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Composite-mask GAN based on refined optical flow and disparity map for SLAM visual odometry

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Optoelectronics Letters 2025年

作者： JI Yuehui JIANG Jingwei LIU Junjie SONG Yu gao Qiang School of Electrical Engineering and Automation， Tianjin University of Technology Tianjin Key Laboratory of Control Theory and Application for Complex Systems

Although deep learning methods have been widely applied in slam visual odometry over the past decade with impressive improvements， the accuracy remains limited in complex dynamic environments. In this paper， a composite mask-based generative adversarial network is introduced to predict camera motion and binocular depth maps. Specifically， a perceptual generator is constructed to obtain the corresponding parallax map and optical flow from between two neighboring frames. Then， an iterative pose improvement strategy is proposed to improve the accuracy of pose estimation. Finally， a composite mask is embedded in the discriminator to sense structural deformation in the synthesized virtual image， thereby increasing the overall structural constraints of the network model， improving the accuracy of camera pose estimation， and reducing drift issues in the Visual Odometer. Detailed quantitative and qualitative evaluations on the KITTI dataset show that the proposed framework outperforms existing conventional， supervised learning and unsupervised depth VO methods， providing better results in both pose estimation and depth estimation.

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Numerical Study on Motion Responses of Two Parallel Ships During Underway Replenishment by the Semi-Analytical HOTP Method

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China Ocean Engineering 2022年第2期36卷 233-246页

作者： YANG yun-tao ZHU Ren-chuan MA Chao gao Hui School of Naval Architecture and Civil Engineering Jiangsu University of Science and TechnologyZhangjiagang 215600China State Key Laboratory of Ocean Engineering Collaborative Innovation Center for Advanced Ship and Deep-Sea ExplorationSchool of Naval ArchitectureOcean and Civil EngineeringShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of High Performance Ship Technology(Wuhan University of Technology) Ministry of EducationWuhan 430063China School of Naval Architecture Ocean and Energy Power EngineeringWuhan University of TechnologyWuhan 430063China

Motion responses of two ships advancing parallel in waves with hydrodynamic interactions are investigated in this paper. Within the framework of the frequency-domain potential flow theory, a semi-analytical higher-order translating-pulsating source(HOTP) method is presented to solve the problems of coupled radiation and diffraction potential. The method employs nine-node bi-quadratic curvilinear elements to discretize the boundary integral equations(BIEs) constructed over the mean wetted surface of the two ship hulls. In order to eliminate the numerical oscillation, analytical quadrature formulas are derived and adopted to evaluate the integrals related to the Froudedependent part of the Green’s function along the horizontal direction in the BIEs. Based on the method, a numerical program is originally coded. Through the calculations of hydrodynamic responses of single ships, the numerical implementation is proved successful. Then the validated program is applied in the investigations on the hydrodynamic interactions of two identical Wigley Ⅲ hulls and the underway replenishment of a frigate and a supply ship in waves with and without stagger, respectively. The comparison between the present computed results with experimental data and numerical solutions of other methods shows that the semi-analytical HOTP method is of higher accuracy than the pulsating source Green’s function method with speed correction and better stability than the traditional HOTP method based on Gauss quadrature. In addition, for two ships with obviously different dimensions,the influence of hydrodynamic interactions on the smaller ship is found to be more noticeable than that on the larger ship, which leads to the differences between the motions of frigate with and without the presence of supply ship.

关键词： semi-analytical HOTP method two parallel ships underway replenishment coupled motions

Feature-preserving color pencil drawings from photographs

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Computational Visual Media 2023年第4期9卷 807-825页

作者： Dong Wang Guiqing Li Chengying gao Shengwu Fu yun Liang College of Mathematics and Informatics South China Agricultural UniversityGuangzhouChina School of Computer Science&Engineering South China University of TechnologyGuangzhouChina School of Data and Computer Science Sun Yat-sen UniversityGuangzhouChina

Color pencil drawing is well-loved due to its rich *** paper proposes an approach for generating feature-preserving color pencil drawings from *** mimic the tonal style of color pencil drawings,which are much lighter and have relatively lower saturation than photographs,we devise a lightness enhancement mapping and a saturation reduction *** lightness mapping is a monotonically decreasing derivative function,which not only increases lightness but also preserves input photograph *** saturation is usually related to lightness,so we suppress the saturation dependent on lightness to yield a harmonious ***,two extremum operators are provided to generate a foreground-aware outline map in which the colors of the generated contours and the foreground object are *** experiments show that color pencil drawings generated by our method surpass existing methods in tone capture and feature preservation.

关键词： non-photorealistic rendering pencil drawings image editing feature preservation

Linear Integral Analysis of Bar Rough Rolling by Strain Rate Vector

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Journal of Iron and Steel Research International 2010年第3期17卷 28-33页

作者： DENG Wei ZHAO De-wen QIN Xiao-mei gao xiu-hua DU Lin-xiu LIU Xiang-hua State Key Laboratory of Rolling and Automation Northeastern University Shenyang 110004 Liaoning China

A new linear integral method for bar hot rolling on roughing train was obtained. First, for plastic deformation energy rate, equivalent strain rate about Kobayashi＇s three-dimensional velocity field was expressed by two-dimensional strain rate vector; then, the two-dimensional strain rate vector was inverted into inner product and was integrated term by term. During those processes, boundary equation and mean value theorem were introduced; for friction and shear energy dissipation rate, definite integral was applied to the solution process. Sequentially, the total upper bound power was minimized, and the analytical expressions of rolling torque, separating force, and stress state factor were obtained. The calculated results by these expressions were compared with those of experimental values. The results show that the new linear integral method is available for bar rough rolling analysis and the calculated results by this method are a little higher than those of experimental ones. However, the maximum error between them is less than 10%.

