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Position-aware pushing and grasping synergy with deep reinforcement learning in clutter

CAAI Transactions on Intelligence Technology 2024年第3期9卷 738-755页

作者： min zhao Guoyu Zuo shuangyue Yu Daoxiong Gong Zihao Wang Ouattara Sie Intelligent Robotics Laboratory Faculty of Information TechnologyBeijing University of TechnologyBeijingChina Beijing Key Laboratory of Computational Intelligence and Intelligent Systems BeijingChina Laboratory of Biomechatronics and Intelligent Robotics(BIRO) Department of Mechanical and Aerospace EngineeringNorth Carolina State UniversityRaleighNorth CarolinaUSA

The positional information of objects is crucial to enable robots to perform grasping and pushing manipulations in *** effectively perform grasping and pushing manipu-lations,robots need to perceive the position information of objects,including the co-ordinates and spatial relationship between objects(e.g.,proximity,adjacency).The authors propose an end-to-end position-aware deep Q-learning framework to achieve efficient collaborative pushing and grasping in ***,a pair of conjugate pushing and grasping attention modules are proposed to capture the position information of objects and generate high-quality affordance maps of operating positions with features of pushing and grasping *** addition,the authors propose an object isolation metric and clutter metric based on instance segmentation to measure the spatial re-lationships between objects in cluttered *** further enhance the perception capacity of position information of the objects,the authors associate the change in the object isolation metric and clutter metric in cluttered environment before and after performing the action with reward function.A series of experiments are carried out in simulation and real-world which indicate that the method improves sample efficiency,task completion rate,grasping success rate and action efficiency compared to state-of-the-art end-to-end *** that the authors’system can be robustly applied to real-world use and extended to novel *** material is available at https://***/NhG\_k5v3NnM}{https://***/NhG\_k5v3NnM.

关键词： deep learning deep neural networks intelligent robots

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Prevalence and risk factors of diabetes mellitus among elderly patients in the Lugu community

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World Journal of Diabetes 2024年第4期15卷 638-644页

作者： Li-Zhen zhao Wei-min Li Ying Ma Lugu Community Health Service Center West Campus Beijing Chao-yang Hospital Affiliated to Capital Medical UniversityBeijing 100043China

BACKGROUND Age is a significant risk factor of diabetes mellitus(DM).With the develop of population aging,the incidence of DM remains *** the epidemiology of DM among elderly individuals in a certain area contributes to the DM interventions for the local elderly individuals with high risk of *** To explore the prevalence of DM among elderly individuals in the Lugu community and analyze the related risk factors to provide a valid scientific basis for the health management of elderly *** A total of 4816 elderly people who came to the community for physical examination were retrospectively *** prevalence of DM among the elderly was *** individuals were divided into a DM group and a non-DM group according to the diagnosis of DM to compare the differences in diastolic blood pressure(DBP)and systolic blood pressure(SBP),fasting blood glucose,body mass index(BMI),waist-to-hip ratio(WHR)and incidence of hypertension(HT),coronary heart disease(CHD),and chronic kidney disease(CKD).RESULTS DM was diagnosed in 32.70%of the 4816 elderly *** BMI of the DM group(25.16±3.35)was greater than that of the non-DM group(24.61±3.78).The WHR was 0.90±0.04 in the non-DM group and 0.90±0.03 in the DM group,with no significant *** left SBP and SBP in the DM group were 137.9 mmHg±11.92 mmHg and 69.95 mmHg±7.75 mmHg,respectively,while they were 126.6 mmHg±12.44 mmHg and 71.15 mmHg±12.55 mmHg,respectively,in the non-DM *** findings indicate higher SBP and lower DBP in DM patients than in those without *** the DM group,1274 patients were diagnosed with HT,accounting for 80.89%.Among the 3241 non-DM patients,1743(53.78%)were hypertensive and 1498(46.22%)were *** DM group had more cases of HT than did the non-DM *** were more patients with CHD or CKD in the DM group than in the non-DM *** were more patients who drank alcohol more frequently(≥3 times)in the DM group than in the no

关键词： Diabetes mellitus Type 2 diabetes mellitus Elderly Risk factors

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Copper oxide-modified highly reversible Zn powder anode for aqueous Zn metal batteries

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Rare Metals 2024年第10期43卷 5005-5016页

作者： Guan-Qun Liu Biao Fu Zhe-Xuan Liu Lan-Yan Li shu-Quan Liang Guo-zhao Fang School of Materials Science and Engineering Key Laboratory of Electronic Packaging and Advanced Functional Materials of Hunan ProvinceCentral South University School of Science Hunan University of Technology and Business National Energy Metal Resources and New Materials Key Laboratory Central South University

