancement Bioinformatics CenterAcademy for Advanced Interdisciplinary StudiesNanjing Agricultural UniversityNanjingJiangsu 210095China Key Laboratory of Plant Resource Conservation and Germplasm Innovation in Mountainous Region(Ministry of Education) Institute of AgrobioengineeringCollege of Life ScienceGuizhou UniversityGuiyangGuizhou 550025China

Citrus sinensis is the most cultivated and economically valuable Citrus species in the world,whose genome has been assembled by three generation sequencings.However,chromosome recognition remains a problem due to the small size of chromosomes,and difficulty in differentiating between pseudo and real chromosomes because of a highly heterozygous genome.Here,we employ fluorescence in situ hybridization(FISH)with 9 chromosome painting probes,30 oligo pools,and 8 repetitive sequences to visualize 18 chromosomes.Then,we develop an approach to identify each chromosome in one cell through single experiment of oligo-FISH and Chromoycin A3(CMA)staining.By this approach,we construct a high-resolution molecular cytogenetic map containing the physical positions of CMA banding and 38 sequences of FISH including centromere regions,which enables us to visualize significant differences between homologous chromosomes.Based on the map,we locate several highly repetitive sequences on chromosomes and estimate sizes and copy numbers of each site.In particular,we discover the translocation regions of chromosomes 4 and 9 in C.sinensis“Valencia.”The high-resolution molecular cytogenetic map will help improve understanding of sweet orange genome assembly and also provide a fundamental reference for investigating chromosome evolution and chromosome engineering for genetic improvement in Citrus.

关键词： Chromosomalmarker FISH CMA banding Genomic heterozygosity Chromosomal translocation Sweet orange