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基于视觉和惯性测量单元的里程计关键技术研究综述

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机械工程学报 2024年第10期60卷 3-21页

作者：张彧檀祖冰曹东璞陈龙中山大学计算机学院广州510006 中山大学无人系统研究所广州510006 清华大学车辆与运载学院北京100084 中国科学院自动化研究所北京100089

环境感知与状态估计是智能网联车关键技术之一。同时定位与建图技术(simultaneous location and mapping technology,sLAM),旨在同时完成自身的状态估计与环境建模,被广泛应用于智能网联车领域。随着研究的深入,学者们发现通过融合多种... 详细信息

环境感知与状态估计是智能网联车关键技术之一。同时定位与建图技术(simultaneous location and mapping technology,sLAM),旨在同时完成自身的状态估计与环境建模,被广泛应用于智能网联车领域。随着研究的深入,学者们发现通过融合多种传感器,可以实现传感之间的短板互补,提升和加强状态估计的实时性与稳定性。融合视觉和惯性导航仪(Inertial me.s.rement unit,IMU)的实例——视觉惯性里程计(Visual-inertial odometry,VIO),由于具有较高的性价比获得了许多研究人员的青睐。VIO在视觉里程计(Visual odometry,VO)的基础上引入IMU测量,很好地改善了尺度漂移的问题,同时也能极大缓解短期内图像过曝、特征缺失等问题导致的视觉定位失效问题。并且VIO在通过结合冗余传感器提升精度的同时,也通过滑动窗口和状态边缘化等方案保证系统实时性,是兼顾精度和运行效率的典范。细致介绍VIO系统的标准定义与基础模型,并对其关键模块,包括初始化、视觉信息提取与关联、求解与优化、标定,进行详尽的技术梳理与前沿工作回顾,对前沿工作的优点和局限进行详细分析,总结了常用的视觉惯性数据集,并对VIO当前存在的问题和未来发展方向进行了总结和展望。

关键词：状态估计视觉惯性里程计多传感器融合同步定位与建图视觉惯性数据集

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复杂盒形件拉深气胀精确热成形工艺

稀有金属材料与工程 2024年第6期53卷 1582-1591页

作者：乔旭东陈明和谢兰生南京航空航天大学机电学院江苏南京210016

针对复杂盒形零件一次拉深成形不足的问题,提出了一种拉深气胀复合精确热成形工艺,其成形零件的外形及壁厚均满足设计要求。以TC2钛合金复杂盒形件为研究对象,研究了TC2钛合金在550~800℃和0.001~0.1 s^(-1)条件下的高温成形性能。设计... 详细信息

针对复杂盒形零件一次拉深成形不足的问题,提出了一种拉深气胀复合精确热成形工艺,其成形零件的外形及壁厚均满足设计要求。以TC2钛合金复杂盒形件为研究对象,研究了TC2钛合金在550~800℃和0.001~0.1 s^(-1)条件下的高温成形性能。设计了一套可一次性完成拉深、气胀的模具。基于有限元仿真模拟软件PAM-sTAMP对零件成形过程进行模拟,获得了优化工艺参数并进行实验验证。结果表明:PAM-sTAMP仿真软件可以预测零件拉深和气胀缺陷,优化了工艺参数和模具形状并进行实验验证。实验在800℃、气体压力2.5 MPa条件下获得了壁厚、侧边高度均符合设计要求的零件,验证了该拉深气胀复合工艺的可行性。

关键词： TC2钛合金高温流变性能复合工艺数值模拟

多级离散扩展移相控制双有源桥DC-DC变换器的原理、参数设计与性能

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电工技术学报 2024年第12期39卷 3761-3773页

作者：刘赞沙金邱高峰陈丽蓉西南交通大学电气工程学院成都610031 圣邦微电子(北京)股份有限公司北京100005

该文提出一种双有源桥(DAB)DC-DC变换器的多级离散扩展移相(MD-e.s.控制,旨在提升DAB DC-DC变换器系统的动态响应性能。同时,考虑效率优化,兼顾额定功率范围、输出电压纹波等性能指标,研究MD-e.s.制的离散参数分布方式对控制性能的影... 详细信息

该文提出一种双有源桥(DAB)DC-DC变换器的多级离散扩展移相(MD-e.s.控制,旨在提升DAB DC-DC变换器系统的动态响应性能。同时,考虑效率优化,兼顾额定功率范围、输出电压纹波等性能指标,研究MD-e.s.制的离散参数分布方式对控制性能的影响及参数设计方法。通过搭建160 W小功率实验样机对MD-e.s.控制性能进行了验证。实验结果表明,与传统扩展移相控制相比,DABDC-DC变换器的MD-e.s.制能够大幅提升变换器系统的动态响应速度(响应时间缩短99.95%),最高效率为94.54%。

