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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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Plasma potential measurements using an emissive probe made of oxide cathode

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Chinese Physics B 2024年第4期33卷 571-577页

作者：李建泉马海杰陆文琪 department of Electronic and Communication Engineering North China Electric Power UniversityBaoding 071003China Hebei Key Laboratory of Power Internet of Things technology North China Electric Power UniversityBaoding 071003China Key Laboratory of Materials Modification by Laser Ion and Electron BeamsSchool of PhysicsDalian University of TechnologyDalian 116024China

A novel emissive probe consisting of an oxide cathode coating is developed to achieve a low operating temperature and long service *** properties of the novel emissive probe are investigated in detail,in comparison with a traditional tungsten emissive probe,including the operating temperature,the electron emission capability and the plasma potential *** of the operating temperature and electron emission capability show that the tungsten emissive probe usually works at a temperature of 1800 K-2200 K while the oxide cathode emissive probe can function at about 1200 K-1400 *** addition,plasma potential measurements using the oxide cathode emissive probe with different techniques have been accomplished in microwave electron cyclotron resonance plasmas with different discharge *** is found that a reliable plasma potential can be obtained using the improved inflection point method and the hot probe with zero emission limit method,while the floating point method is invalid for the oxide cathode emissive probe.

关键词： emissive probe oxide cathode plasma potential filament temperature

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A plant growth chamber system equipped with aerosol generators for studying aerosol-vegetation interactions

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Particuology 2024年第2期85卷 122-132页

作者： Masao Gen Seiji Ikawa Masahiro Yamaguchi Fong Zyin Lim Takeshi Izuta I.Wuled Lenggoro Graduate School of Bio-Applications and Systems Engineering Tokyo University of Agriculture and TechnologyKoganeiTokyo184-8588Japan Institute of Multidisciplinary Research for Advanced Materials Tohoku UniversitySendai980-8577Japan Faculty of Agriculture Tokyo University of Agriculture and TechnologyFuchuTokyo183-8509Japan Graduate School of Fisheries and Environmental Sciences Nagasaki UniversityNagasaki852-8521Japan Institute of Agriculture Tokyo University of Agriculture and TechnologyFuchuTokyo183-8509 Japan department of Applied Physics and Chemical Engineering Tokyo University of Agriculture and TechnologyKoganeiTokyo184-8588Japan Institute of Global Innovation Research Tokyo University of Agriculture and TechnologyFuchuTokyo183-8509Japan

Understanding aerosol-vegetation interactions is vital in ***,the interactions remain elusive partly due to the lack of suitable plant growth chamber ***,deposition of submicron particles on leaf surfaces is challenging due to its low deposition velocities compared to larger *** this work,we present a plant-growth chamber that was used to study the effect of sub-micron black carbon(BC)particles on the growth and photosynthesis of *** chamber system simultaneously enables the growth of multiple plants in pots and the deposition of submicron particles onto *** spraying methods assisted by ultrasonic and electrostatic forces were employed as aerosol generators to realize the particle *** flow regime inside the chamber was numeri-cally calculated to predict the transportation of aerosol particles,suggesting the optimal operating conditions of the *** gas-phase particle size distribution measurements showed that gener-ated BC particles were suspended in submicron diameter *** aerosol generators were examined in the chamber using three conductor and insulator substrates as a model of plant *** observations and spectroscopic analysis ascertained that submicron BC particles generated from our generators were deposited on all substrate *** the developed chamber system,systematic studies can be performed to advance the fundamental understanding of aerosol-vegetation interactions.

关键词： Aerosol Exposure chamber Spray drying Black carbon

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Thermodynamic Performance Analysis of Geothermal Power Plant Based on Organic Rankine Cycle (ORC) Using Mixture of Pure Working Fluids

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Energy Engineering 2024年第8期121卷 2023-2038页

作者： Abdul Sattar Laghari Mohammad Waqas Chandio Laveet Kumar Mamdouh El Haj Assad department of Mechanical Engineering Mehran University of Engineering and TechnologyJamshoro76062Pakistan department of Mechanical and Industrial Engineering College of EngineeringQatar UniversityDoha00000Qatar Sustainable&Renewable Energy Engineering department University of SharjahSharjah00000United Arab Emirates

