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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System co.trol and information Processing Ministry of Education of ChinaShanghai200240China shanghai Engineering Research Center of Intelligent co.trol and Management Shanghai200240China State Grid Intelligence technology co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overco.e the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback co.trol to perform docking when approaching semantic *** last,co.parative experiments were carried out in the real *** show that our method is superior in terms of safety,co.fort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

ACSF-ED: Adaptive Cross-Scale Fusion Enco.er-Deco.er for Spatio-Temporal Action Detection

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co.puters, Materials & co.tinua 2025年第2期82卷 2389-2414页

作者： Wenju Wang Zehua Gu Bang Tang Sen Wang Jianfei Hao co.lege of Publishing University of Shanghai for Science and TechnologyShanghai200093China Institute of information technology Shanghai Baosight Software Co.Ltd.Shanghai200940China

Current spatio-temporal action detection methods lack sufficient capabilities in extracting and co.prehending spatio-temporal information. This paper introduces an end-to-end Adaptive Cross-Scale Fusion Enco.er-Deco.er (ACSF-ED) network to predict the action and locate the object efficiently. In the Adaptive Cross-Scale Fusion Spatio-Temporal Enco.er (ACSF ST-Enco.er), the Asymptotic Cross-scale Feature-fusion Module (ACCFM) is designed to address the issue of information degradation caused by the propagation of high-level semantic information, thereby extracting high-quality multi-scale features to provide superior features for subsequent spatio-temporal information modeling. Within the Shared-Head Deco.er structure, a shared classification and regression detection head is co.structed. A multi-co.straint loss function co.posed of one-to-one, one-to-many, and co.trastive denoising losses is designed to address the problem of insufficient co.straint force in predicting results with traditional methods. This loss function enhances the accuracy of model classification predictions and improves the proximity of regression position predictions to ground truth objects. The proposed method model is evaluated on the popular dataset UCF101-24 and JHMDB-21. Experimental results demonstrate that the proposed method achieves an accuracy of 81.52% on the Frame-mAP metric, surpassing current existing methods.

关键词： Spatio-temporal action detection enco.er-deco.er cross-scale fusion multi-co.straint loss function

Lithium niobate electro-optical modulator based on ion-cut wafer scale heterogeneous bonding on patterned SOI wafers

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Photonics Research 2025年第1期13卷 106-112页

作者： ZHUOYUN LI YANG CHEN SHUXIAO WANG FAN XU QIANG XU JIANMIN ZHANG QIANNAN ZHU WENCHENG YUE XIN OU YAN CAI MINGBIN YU State Key Laboratory of Materials for Integrated Circuits Shanghai Institute of Microsystem and Information TechnologyChinese Academy of Sciences University of Chinese Academy of Sciences School of Microelectronics Shanghai University shanghai Industrialμtechnology Research Institute shanghai Mingkun Semico.ductor co. Ltd.

This paper presents the design, fabrication, and characterization of a high-performance heterogeneous silico. on insulator (SOI)/thin film lithium niobate (TFLN) electro-optical modulator based on wafer-scale direct bonding followed by ion-cut technology. The SOI wafer has been processed by an 8 inch standard fabrication line and cut into 6 inch for direct bonding with TFLN. The hybrid SOI/LN electro-optical modulator operated at the wavelength of 1.55μm is co.posed of co.plers on the Si layer and a Mach–Zehnder interferometer (MZI) structure on the LN layer. The fabricated device exhibits a stable value of the product of half-wave voltage and length (VπL) of around 2.9 V·cm. It shows a good low-frequency electro-optic response flatness and supports 96 Gbit/s data transmission for the NRZ format and 192 Gbit/s data transmission for the PAM-4 format.

关键词： co.plementary metal oxide semico.ductors Effective refractive index Lithium niobate Material properties Silico. modulators Thin films

Magnetic resonance imaging evaluation and nuclear receptor binding SET domain protein 1 mutation in the Sotos syndrome with attention-deficit/hyperactivity disorder

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World Journal of Clinical Cases 2025年第2期13卷 5-9页

作者： Wei Zhu shanghai XiRong information Science and technology co. LtdNational Science and Technology ParkSchool of Life Sciences and TechnologyTongji UniversityShanghai 200092China

Sotos syndrome is characterized by overgrowth features and is caused by alterations in the nuclear receptor binding SET domain protein 1 ***/hyperactivity disorder(ADHD)is co.sidered a neurodevelopment and psychiatric disorder in *** characteristics and clinical presentation co.ld play an important role in the diagnosis of Sotos syndrome and *** resonance imaging(MRI)has been used to assess medical images in Sotos syndrome and *** images process is co.sidered to display in MRI while wavelet fusion has been used to integrate distinct images for achieving more co.plete information in single image in this *** the future,genetic mechanisms and artificial intelligence related to medical images co.ld be used in the clinical diagnosis of Sotos syndrome and ADHD.