关键词： bar rough rolling linear integration strain rate vector roll separating force

A Pretargeting Strategy Enabled by Bioorthogonal Reactions Towards Advanced Nuclear Medicines: Application and Perspective

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Chemical Research in Chinese Universities 2021年第4期37卷 870-879页

作者： gao yun CHEN Lei GE Jianxian CUI Jiabin ZENG Jianfeng gao Mingyuan Center for Molecular Imaging and Nuclear Medicine State Key Laboratory of Radiation Medicine and ProtectionSchool for Radiological and Interdisciplinary Sciences(RAD-X)Collaborative Innovation Center of Radiological Medicine of Jiangsu Higher Education InstitutionsSoochow UniversitySuzhou215123P.R.China

Pretargeting is an innovative and promising approach in nuclear medicine for targeted-imaging/therapy through the following bioorthogonal *** requires two reactive participants,one of which is a targeting vector and the other is a small radiolabeled probe capable of specifically coupling through bioorthogonal reactions with the targeting vector accumulated in the disease *** to the conventional direct targeting approach,such a two-step scheme conceptually can achieve a higher imaging contrast and an improved therapeutic effect owing to the suppressed non-specific *** this review,we will first give a brief introduction on pretargeting systems and the history of bioorthogonal reactions,and then focus on some important works about radionuclide delivering through the bioorthogonal reaction based pretargeting ***,we will discuss the steps forward in respect to the future clinical translation and truly hope that this methodology would continue to make contributions to nuclear medicines.

关键词： Pretargeting Bioorthogonal reaction Nuclear medicine

An observer design method for one-sided Lipschitz nonlinear systems

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An observer design method for one-sided Lipschitz nonlinear ...

Investigating the relationship between cosmic curvature and dark energy models with the latest supernova sample

第25届中国控制与决策会议

作者： gao Hong CAI xiu-Shan College of Mathematics Physics and Information Engineering Zhejiang Normal University

ISBN: (纸本)9781467355339

A functional observer design method is presented for one-sided Lipschitz nonlinear systems. The existence conditions of a functional observer are obtained by a rank condition and solving a linear matrix inequality. Furthermore, a design method for gain matrices of the functional observer is presented. Finally, a numerical example is given to illustrate the effectiveness of the proposed design technique.

关键词： functional observer one-sided Lipschitz systems quadratic inner-boundedness linear matrix inequality (LMI)

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Research in Astronomy and Astrophysics 2020年第9期20卷 319-324页

作者： Chao gao yun Chen Jie Zheng lDepartment of Astronomy Beijing Normal UniversityBeijing 100089China Key Laboratory for Computational Astrophysics National Astronomical ObservatoriesChinese Academy of SciencesBeijing 100101China

We investigate the relationship between cosmic curvature and model of dark energy(hereafter DE)with recent TypeⅠa supernovae(hereafter SNeⅠa)data,i.e.,the Pantheon sample including 1048 SNeⅠa with 0.01 详细信息

关键词： cosmological parameters dark energy cosmology:observations

Comprehensive tensile properties improved by deep cryogenic treatment prior to aging in friction-stir-welded 2198 Al-Li alloy

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Rare Metals 2024年第10期43卷 5403-5409页

作者： Jian-Qiu Sun Yue Ma Chong gao Hong-yun Luo School of Materials Science and Engineering Beihang UniversityBeijing 100191China Chinalco Research Institute of Science and Technology Beijing 100082China

In order to improve the comprehensive mechanical properties,deep cryogenic treatment(DCT)prior to aging was carried out on friction-stir-welded(FSW)2198 Al-Li alloy;afterward,the microstructure and tensile properties were characterized by means of optical microscopy(OM),transmission electron microscopy(TEM)and tensile *** results show that FSW 2198 alloy through DCT prior to aging(DAT)possesses superior tensile properties than conventional aging treatment(AT)The microstructural analysis reveals that DAT alloy exhibits a finer grain structure,since DCT might effectively alleviate the residual stress in FSW 2198 alloy and thus decrease the driving force for grain coarsening in subsequent aging ***,DCT generates dislocation multiplication,which provides more preferential nucleation sites for T1(Al_(2)CuLi)phase during subsequent aging treatment,resulting in high-density fine T1 phases and thin precipitate-free zone within DAT *** reasonable microstructure leads to DAT alloy possessing better strength-ductility combination compared to AT alloy.

关键词： Al-Li alloy Friction stir welding Deep cryogenic treatment Tensile properties

Wiener Index of Graphs and Their Line Graphs

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Journal of the Operations Research Society of China 2013年第3期1卷 393-403页

作者： Xiaohai Su Ligong Wang yun gao School of Mathematics and Computer Science Shaanxi University of TechnologyHanzhongShaanxi 723001P.R.China Department of Applied Mathematics School of ScienceNorthwestern Polytechnical UniversityXi’anShaanxi 710072P.R.China

The Wiener index W(G)of a graph G is a distance-based topological index defined as the sum of distances between all pairs of vertices in *** is shown that forλ=2 there is an infinite family of planar bipartite chemical graphs G of girth 4 with the cyclomatic numberλ,but their line graphs are not chemical graphs,and forλ≥2 there are two infinite families of planar nonbipartite graphs G of girth 3 with the cyclomatic numberλ;the three classes of graphs have the property W(G)=W(L(G)),where L(G)is the line graph of G.

关键词： Wiener index Line graph Cyclomatic number