关键词：双有源桥变换器离散移相动态性能效率

The Alzheimer's dise.s.-associated gene TReML2 modulates inflammation by regulating microglia polarization and NLRP3 inflammasome activation

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Neural Regeneration Research 2023年第2期18卷 434-438页

作者： si-Yu Wang Xin-Xin Fu Rui Duan Bin Wei Hai-Ming Cao Yan e.s.uai-Yu chen Ying-Dong Zhang Teng Jiang Department of Neurology Nanjing First HospitalNanjing Medical UniversityNanjingJiangsu ProvinceChina Department of Clinical Pharmacy School of Basic Medicine and Clinical PharmacyChina Pharmaceutical UniversityNanjingJiangsu ProvinceChina

Triggering receptor expre.s.d on myeloid cells-like 2(TReML2)is a newly identified susceptibility gene for Alzheimer's dise.s.(AD).It encodes a microglial inflammation-associated *** date,the potential role of mic roglial TReML2 in neuroinflammation in the context of AD remains *** this study,APP/Ps1 mice were used to investigate the dynamic changes of TReML2 leve.s.in brain during AD *** addition,lipopolysaccharide(LPs)stimulation of primary microglia as well as a lentivirus-mediated TReML2 overexpre.s.on and knockdown were employed to explore the role of TReML2 in neuroinflammation in the context of *** res ults show that TReML2 leve.s.gradually incre.s.d in the brains of AP P/Ps1 mice during dise.s. *** stimulation of primary microglia led to the rele.s. of inflammato ry cytokines including interleukin-1β,inte rleukin-6,and tumor necrosis factor-a in the culture *** LPs-induced mic roglial rele.s. of inflammatory cytokines was enhanced by TReML2 overexpre.s.on and was attenuated by TReML2 knoc *** incre.s.d the leve.s.of mic roglial M1-type polarization marker inducible nitric oxide *** effect was enhanced by TReML2 overexpre.s.on and ameliorated by TReML2 ***,the leve.s.of microglial M2-type polarization marke.s.CD206 and ARG1 in the primary microglia were reduced by TReML2 overexpre.s.on and elevated by TReML2 *** stimulation incre.s.d the leve.s.of NLRP3 in primary *** LPs-induced incre.s. in NLRP3 was further elevated by TReML2 overexpre.s.on and alleviated by TReML2 *** summary,this study provides the first evidence that TReML2 modulates inflammation by regulating microglial polarization and NLRP3 inflammasome *** findings reveal the mechanisms by which TReML2 regulates microglial inflammation and suggest that TReML2 inhibition may represent a novel therapeutic strategy for AD.

关键词： Alzheimer's dise.s. APP/Ps1 mice inflammatory cytokine lipopolysaccharide microglia neuroinflammation NLRP3 inflammasome polarization susceptibility gene TReML2

基于Transformer复杂运动辨识的机动星凸形扩展目标跟踪方法

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雷达学报（中英文） 2024年第3期13卷 629-645页

作者：陈辉边斌超连峰韩崇昭兰州理工大学电气工程与信息工程学院兰州730050 西安交通大学自动化科学与工程学院西安710049

针对复杂的机动扩展目标跟踪问题,利用Transformer网络设计了一种有效的星凸不规则形状机动扩展目标跟踪方法。首先,该文研究利用alpha-shape算法建立了星凸形状的变化模型,实现了静态场景下的星凸形扩展目标的形状估计。然后,通过对目... 详细信息

针对复杂的机动扩展目标跟踪问题,利用Transformer网络设计了一种有效的星凸不规则形状机动扩展目标跟踪方法。首先,该文研究利用alpha-shape算法建立了星凸形状的变化模型,实现了静态场景下的星凸形扩展目标的形状估计。然后,通过对目标状态转移矩阵进行重新设计,结合Transformer网络对机动扩展目标运动状态转移矩阵进行实时估计,实现了对复杂机动目标运动过程的精准跟踪。进一步地,将估计得到的形状轮廓与运动状态进行融合,最终实现了对星凸形机动扩展目标的实时跟踪。最后,通过构造复杂的机动扩展目标跟踪场景,利用多重性能指标测试算法对形状和运动状态的综合估计性能,验证了算法的有效性。

关键词：扩展目标跟踪机动目标 Transformer 星凸形弗雷歇距离-面积误差

电场调控激光诱导石墨烯基重金属电化学检测装置的研制

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农业工程学报 2024年第4期40卷 215-223页

作者：刘畅王园袁修华刘东陈祚由天艳江苏大学农业工程学院镇江212013 聊城大学机械与汽车工程学院聊城252059 江苏大学应急管理学院镇江212013

为了快速、精准分析农田重金属,该文设计了一款基于施加电场与激光诱导石墨烯(laser-inducedgraphene,LIG)电极阵列的功能核酸比率电化学检测装置,用于农田中典型重金属离子Hg^(2+)、Pb^(2+)的分析。该装置主要包括电场施加模块与LIG电... 详细信息