关键词： Sotos syndrome Attention-deficit/hyperactivity disorder Genetic mutation Magnetic resonance imaging Wavelet fusion

Brain Age Detection of Alzheimer’s Disease Magnetic Resonance Images Based on Mutual information—Support Vector Regression

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Journal of shanghai Jiaotong university(Science) 2025年第1期30卷 130-135页

作者： LIU Yuchuan LI Hao TANG Yulong LIANG Dujuan TAN Jia FU Yue LI Yongming School of Intelligent technology and Engineering Chongqing University of Science and TechnologyChongqing401331China co.munication Sergeant School Army Engineering UniversityChongqing400035China CISDI information technology(Chongqing)co. Ltd.Chongqing401329China School of Microelectronics and co.munication Engineering Chongqing UniversityChongqing400044China

Brain age is an effective biomarker for diagnosing Alzheimer’s disease(AD).Aimed at the issue that the existing brain age detection methods are inco.sistent with the biological hypothesis that AD is the accelerated aging of the brain,a mutual information—support vector regression(MI-SVR)brain age prediction model is ***,the age deviation is introduced acco.ding to the biological hypothesis of ***,fitness function is designed based on mutual information ***,support vector regression and fitness function are used to obtain the predicted brain age and fitness value of the subjects,*** optimal age deviation is obtained by maximizing the fitness ***,the proposed method is co.pared with some existing brain age detection *** results show that the brain age obtained by the proposed method has better separability,can better reflect the accelerated aging of AD,and is more helpful for improving the diagnostic accuracy of AD.

关键词： brain age Alzheimer’s disease(AD) mutual information-support vector regression(MI-SVR) age deviation

Anisotropy characterization of upper shanghai clays: Shear strength and small-strain stiffness

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Journal of Rock Mechanics and Geotechnical Engineering 2025年第1期17卷 493-508页

作者： Lixin Lan Wenxuan Zhu Guanlin Ye Qi Zhang Tongshuai Yang Department of Civil Engineering State Key Laboratory of Ocean EngineeringShanghai Key Laboratory for Digital Maintenance of Buildings and InfrastructureShanghai Jiao Tong UniversityShanghai200240China Department of Civil Engineering Shanghai Jiao Tong UniversityShanghai200240China The Fourth co.struction co. Ltd.of China Construction Eighth Engineering DivisionQingdao266100China

co.prehensive investigations have been co.ducted to study the structure and overco.solidation of upper shanghai clays, i.e. Layers 2–6 clays, typically located at depths of 30–40 m. However, limited information is available on their anisotropy, and even less is known about the co.relation between structure, overco.solidation, and anisotropy. In this study, the undrained anisotropy characteristics of shear strength and small-strain shear stiffness in upper shanghai Layers 2–6 clays were thoroughly assessed using a series of K0-co.solidated undrained triaxial co.pression (TC) and triaxial extension (TE) tests (K0 is the co.fficient of lateral earth pressure at rest). The effective stress paths, shear strength, and small-strain shear stiffness from the undrained TC and TE tests demonstrate the anisotropic behaviors in upper shanghai clays. Analyses of data from upper shanghai clays and other clays worldwide indicate that the shear strength anisotropy ratio (Ks) co.verges at 0.8 as the overco.solidation ratio (OCR) and plasticity index (Ip) increase, while the small-strain shear stiffness anisotropy ratio (Re) co.verges at 1.0. The influence of OCR on Ks and Re is more pronounced than that of Ip and sensitivity (St). Nevertheless, no clear co.relation between Ks and Re is observed in upper shanghai clays.

关键词： shanghai clays Anisotropy Shear strength Small-strain stiffness

Power synchronization: taming massive diversified serverless functions under power co.straints

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Science China(information Sciences) 2025年第03期68卷 47-65页

作者： Du LIU Lu ZHANG Yechen XU Xinkai WANG Lingyu SUN Yifei PU Xiaofeng HOU Chao LI Minyi GUO Department of co.puter Science and Engineering Shanghai Jiao Tong University AI Chip Center for Emerging Smart Systems The Hong Kong University of Science and Technology

Carbon neutrality has beco.e an important design objective worldwide. However, the on-going shift to cloud-naive era does not necessarily mean energy efficiency. From the perspective of power management, co.hosted serverless functions are difficult to tame. They are lightweight, short-lived applications sensitive to power capping activities. In addition, they exhibit great individual and temporal variability, presenting idiosyncratic performance/power scaling goals that are often at odds with one another. To date, very few proposals exist in terms of tailored power management for serverless platforms. In this work, we introduce power synchronization, a novel yet generic mechanism for managing serverless functions in a power-efficient way. Our insight with power synchronization is that uniform application power behavior enables co.sistent and unco.promised function operation on shared host machines. We also propose PowerSync, a synchronization-based power management framework that ensures optimal efficiency based on a clear understanding of functions. Our evaluation shows that PowerSync can improve the energy efficiency of functions by up to 16% without performance loss co.pared to co.ventional power management strategies.

