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Manipulator-based autonomous inspections at road checkpoints:Application of faster YOLO for detecting large objects

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Defence Technology（防务技术） 2022年第6期18卷 937-951页

作者： Qing-xin Shi Chang-sheng Li Bao-qiao Guo Yong-gui Wang Huan-yu Tian Hao Wen Fan-sheng Meng xing-guang duan School of Mechatronical Engineering Beijing Institute of TechnologyBeijing100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing100081China State Key Laboratory of Explosion Science and Technology Beijing Institute of TechnologyBeijing100081China

With the increasing number of vehicles,manual security inspections are becoming more laborious at road *** address it,a specialized Road Checkpoints Robot(RCRo)system is proposed,incorporated with enhanced You Only Look Once(YOLO)and a 6-degree-of-freedom(DOF)manipulator,for autonomous identity verification and vehicle *** modified YOLO is characterized by large objects’sensitivity and faster detection speed,named“LF-YOLO”.The better sensitivity of large objects and the faster detection speed are achieved by means of the Dense module-based backbone network connecting two-scale detecting network,for object detection tasks,along with optimized anchor boxes and improved loss *** the manipulator motion,Octree-aided motion control scheme is adopted for collision-free motion through Robot Operating System(ROS).The proposed LF-YOLO which utilizes continuous optimization strategy and residual technique provides a promising detector design,which has been found to be more effective during actual object detection,in terms of decreased average detection time by 68.25%and 60.60%,and increased average Intersection over Union(Io U)by 20.74%and6.79%compared to YOLOv3 and YOLOv4 through *** comprehensive functional tests of RCRo system demonstrate the feasibility and competency of the multiple unmanned inspections in practice.

关键词： Robot applications Object detection Vehicle inspection Identity verification You only look once(YOLO)

Single-cell omics: experimental workflow, data analyses and applications

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Science China Life Sciences 2025年第1期68卷 5-102页

作者： Fengying Sun Haoyan Li Dongqing Sun Shaliu Fu Lei Gu Xin Shao Qinqin Wang Xin Dong Bin duan Feiyang xing Jun Wu Minmin Xiao Fangqing Zhao Jing-Dong J.Han Qi Liu Xiaohui Fan Chen Li Chenfei Wang Tieliu Shi Department of Clinical Laboratory the Affiliated Wuhu Hospital of East China Normal University (The Second People's Hospital of Wuhu City) Pharmaceutical Informatics Institute College of Pharmaceutical SciencesZhejiang University Key Laboratory of Spine and Spinal Cord Injury Repair and Regeneration (Tongji University) Ministry of EducationOrthopaedic DepartmentTongji HospitalBioinformatics DepartmentSchool of Life Sciences and TechnologyTongji University Frontier Science Center for Stem Cells School of Life Sciences and TechnologyTongji University Translational Medical Center for Stem Cell Therapy and Institute for Regenerative Medicine Shanghai East HospitalBioinformatics DepartmentSchool of Life Sciences and TechnologyTongji University Research Institute of Intelligent Computing Zhejiang Lab Shanghai Research Institute for Intelligent Autonomous Systems Center for Single-cell Omics School of Public HealthShanghai Jiao Tong University School of Medicine National Key Laboratory of Chinese Medicine Modernization Innovation Center of Yangtze River DeltaZhejiang University Center for Bioinformatics and Computational Biology Shanghai Key Laboratory of Regulatory Biologythe Institute of Biomedical Sciences and School of Life SciencesEast China Normal University Beijing Institutes of Life Science Chinese Academy of Sciences Peking-Tsinghua Center for Life Sciences Academy for Advanced Interdisciplinary StudiesCenter for Quantitative Biology (CQB)Peking University Zhejiang Key Laboratory of Precision Diagnosis and Therapy for Major Gynecological Diseases Women's HospitalZhejiang University School of Medicine Key Laboratory of Advanced Theory and Application in Statistics and Data Science-MOE School of StatisticsEast China Normal University

Cells are the fundamental units of biological systems and exhibit unique development trajectories and molecular features. Our exploration of how the genomes orchestrate the formation and maintenance of each cell, and control the cellular phenotypes of various organismsis, is both captivating and intricate. Since the inception of the first single-cell RNA technology, technologies related to single-cell sequencing have experienced rapid advancements in recent years. These technologies have expanded horizontally to include single-cell genome, epigenome,proteome, and metabolome, while vertically, they have progressed to integrate multiple omics data and incorporate additional information such as spatial sc RNA-seq and CRISPR screening. Single-cell omics represent a groundbreaking advancement in the biomedical field,offering profound insights into the understanding of complex diseases, including cancers. Here, we comprehensively summarize recent advances in single-cell omics technologies, with a specific focus on the methodology section. This overview aims to guide researchers in selecting appropriate methods for single-cell sequencing and related data analysis.