为了快速、精准分析农田重金属,该文设计了一款基于施加电场与激光诱导石墨烯(laser-inducedgraphene,LIG)电极阵列的功能核酸比率电化学检测装置,用于农田中典型重金属离子Hg^(2+)、Pb^(2+)的分析。该装置主要包括电场施加模块与LIG电极阵列传感器两个部分,前者以AT89s52单片机作为主控芯片、DAC0832作为电压输出端口,设计单片机控制电压输出的电场施加装置,实现了可编程电压的稳定输出;后者则通过结合CO_(2)激光直写和环氧树脂转印技术,提出了LIG电极阵列的快速制备方法,并进一步构建了LIG基功能核酸比率电化学传感器。在检测过程中,通过调控施加电场的性质,该装置实现了Hg^(2+)、Pb^(2+)在传感器表面的快速特异性富集以及响应信号的稳定获取,其对Hg^(2+)、Pb^(2+)检测限分别低至8.5×10^(-12)mol/L(4.25×10^(-11)mg/L)和4.6×10^(-13)mol/L(2.22×10^(-12)mg/L),实现了农田灌溉用水中Hg^(2+)、Pb^(2+)的现场精准检测。该装置利用施加电场与LIG阵列传感器,实现了重金属离子的快速、精准、现场分析需求,对于农田环境重金属污染的监测及治理具有重要意义。

关键词：重金属污染检测便携式装置电化学传感器电场调控汞、铅离子

A genomic association study revealing subphenotypes of childhood steroid-se.s.tive nephrotic syndrome in a larger genomic sequencing cohort

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Genes & Dise.s.s 2024年第4期11卷 400-410页

作者： Han Chan Fenfen Ni Bo Zhao Huimin Jiang Juanjuan Ding Li Wang Xiaowen Wang Jingjing Cui shipin Feng Xiaojie Gao Xueying Yang Huan Chi Hao Lee Xuelan chen Xiaoqin Li Jia Jiao Daoqi Wu Gaofu Zhang Mo Wang Yupeng Cun Xiongzhong Ruan Haiping Yang Qiu Li Department of Nephrology Children's Hospital of Chongqing Medical UniversityNational Clinical Research Center for Child Health and DisordersMinistry of Education Key Laboratory of Child Development and DisordersChongqing Key Laboratory of PediatricsChongqing 400014China Department of Nephrology Shenzhen Children's HospitalShenzhenGuangdong 518034China Department of Nephrology Kunming Children's HospitalKunming Medical UniversityKunmingYunnan 650228China Department of Nephrology Wuhan Children's HospitalTongji Medical College of Huazhong University of Science and TechnologyWuhanHubei 430015China Department of Nephrology Chengdu Women and Children Central HospitalChengduSichuan 610073China Pediatric Research Institute Ministry of Education Key Laboratory of Child Development and DisordersNational Clinical Research Center for Child Health and DisordersChina International Science and Technology Cooperation Base of Child Development and Critical DisordersChongqing Key Laboratory of Translational Medical Research in Cognitive Development and Learning and Memory DisordersChildren's Hospital of Chongqing Medical UniversityChongqing 400014China Department of Nephrology John Moorhead Research LaboratoryUniversity College London Medical SchoolRoyal Free CampusUniversity College LondonLondon NW32PFUnited Kingdom

Dissecting the genetic components that contribute to the two main subphenotypes of steroid-se.s.tive nephrotic syndrome.s.Ns)using genome-wide association studies(GWAs)strategy is important for unde.s.anding the *** conducted a multicenter cohort study(360 patients and 1835 controls)combined with a GWAs strategy to identify susceptibility var-iants associated with the following two subphenotypes of ssNs:steroid-se.s.tive nephrotic syn-drome without relapse.s.NswR,181 patients)and steroid-dependent/frequent relapse nephrotic syndrome.s.Ns/FRNs,179 patients).The distribution of two single-nucleotide poly-morphisms(sNPs)in ANKRD36 and ALPG was significant between ssNsWR and healthy controls,and that of two sNPs in GAD1 and HLA-DQA1 was significant between sDNs/FRNs and healthy ***,rs1047989 in HLA-DQA1 was a candidate locus for sDNs/FRNs but not for *** significant sNPs were observed between ssNsWR and sDNs/***,chromosome 2:171713702 in GAD1 was associated with a greater steroid dose(>0.75 mg/kg/d)upon relapse to first remission in patients with sDNs/FRNs(odds ratio=3.14;95%confidence interval,0.97-9.87;P=0.034).rs117014418 in APOL4 was significantly associated with a decre.s. in eGFR of greater than 20%compared with the baseline in sDNs/FRNs patients(P=0.0001).Protein-protein inte.s.ction network construction suggested that HLA-DQA1 and HLA-DQB1 function together through ***,ssNsWR belongs to non-HLA region-dependent nephropathy,and the HLA-DQA/DQB region is likely strongly associated with dis-e.s. relapse,especially in sDNs/*** study provides a novel approach for the GWAs strategy of ssNs and contributes to our unde.s.anding of the pathological mechanisms of ssNsWRandsDNs/FRNs.