关键词： serverless co.puting variability energy efficiency power management power synchronization

Insights into the seasonal characteristics of single particle aerosols in Chengdu based on SPAMS

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Journal of Environmental Sciences 2025年第3期149卷 431-443页

作者： Junke Zhang Yunfei Su Chunying Chen Xinyi Fu Yuhan Long Xiaoxue Peng Xiaojuan Huang Gehui Wang Wei Zhang Faculty of Geosciences and Environmental Engineering Southwest Jiaotong UniversityChengdu 611756China Department of Environmental Science&Engineering Shanghai Key Laboratory of Atmospheric Particle Pollution and Prevention(LAP3)Fudan UniversityShanghai 200438China Key Lab of Geographic information Science of the Ministry of Education School of Geographic SciencesEast China Normal UniversityShanghai 200241China Sichuan Eco.ogical Environment Monitoring Station Chengdu 610091China

To investigate the seasonal characteristics in air pollution in Chengdu,a single particle aerosol mass spectrometry was used to co.tinuously observe atmospheric fine particulate matter during one-month periods in summer and winter,*** results showed that,apart from O_(3),the co.centrations of other pollutants(co.NO_(2),SO_(2),PM_(2.5)and PM_(10))were significantly higher in winter than in *** single particle aerosols were divided into seven categories:biomass burning(BB),co.l co.bustion(CC),Dust,vehicle emission(VE),K mixedwith nitrate(K-NO_(3)),Kmixed with sulfate and nitrate(K-SN),and K mixedwith sulfate(K-SO_(4))*** highest co.tributions in both seasons were VE particles(24%).The higher co.tributions of K-SO_(4)(16%)and K-NO_(3)(10%)particles occurred in summer and winter,respectively,as a result of their different formation mechanisms.S-co.taining(KSO_(4)and K-SN),VE,and BB particles caused the evolution of pollution in both seasons,and they can be co.sidered as targets for future pollution *** mixing of primary sources particles(VE,Dust,CC,and BB)with seco.dary co.ponents was stronger in winter than in *** summer,as pollution worsens,the mixing of primary sources particles with 62[NO_(3)]−weakened,but themixing with 97[HSO_(4)]−***,in winter,the mixing state of particles did not exhibit an obvious evolution *** potential source areas in summer were mainly distributed in the southern region of Sichuan,while in winter,besides the southern region,the co.tribution of the western region cannot be ignored.

关键词： Single particle aerosols Chemical co.position Mixing state Regional transport Seasonal characteristics

Investigation of SiGe-on-Insulator Novel Structure

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Journal of Rare Earths 2004年第z2期22卷 13-16页

作者： Lin Chenglu Liu Weili An Zhenghua Di Zengfeng Zhang Miao shanghai Institute of Microsystem and information technology Chinese Academy of SciencesShanghai 200050China shanghai SIMGUI technology co. LtdShanghai Jiading 201821China Shanghai Institute of Microsystem and Information TechnologyChinese Academy of SciencesShanghai 200050China Shanghai Institute of Microsystem and Information TechnologyChinese Academy of SciencesShanghai 200050China Shanghai Institute of Microsystem and Information TechnologyChinese Academy of SciencesShanghai 200050China Shanghai Institute of Microsystem and Information TechnologyChinese Academy of SciencesShanghai 200050China shanghai SIMGUI technology co. LtdShanghai Jiading 201821China

SiGe-on-Insulator (SGOI) is an ideal substrate material for realizing strained-silico. structures that are very co.peting and popular in present silico. technology. In this paper, two methods are proposed to fabricate SGOI novel structure. One is modified Separation by Implantation of Oxygen (SIMOX) starting from pseuodomorphic SiGe thin film without graded SiGe buffer layer. Results show that two-step annealing can improve the cystallinity quality of SiGe and block the Ge diffusion in high temperature annealing. SGOI structure with good quality has been obtained through two-step annealing. The seco.d method is proposed to achieve SGOI with high co.tent of Ge. High quality strained relax SiGe is grown on a co.pliant silico.-on-insulator (SOI) substrate by UHCVD firstly. During high temperature oxidation,Ge atoms diffuse into the top Si layer of SOI. We successfully obtain SGOI with the Ge co.tent of 38%, which is available for the growth of strained Si.

关键词： SGOI SIMOX SOI strained Si