关键词： single-cell sequencing genome epigenome proteomics metabolomics multimodal spatial transcriptomics CRISPR screening

Minimally invasive CT-guided radioactive 125I seeds permanent implantation for local treatment of extrahepatic extrapulmonary secondary malignancies

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Minimally invasive CT-guided radioactive 125I seeds permanen...

Brockett's Second Example:A FAS Approach Treatment

中国(第七届)肿瘤微创治疗学术大会暨世界影像导引下肿瘤微创治疗学会成立筹备大会

作者： Zhang Fu-jun,Jiao De-chao,Wu Pei-hong,Li Chuan-xing,duan guang-feng Department of Imaging and Interventional Radiology,Cancer Center,Sun Yat-sen University,State Key Laboratory of Oncology in South China,guangzhou,guangdong,51 0060,P.R.China

[Purpose]The purpose was to evaluate the safety and efficacy of CT-guided radioactive 125I seeds permanent implantation in the treatment of extrahepatic extrapulmonary secondary malignancies.[Method]Twenty-four patients were included in this prospective *** primaries comprised 7 colorectal carcinomas,3 nasopharyngeal carcinomas,3 cervical carcinomas,2 thyroid carcinoma,and 1 vaginal melanoma,gastric carcinoma ,lung carcinima,ovary carcinoma,oropharynx carcinoma,primary hepatic carcinoma,duodenum carcinoma, pheochromocytoma,or breast *** single secondary solid carinoma locations included local lymph node, pelvic metastatic tumor,obturator internus,chest wall and local *** were 12 males,and 12 females,the median age was 56.5 years(range:31-76).The diameter of tumors was 1.5 6.5 cm,the average was 3.7 *** patients had undergone extensive ***-guided radioactive seeds permanent implantation employed a 125-Iodine *** to Treatment Planning System(TPS),the matched peripheral dose(MPD) was 90～140Gy each local lession,and total number of the seeds implanted was 10～165 each *** or MRI follow-up was performed 2 months and every 2 or 3 months post *** endpoints were complications,local tumor control and progressive-free survival.[Results]Minor complications comprised GradeⅡradioactive rectum proctitis rectum morbidity(n=2),pain(n=5),fever(n=2) and 2 seeds migration to lung in one *** median follow-up time for all 24 patients surviving was 6 months(range:1～22 months).One patient with oropharynx sqamous carcinima was in poor overall condition because of long time malnutrition,and died 29 days posttreatment due to progessive overall *** patient with vaginal melanoma died 3 months posttreatment due to acute cerebral hemorrhage which was assured by *** patient with right colon carcinoma died of bowel obstruction 4 months posttreatment due to long time *** patients

关键词： Brachytherapy Iodine-125 CT Intervention

来源： cnki会议评论

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Journal of Systems Science & Complexity 2023年第5期36卷 1789-1808页

作者： duan guang-Ren Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and TechnologyShenzhen 518055China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

In this paper,several equivalent forms of the well-known Brockett's second example system are firstly *** stabilization of the system is then treated in the fully actuated system approach.A simple continuous time-invariant sub-stabilizing controller is designed,and the corresponding region of attraction is *** a result,all trajectories of the system starting from the characterized region of attraction are driven exponentially to the *** the region of attraction is very large,the designed sub-stabilizing controller can be directly useful in many practical *** cases where the initial values are indeed needed to be chosen out of the region of attraction,extremely simple pre-controllers can be designed,which drive the system trajectories into the designed region of attraction.A simulation of the designed control system is carried out to show the effect of the proposed approach.

关键词： Brockett integrator continuous time-invariant controllers fully actuated system approach region of attraction sub-stabilization

Stabilization via Fully Actuated System Approach:A Case Study

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Journal of Systems Science & Complexity 2022年第3期35卷 731-747页

作者： duan guang-Ren Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

In this note,a benchmark example system which is not stabilizable by a smooth state feedback controller is considered with the fully actuated system(FAS)*** is shown that a smooth controller exists which drives the trajectories starting from a large domain in the initial value space to the origin *** a result brings about a generalization of Lyapunov asymptotical stability,which is termed as global exponential *** region of attraction is allowed to be an unbounded open set of the initial values with closure containing the *** sub-stability result may be viewed to be superior to some local stability results in the Lyapunov sense because the region of attraction is much larger than any finite ball containing the origin and meanwhile the feasible trajectories are always driven to the origin *** on this sub-stabilization result,globally asymptotically stabilizing controllers for the system can be provided in two general ways,one is through combination with existing globally stabilizing controllers,and the other is by using a pre-controller to first move an initial point which is not within the region of attraction into the region of attraction.