With the advantages of mature preparation technology,structural adjustability and suitability for large-scale application,Zn powder anode is considered to be an ideal electrode for realizing low-cost,high-energy-density aqueous Zn metal ***,the high specific surface of Zn powders leads to severe side reactions such as hydrogen evolution and corrosion,thus limiting their widespread use Here,this work develops a novel CuO@Zn powder anode with a synergy effect of surface wrapping and *** powders are uniformly wrapped by small CuO particles due to the strong adsorption between Zn and *** wrapped CuO particles build a good conductive framework to inhibit the structural collapse of the Zn powder caused by corrosion and non-uniform ***,CuO can also be used as a seed to guide the uniform deposition of Zn ions through its strong binding energy with *** a result,the Cu O@Zn anode can maintain a long cyclic life of 900 h at current density of 1 mA·cm-2and capacity of 1 mAh·cm-2,as well as contribute to an excellent capacity retention of 92%after 800cycles for CuO@Zn||NH4V4O10full *** at high current density of 5 A·g-1,the full cell exhibits a specific capacity of more than 200 mAh·g-1after 800 cycles,with a good capacity retention of 89%.This work provides a new idea for developing high-performance Zn powder-based anodes.

关键词： Aqueous Zn metal batteries Copper oxide Surface wrapping Zn anode Zn powder

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Assessment of the Southern Ocean Sea Surface Temperature Biases in CMIP5 and CMIP6 Models

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Journal of Ocean University of China 2024年第5期23卷 1135-1150页

作者： GAO Zhen zhao Shichang LIU Qinyu LONG Shang-min SUN Shantong Key Laboratory of Marine Hazards Forecasting Ministry of Natural ResourcesHohai UniversityNanjing 210098China College of Oceanography Hohai UniversityNanjing 210098China Laoshan Laboratory Qingdao 266237China Physical Oceanography Laboratory Ocean University of ChinaQingdao 266100China

This work evaluates the performances of climate models in simulating the Southern Ocean(SO)sea surface temperature(SST)by a large ensemble from phases 5 and 6 of the Coupled Model Intercomparison Project(CMIP5 and CMIP6).By combining models from the same community sharing highly similar SO SST biases and eliminating the effect of global-mean biases on local SST biases,the results reveal that the ensemble-mean SO SST bias at 70°-30°S decreases from 0.38℃ in CMIP5 to 0.28℃ in CMIP6,together with increased intermodel *** dominant mode of the intermodel variations in the zonal-mean SST biases is characterized as a meridional uniform warm bias pattern,explaining 79.1% of the intermodel variance and exhibiting positive principal values for most *** ocean mixed layer heat budget further demonstrates that the SST biases at 70°-50°S primarily result from the excessive summertime heating effect from surface net heat *** biases in surface net heat flux south of 50°S are largely impacted by surface shortwave radiation from cloud and clear sky components at different *** of 50°S,the underestimated westerlies reduce the northward Ekman transport and hence northward cold advection in models,leading to warm SST biases *** addition,the westerly biases are primarily traced back to the atmosphere-alone model simulations forced by the observed SST and sea *** results disclose the thermal origin at the high latitude and dynamical origin at the low latitude of the SO SST biases and underscore the significance of the deficiencies of atmospheric models in producing the SO SST biases.

关键词： Southern Ocean CMIP5 CMIP6 SST biases surface heat flux westerlies atmospheric biases cloud simulation

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Comprehensive kinetic study on ammonia/ethylene counter-flow diffusion flames:influences of diluents

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International Journal of Coal Science & Technology 2024年第1期11卷 232-249页

作者： Zhimei shu Tingting Xu Jiayi Xiao Qige Deng Xuan zhao Tianjiao Li Yaoyao Ying Dong Liu MIIT Key Laboratory of Thermal Control of Electronic Equipment School of Energy and Power EngineeringNanjing University of Science and TechnologyNanjing210094China Advanced Combustion Laboratory School of Energy and Power EngineeringNanjing University of Science and TechnologyNanjing210094China