The selection of working fluid significantly impacts the geothermal ORC’s *** a mixture as a working fluid is a strategy to improve the output of geothermal *** the current study,modelling and thermodynamic analysis of ORC,using geothermal as a heat source,is carried out at fixed operating *** model is simulated in the Engineering Equation Solver(EES).An environment-friendly mixture of fluids,i.e.,R245fa/R600a,with a suitable mole fraction,is used as the operating *** mixture provided the most convenient results compared to the pure working fluid under fixed operating *** impact of varying the evaporator pressure on the performance parameters,including energy efficiency,exergy efficiency and net power output is *** system provided the optimal performance once the evaporator pressure reached the maximum *** efficiencies:Energy and Exergy,and Net Power output of the system are 16.62%,64.08%and 2199 kW for the basic cycle and 20.72%,67.76%and 2326 kW respectively for the regenerative cycle.

关键词： Organic rankine cycle internal heat exchanger moderate-temperature geothermal source mixture of the fluid exergy

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CuO–TiO_(2) based self-powered broad band photodetector

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Nano Materials Science 2024年第3期6卷 345-354页

作者： Chiranjib Ghosh Arka Dey Iman Biswas Rajeev Kumar Gupta Vikram Singh Yadav Ashish Yadav Neha Yadav Hongyu Zheng Mohamed Henini Aniruddha Mondal department of Physics National Institute of Technology DurgapurWest BengalIndia department of Physics University of Petroleum&Energy Studies DehradunUttarakhandIndia Babasaheb Bhimrao Ambedkar University Lucknow226031India Center for Advanced Laser Manufacturing(CALM) Shandong University of TechnologyZibo255000PR China School of Physics and Astronomy University of NottinghamNottinghamNG72RDUnited Kingdom

An efficient room-temperature self-powered,broadband(300 nm–1100 nm)photodetector based on a CuO–TiO_(2)/TiO_(2)/p-Si(100)heterostructure is *** CuO–TiO_(2)nanocomposites were grown in a two-zone horizontal tube furnace on a 40 nm TiO_(2)thin film deposited on a p-type Si(100)*** CuO–TiO_(2)/TiO_(2)/p-Si(100)devices exhibited excellent rectification characteristics under dark and individual photoillumination *** devices showed remarkable photo-response under broadband(300–1100 nm)light illumination at zero bias voltage,indicating the achievement of highly sensitive self-powered photodetectors at visible and near-infrared light *** maximum response of the devices is observed at 300 nm for an illumination power of 10 *** response and recovery times were calculated as 86 ms and 78 ms,***,under a small bias,the devices showed a prompt binary response by altering the current from positive to negative under illumination *** main reason behind this binary response is the low turn-on voltage and photovoltaic characteristics of the *** illumination conditions,the generation of photocurrent is due to the separation of photogenerated electron-hole pairs within the built-in electric field at the CuO–TiO_(2)/TiO_(2)*** characteristics make the CuO–TiO_(2)/TiO_(2)broadband photodetectors suitable for applications that require high response speeds and self-sufficient functionality.

关键词： Self-powered CuO–TiO_(2) nanocomposite Broadband photodetector Two-zone horizontal tube furnace Responsivity

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Emergency physicians’ occupational risks in China

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World Journal of Emergency Medicine 2024年第3期15卷 232-234页

作者： Huaying Jiang Jia Chang Rong Huang Xiayi Liang Manning Song Hejing Yuan Shuo Wang School of Chinese Materia Medica Beijing University of Chinese MedicineBeijing 100105China Operation room Beijing Chaoyang HospitalCapital Medical UniversityBeijing 100020China School of Marxism Beijing University of Chinese MedicineBeijing 100105China department of Infectious Diseases(Fever Clinic) Beijing Hospital of Traditional Chinese MedicineCapital Medical UniversityBeijing 100010China

With the rapid development of emergency medicine,emergency physicians are working around the clock,[1]including additional workloads due to sudden public health emergencies and *** risks for emergency physicians are s... 详细信息

关键词： physician acute occupational

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Predictive value of angiopoietin-like protein 8 in metabolic dysfunction-associated fatty liver disease and its progression:A case-control study

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World Journal of Diabetes 2024年第3期15卷 418-428页