关键词： Frequentrelapse Genome-wide association study Human leukocyte antigen region steroid-se.s.tive nephrotic syndrome

应用数据基线模型的重燃叶片制造质量异常溯源路径搜索方法

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西安交通大学学报 2024年第2期58卷 136-145页

作者：朱铜艾松陈琨李明雪西安交通大学机械制造系统工程国家重点实验室西安710049 清洁高效透平动力装备全国重点实验室四川德阳618000

针对重型燃气轮机高温透平叶片(以下简称重燃叶片)质量异常溯源时质量因素的改进难度大、质量异常溯源路径不清晰的问题,提出一种应用国家质量基础设施(NQI)数据基线模型的质量异常溯源路径搜索方法。该方法构建重燃叶片全域的NQI数据... 详细信息

针对重型燃气轮机高温透平叶片(以下简称重燃叶片)质量异常溯源时质量因素的改进难度大、质量异常溯源路径不清晰的问题,提出一种应用国家质量基础设施(NQI)数据基线模型的质量异常溯源路径搜索方法。该方法构建重燃叶片全域的NQI数据基线模型,提供重燃叶片制造全域的制造逻辑标准与NQI质量控制逻辑标准;根据质量事件间复杂逻辑关系,构建T-s质量风险树,引入超椭球模型进行计算分析,求解基本事件的后验概率和关键重要度;考虑后验概率、关键重要度及启发式信息值等属性,采用改进VIKOR算法求取各方案的区间折衷值,结合二元联系数可能度函数的区间数排序方法得到质量异常溯源的最优方案,考虑属性值随搜索进程的更新,得到最优的质量异常溯源搜索路径。以NQI数据基线模型的某工艺过程为例进行应用验证,结果表明,利用该溯源路径搜索与随机搜索诱因相比,溯源效率提升38%,能在更短的时间内找到引发型壳质量异常的原因,为质量改进提供了参考。

关键词：重型燃气轮机叶片国家质量基础设施数据基线制造质量异常溯源

Detector performance of the Gamma-ray Transient Monitor onboard DRO-A satellite

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science China(Physics,Mechanics & Astronomy) 2024年第11期Mechanics & Astronomy) .卷 79-94页

作者： Pei-Yi Feng Zheng-Hua An Da-Li Zhang chen-Wei Wang Chao Zheng sheng Yang shao-Lin Xiong Jia-Cong Liu Xin-Qiao Li Ke Gong Xiao-Jing Liu Min Gao Xiang-Yang Wen Ya-Qing Liu Xiao-Yun Zhao Fan Zhang Xi-Lei sun Hong Lu Key Laboratory of Particle Astrophysics Institute of High Energy Physics Chinese Academy of Sciences Unive.s.ty of Chinese Academy of sciences state Key Laboratory of Particle Detection and electronics Institute of High Energy Physics Chinese Academy of Sciences

The Gamma-ray Transient Monitor(GTM) is an all-sky monitor onboard the Distant Retrograde Orbit-A(DRO-A) satellite with the.s.ientific objective of detecting gamma-ray transients ranging from 20 ke V to 1 MeV. The GTM was equipped with five Gamma-ray Transient Probe(GTP) detector modules utilizing a NaI(Tl) scintillator coupled with a siPM array. To reduce the.s.PM noise, GTP uses a dedicated dual-channel coincident readout design. In this work, we first studied the impact of different coincidence times on the detection efficiency and ultimately selected a 0.5 μs time coincidence window for offline data proce.s.ng. To test the performance of the GTPs and validate the Monte-Carlo-simulated energy response, we conducted comprehe.s.ve ground calibration tests using the Hard X-ray Calibration Facility(HXCF) and radioactive.s.urces, including the energy response, detection efficiency, spatial response, bias-voltage response, and temperature dependence. We exte.s.vely present the ground calibration results and validate the design and mass model of the GTP detector, thus providing the foundation for in-flight observations and scientific data analysis.

关键词： NaI(Tl) detector energy response ground calibration gamma-ray detector DRO-A satellite

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