This study aimed to investigate the effects of ammonia addition on ethylene counter-flow diffusion flames with different diluents on the fuel or oxidizer side,using kinetic analyses.A special emphasis was put on assessing the coupled chemical effects of NH_(3) and CO_(2) on C2H4 combustion *** chemical effects could be evaluated by comparing fictitious inert NH_(3) or CO_(2) with normal active NH_(3) or CO_(2).The results revealed that the addition of NH_(3) decreased the mole fractions and production rates of key soot precursors,such as acetylene,propynyl,and *** CO_(2) was used as the dilution gas,the coupled chemical effects of NH_(3) and CO_(2) were affected by the chemical effects of CO_(2) to varying *** the oxidizer-side CO_(2) addition,the coupled chemical effects of NH_(3) and CO_(2) reduced the mole fractions of H,O,OH radicals,acetylene,propynyl,and benzene,while the effects differed from the fuel-side CO_(2) *** coupled chemical effects of NH_(3) and CO_(2) also promoted the formation of aldehyde contaminants,such as acetaldehyde,to some extent,particularly with CO_(2) addition on the oxidizer side.

关键词： Ammonia addition Diluents Coupled chemical effects Kinetic analysis

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Depositional model of the Member Deng-2 marginal microbial mound-bank complex of the Dengying Formation in the southwestern Sichuan Basin, SW China: Implications for the Ediacaran microbial mound construction and hydrocarbon exploration

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Petroleum Science 2024年第2期21卷 806-822页

作者： Jin-min Song Xin Jin Zhong Luo shu-Gen Liu Shao-Bo Liu Xing-Zhi Ma Zhi-Wu Li Xue-Song Lu Ling-Li zhao Ke-Ran Li Jia-Xin Ren Li-Zhou Tian Hao-shuang Deng State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation Chengdu University of TechnologyChengdu610059SichuanChina PetroChina Research Institute of Petroleum Exploration and Development Beijing100083China Xihua University Chengdu610039SichuanChina

Recent advances in hydrocarbon exploration have been made in the Member Deng-2 marginal microbial mound-bank complex reservoirs of the Dengying Formation in the western Sichuan Basin, SW China,where the depositional process is regarded confusing. The microfacies, construction types, and depositional model of the Member Deng-2 marginal microbial mound-bank complex have been investigated using unmanned aerial vehicle photography, outcrop section investigation, thin section identification,and seismic reflections in the southwestern Sichuan Basin. The microbialite lithologic textures in this region include thrombolite, dendrolite, stromatolite, fenestral stromatolite, spongiostromata stone,oncolite, aggregated grainstone, and botryoidal grapestone. Based on the comprehensive analysis of“depositional fabrics-lithology-microfacies”, an association between a fore mound, mound framework,and back mound subfacies has been proposed based on water depth, current direction, energy level and lithologic assemblages. The microfacies of the mound base, mound core, mound flank, mound cap, and mound flat could be recognized among the mound framework subfacies. Two construction types of marginal microbial mound-bank complex have been determined based on deposition location, mound scale, migration direction, and sedimentary facies association. Type Jinkouhe microbial mound constructions(TJMMCs) develop along the windward margin owing to their proximity to the seaward subfacies fore mound, with a northeastwardly migrated microbial mound on top of the mud mound,exhibiting the characteristics of large-sized mounds and small-sized banks in the surrounding area. Type E'bian microbial mound constructions(TEMMCs) primarily occur on the leeward margin, resulting from the presence of onshore back mound subfacies, with the smaller southwestward migrated microbial mounds existing on a thicker microbial flat. The platform margin microbial mound depositional model can be correlated with certain late

关键词： Sichuan Basin The Member Deng-2 Marginal microbial mound-bank complex Depositional model Exploration implications

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Juvenile cardiomyopathy with dystrophin deficiency

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Genes & Diseases 2024年第3期11卷 30-33页

作者： Yuhui Luo Qinglan shu Yi Wang min Gu Hao Zhang Siqi Hong Rui Wang Lixue Yin Department of Cardiology Chongqing General HospitalChongqing 401147China Department of Cardiovascular Ultrasound and Noninvasive Cardiology Sichuan Provincial People's HospitalUniversity of Electronic Science and Technology of China(UESTC)ChengduSichuan 610072China Department of RadiologyChongqing General HospitalChongqing 401147China Department of Neurology Children's Hospital of Chongqing Medical UniversityChongqing 400014China School of Medicine Zunyi Medical UniversityZunyiGuizhou 563000China

Pseudohypertrophic muscular dystrophy is a lethal X-linked recessive neuromuscular disorder caused by mutations in the dystrophin *** gene encodes a cytoskeletal protein that is extensively expressed in muscle cells and that enables the strength,stability,and functionality of *** dystrophy can be grouped into two different categories based on the mutational rate and clinical severity,Duchenne muscular dystrophy(DMD)and Becker muscular dystrophy(BMD).DMD is the most common and the more severe type of *** patients usually become wheelchair-bound by the age of 12 years and die in their late teens to early twenties.^(1)In contrast,BMD is relatively less severe and the patients can potentially have alonger lifeexpectancy.