作者： Lu-Lu Gan Can Xia Xuan Zhu Yue Gao Wen-Chang Wu Qi Li Ling Li Zhe Dai Yi-Min Yan Medical College Wuhan University of Science and TechnologyWuhan 430071Hubei ProvinceChina department of Endocrinology Xiaogan Hospital Affiliated with Wuhan University of Science and TechnologyThe Central Hospital of XiaoganXiaogan 432000Hubei ProvinceChina department of Endocrinology Zhongnan Hospital of Wuhan UniversityWuhan 430071Hubei ProvinceChina

BACKGROUND The prevalence of metabolic dysfunction-associated fatty liver disease(MAFLD)is rapidly increasing,currently affecting approximately 25%of the global *** fibrosis represents a crucial stage in the development of MAFLD,with advanced liver fibrosis elevating the risks of cirrhosis and hepatocellular *** serum markers are less effective in diagnosing liver fibrosis compared to more complex ***,imaging techniques like transient elastography face limitations in clinical application due to equipment and technical ***,it is imperative to identify a straightforward yet effective method for assessing MAFLD-associated liver *** To investigate the predictive value of angiopoietin-like protein 8(ANGPTL8)in MAFLD and its *** We analyzed 160 patients who underwent abdominal ultrasonography in the Endocrinology department,Xiaogan Central Hospital affiliated to Wuhan University of Science and technology,during September 2021-July *** abdominal ultrasonography and MAFLD diagnostic criteria,among the 160 patients,80 patients(50%)were diagnosed with *** MAFLD group was divided into the liver fibrosis group(n=23)and non-liver fibrosis group(n=57)by using a cut-off fibrosis-4 index≥*** regression was used to analyze the risk of MAFLD and the risk factors for its *** operating characteristic curves were used to evaluate the predictive value of serum ANGPTL8 in MAFLD and its *** Compared with non-MAFLD patients,MAFLD patients had higher serum ANGPTL8 and triglyceride-glucose(TyG)index(both P<0.05).Serum ANGPTL8(r=0.576,P<0.001)and TyG index(r=0.473,P<0.001)were positively correlated with *** ANGPTL8 was a risk factor for MAFLD[odds ratio(OR):1.123,95%confidence interval(CI):1.066-1.184,P<0.001).Serum ANGPTL8 and ANGPTL8+TyG index predicted MAFLD[area under the curve(AUC):0.832 and 0.886,respectively;both P<0.05].Compared with MAFL

关键词： Angiopoietin-like protein 8 Metabolic dysfunction-associated fatty liver disease Fibrosis-4 index Liver fibrosis

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Open-Source Software Defined Networking Controllers:State-of-the-Art,Challenges and Solutions for Future Network Providers

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Computers, Materials & Continua 2024年第7期80卷 747-800页

作者： Johari Abdul Rahim Rosdiadee Nordin Oluwatosin Ahmed Amodu technology Strategy and Fundamental Planning(TSFP) Telekom MalaysiaCyberjayaSelangor60000Malaysia department of Engineering School of Engineering and TechnologySunway University5Jalan UniversitiBandar SunwaySelangor47500Malaysia department of Electrical Electronics&Systems EngineeringUniversiti Kebangsaan MalaysiaUKM BangiSelangor43600Malaysia Information and Communication Engineering department Elizade UniversityP.M.B.002Ilara-Mokin340271Nigeria

Software Defined Networking(SDN)is programmable by separation of forwarding control through the centralization of the *** controller plays the role of the‘brain’that dictates the intelligent part of SDN *** versions of SDN controllers exist as a response to the diverse demands and functions expected of *** are several SDN controllers available in the open market besides a large number of commercial controllers;some are developed tomeet carrier-grade service levels and one of the recent trends in open-source SDN controllers is the Open Network operating System(ONOS).This paper presents a comparative study between open source SDN controllers,which are known as Network Controller Platform(NOX),Python-based Network Controller(POX),component-based SDN framework(Ryu),Java-based OpenFlow controller(Floodlight),OpenDayLight(ODL)and *** discussion is further extended into ONOS architecture,as well as,the evolution of ONOS *** article will review use cases based on ONOS controllers in several application ***,the opportunities and challenges of open source SDN controllers will be discussed,exploring carriergrade ONOS for future real-world deployments,ONOS unique features and identifying the suitable choice of SDN controller for service *** addition,we attempt to provide answers to several critical questions relating to the implications of the open-source nature of SDN controllers regarding vendor lock-in,interoperability,and standards compliance,Similarly,real-world use cases of organizations using open-source SDN are highlighted and how the open-source community contributes to the development of SDN ***,challenges faced by open-source projects,and considerations when choosing an open-source SDN controller are *** the role of Artificial Intelligence(AI)and Machine Learning(ML)in the evolution of open-source SDN controllers in light of recent research is *** ad