关键词： Feedback stabilization fully actuated system approach nonlinear systems region of attraction singularity sets

Brockett’s First Example: An FAS Approach Treatment

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Journal of Systems Science & Complexity 2022年第2期35卷 441-456页

In this note,the well-known Brockett’s first example system is treated with the fully actuated system(FAS)***,it is shown that the system can be exponentially substabilized by a smooth controller in the sense that,except those starting from initial values on the z0-axis of the initial value space,all trajectories of the designed system as well as the control signals decay to zero ***,global stabilization is realized through a way of enabling the trajectories starting from initial values on the z0-axis also to go to the *** idea is to firstly move an initial point on the z0-axis away from the axis using a pre-controller,and then to take over by the designed exponentially sub-stabilizing controller.

关键词： Exponential sub-stabilization feedback stabilization fully actuated system approach region of attraction singularity sets

A FAS approach for stabilization of generalized chained forms: part 2. Continuous control laws

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Science China(Information Sciences) 2024年第3期67卷 114-135页

作者： guang-Ren duan Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Center for Control Theory and Guidance Technology Harbin Institute of Technology

In this paper, continuous time-varying stabilizing controllers for the type of general nonholonomic systems proposed and treated in part 1 are designed using the fully actuated system(FAS) approach. The key step is to differentiate the first scalar equation, and by control of the obtained second-order scalar system, a proportional plus integral feedback form for the first control variable is obtained. With the solution to this designed second-order scalar system, the rest equations in the nonholonomic system form an independent time-varying subsystem which is then handled by the FAS approach. The overall designed controller contains an almost arbitrarily chosen design parameter, and is proven to guarantee the uniformly and globally exponential stability of the closed-loop system. The proposed approach is simple and effective,and is demonstrated with a practical example of ship control.

关键词： nonholonomic systems feedback stabilization fully actuated systems Lyapunov stability continuous controllers

A FAS approach for stabilization of generalized chained forms: part 1. Discontinuous control laws

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Science China(Information Sciences) 2024年第2期67卷 118-143页

作者： guang-Ren duan Center for Control Science and Technology Southern University of Science and Technology Center for Control Theory and Guidance Technology Harbin Institute of Technology

In this paper, a type of general nonholonomic systems is proposed, which contains both the Brockett's two example systems, and their extended n-dimensional chained forms, as special cases. For the stabilization of such systems, a stabilizing controller is proposed based on the fully actuated system(FAS)approach, which is discontinuous at the origin but time-invariant when the open-loop system is time-invariant,and drives the feasible trajectories of the system to the origin exponentially. Furthermore, the proposed FAS approach is also extended to the sub-normal system case and the time-delay system case.

关键词： nonholonomic systems feedback stabilization exponential convergence sub-fully actuated systems time-delay systems

5-羟甲基糠醛在CuPd(111)上的加氢反应机理研究

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原子与分子物理学报 2025年第4期42卷 53-57页

作者：张兴云周广丽石云山东临沂大学化学化工学院临沂276000

采用密度泛函理论,利用包含零点能校正的PBE-D3方法研究了5-羟甲基糠醛在双金属催化剂CuPd(111)上表面的加氢还原反应,考虑了两种反应路径,第一种反应路径是侧链上的醛基氧首先发生加氢反应生成F-CHOH中间体,然后F-CHOH中间体继续加氢生... 详细信息

采用密度泛函理论,利用包含零点能校正的PBE-D3方法研究了5-羟甲基糠醛在双金属催化剂CuPd(111)上表面的加氢还原反应,考虑了两种反应路径,第一种反应路径是侧链上的醛基氧首先发生加氢反应生成F-CHOH中间体,然后F-CHOH中间体继续加氢生成2,5-二羟甲基呋喃;第二种反应路径是侧链上的醛基碳先加氢原还原生成F-CH_(2)O中间体,生成的F-CH_(2)O进一步加氢还原生成2,5-二羟甲基呋喃.计算了两种竞争反应路径的活化能垒和反应热,结果表明,5-羟甲基糠醛在CuPd(111)面加氢还原生成2,5-二羟甲基呋喃的最佳反应路径为:F-CHO→F-CHOH→F-CH_(2)OH.

关键词： 5-羟甲基糠醛活化能垒反应热

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