关键词： dystrophin dystrophy Becker

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Engineering classification recycling of spent lithium-ion batteries through pretreatment:a comprehensive review from laboratory to scale-up application

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Rare Metals 2024年第3期43卷 915-941页

作者： shu-Xuan Yan You-Zhou Jiang Xiang-Ping Chen Lu Yuan Ting-Ting min Yu Cao Wan-Li Peng Tao Zhou Hunan Provincial Key Laboratory of Chemical Power Sources College of Chemistry and Chemical EngineeringCentral South UniversityChangsha 410083China College of Chemistry and Chemical Engineering Hunan Normal UniversityChangsha 410083China School of Public Policy and Management Tsinghua UniversityBeijing 100084China China Nonferrous Metal Industry's Foreign Engineering and Construction Co. LtdBeijing 100029China

The lithium-ion batteries(LIBs)have been widely equipped in electric/hybrid electric vehicles(EVs/HEVs)and the portable electronics due to their excellent electrochemical ***,a large number of retired LIBs that consist of toxic substances(e.g.,heavy metals,electrolytes)and valuable metals(e.g.,Li,Co)will inevitably flow into the waste stream,and their incineration or landfill treatment will cause severe risks to ecosystem and human *** sustainable and efficient treatment or recycling of valuable resources from spent LIBs should be fully recognized for environmental and resource *** one of the most important processes for spent LIBs recycling,the pretreatment is an indispensable step,which is directly related to the subsequent metal extraction and separation *** considerable progresses have been made regarding the pretreatment technologies,there are few summarized reports concerning critical processes of spent LIBs recycling,especially combination of currently available recycling technologies with industrialized applications during ***,comprehensive review of the current prevailing pretreatment technologies in laboratory to existing scale-up applications is quite necessary to reveal cutting-edge development in the field of *** this review,the current pretreatment technologies are systematically categorized and introduced,along with critical *** review focused on the various options for pretreatment processes itself,instead of general spent LIBs recycling technologies without the focused topics that have been sophisticatedly reviewed by previous ***,the deactivation,discharge,dismantling,separation,liberation of active material and electrolyte treatment have been summarized with the in-depth discussion of the technology development and current status of each ***,current states of industrial development are also reviewed and discussed for the development of

关键词： Spent lithium-ion batteries(LIBs) Recycling Pretreatment Valuable metals Cutting-edge technologies Industrialized application

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The Mechanism of Cube Texture Formation in Ni-7 at%W Substrate

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Journal of Wuhan University of Technology(Materials Science) 2024年第5期39卷 1260-1269页

作者： zhao Congcong SUO Hongli JI Yaotang GAO Mangmang MA Lin LIU min School of Materials Science and Engineering Beijing University of TechnologyBeijing 100124China College of Materials and New Energy Ningxia UniversityYinchuan 750021China

In order to obtain the sharp cube texture,a new process,the intermediate annealing rolling technique,has been introduced to prepare the Ni7W *** this paper,a cubic texture content up to 98.5%within 10°of the standard cubic orientation is obtained in the final substrate and the influence of this improved rolling technique on the cube texture formation has been *** results show that the increased cube texture in the Ni7W substrate is caused by the optimized deformation texture and the increased nucleated fraction of the cube grains.

关键词： cube texture coated conductor deformation texture recrystallization

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Synthesis and oxidative desulfurization activity of vanadium-substituted Keggin-type polyoxometalate hybrid compounds

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Tungsten 2024年第3期6卷 529-535页

作者： min Xing Xiao-Ying Ji shu-Xia Liu Key Laboratory of Polyoxometalate and Reticular Material Chemistry of ministry of Education Department of Chemistry Northeast Normal University

SOxfrom fuel oil has caused much air pollution. Therefore, the desulfurization of fuel oil is necessary. Oxidative desulfurization（ODS）, as one of the most efficient nonhydrodesulfurization technologies, has become a major solution of desulfurization for fuel oil owing to its high reactivity for the removal of refractory organic sulfur compounds including dibenzothiophene（DBT） and its derivatives under mild reaction conditions [1]. Among them,

关键词： FRAMEWORK CHAIN

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