关键词： ONOS open source software SDN software defined networking

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Maximizing Solar Potential Using the Differential Grey Wolf Algorithm for PV System Optimization

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Energy Engineering 2024年第8期121卷 2129-2142页

作者： Ezhilmathi Nagarathinam Buvana Devaraju Karthiyayini Jayamoorthy Padmavathi Radhakrishnan Santhana Lakshmi ChandraMohan Vijayakumar Perumal Karthikeyan Balakrishnan department of Electrical and Electronics Engineering Pandian Saraswathiyadav Engineering CollegeSivagangaiTamil Nadu630561India department of Electrical and Electronics Engineering Sri Balaji Chockalingam Engineering CollegeArniTamil Nadu632317India department of Information Science and Engineering New Horizon College of EngineeringBangalore560103India department of Electrical and Electronics Engineering Rajalakshmi Engineering CollegeChennaiTamil Nadu602105India department of Electrical and Electronics Engineering Sona College of TechnologySalemTamil Nadu636005India School of Electronics Engineering Vellore Institute of TechnologyChennaiTamil Nadu600127India department of Electrical and Electronics Engineering Sri Krishna College of Engineering and TechnologyCoimbatoreTamil Nadu641008India

Maximum Power Point Tracking(MPPT)is crucial for maximizing the energy output of photovoltaic(PV)systems by continuously adjusting the operating point of the panels to track the point of maximum power production under changing environmental *** work proposes the design of an MPPT system for solar PV installations using the Differential Grey Wolf Optimizer(DGWO).It dynamically adjusts the parameters of the MPPT controller,specifically the duty cycle of the SEPIC converter,to efficiently track the Maximum Power Point(MPP).The proposed system aims to enhance the energy harvesting capability of solar PV systems by optimizing their performance under varying solar irradiance,temperature and shading *** results demonstrate the effectiveness of the DGWO-based MPPT system in maximizing the power output of solar PV installations compared to conventional MPPT *** research contributes to the development of advanced MPPT techniques for improving the efficiency and reliability of solar energy systems.

关键词： DGWO SEPIC converter MPPT PV module

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High-responsivity on-chip waveguide coupled germanium photodetector for 2 μm waveband

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Photonics Research 2024年第1期12卷 115-122页

作者： JIANING WANG XI WANG YIHANG LI YANFU YANG QINGHAI SONG KE XU Guangdong Provincial Key Laboratory of Semiconductor Optoelectronic Materials and Intelligent Photonic Systems Harbin Institute of TechnologyShenzhen 518055China department of Electronic&Information Engineering Harbin Institute of TechnologyShenzhen 518055China department of Science Harbin Institute of TechnologyShenzhen 518055China

Recently,the emerging 2μm waveband has gained increasing interest due to its great potential for a wide scope of *** with the existing optical communication windows at shorter wavelengths,it also offers distinct advantages of lower nonlinear absorption,better fabrication tolerance,and larger free carrier plasma effects for silicon photonics,which has been a proven device *** much progress has been witnessed for silicon photonics at the 2μm waveband,the primary challenge still exists for on-chip *** the maturity and compatibility of the waveguide coupled photodetectors made of germanium,the 2μm regime is far beyond its cutoff *** this work,we demonstrate an efficient and high-speed on-chip waveguidecoupled germanium photodetector operating at the 2μm *** weak sub-bandgap absorption of epitaxial germanium is greatly enhanced by a lateral separation absorption charge multiplication *** detector is fabricated by the standard process offered by a commercial *** device has a benchmark performance with responsivity of 1.05 A/W and 3 dB bandwidth of 7.12 GHz,which is able to receive high-speed signals with up to 20 Gbit/s data *** availability of such an efficient and fast on-chip detector circumvents the barriers between silicon photonic integrated circuits and the potential applications at the 2μm waveband.

关键词： waveguide responsivity wave

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