Underwater image super-resolution using multi-stage information distillation networks

Recently, single image super-resolution (SISR) has been widely applied in the fields of underwater robot vision and obtained remarkable performance. However, most current methods generally suffered from the problem of a heavy burden on computational resources with large model sizes, which limited their real-world underwater robotic applications. In this paper, we introduce and tackle the super resolution (SR) problem for underwater robot vision and provide an efficient solution for near real-time applications. We present a novel lightweight multi-stage information distillation network, named MSIDN, for better balancing performance against applicability, which aggregates the local distilled features from different stages for more powerful feature representation. Moreover, a novel recursive residual feature distillation (RRFD) module is constructed to progressively extract useful features with a modest number of parameters in each stage. We also propose a channel interaction & distillation (CI&D) module that employs channel split operation on the preceding features to produce two-part features and utilizes the inter channel-wise interaction information between them to generate the distilled features, which can effectively extract the useful information of current stage without extra parameters. Besides, we present USR-2K dataset, a collection of over 1.6K samples for large-scale underwater image SR training, and a testset with an additional 400 samples for benchmark evaluation. Extensive experiments on several standard benchmark datasets show that the proposed MSIDN can provide state-of-the-art or even better performance in both quantitative and qualitative measurements.     

Self-Adaptive Control System for Additive Manufacturing Using Double Electrode Micro Plasma Arc Welding

Wire arc additive manufacturing(WAAM)has been investigated to deposit large-scale metal parts due to its high deposition efficiency and low material cost.However,in the process of automatically manufacturing the high-quality metal parts by WAAM,several problems about the heat build-up,the deposit-path optimization,and the stability of the process parameters need to be well addressed.To overcome these issues,a new WAAM method based on the double electrode micro plasma arc welding(DE-MPAW)was designed.The circuit principles of different metal-transfer models in the DE-MPAW deposition process were analyzed theoretically.The effects between the parameters,wire feed rate and torch stand-off distance,in the process of WAAM were investigated experimentally.In addition,a real-time DE-MPAW control system was developed to optimize and stabilize the deposition process by self-adaptively changing the wire feed rate and torch stand-off distance.Finally,a series of tests were performed to evaluate the con-trol system's performance.The results show that the capability against interferences in the process of WAAM has been enhanced by this self-adaptive adjustment system.Further,the deposition paths about the metal part's layer heights in WAAM are simplified.Finally,the appearance of the WAAM-deposited metal layers is also improved with the use of the control system.     

Localized corrosion of (lean) duplex stainless steels in immersion units of urban wastewater treatment plants

With lower alloying cost and higher mechanical properties, lean duplex stainless steels can be an alternative to the more commonly used austenitic stainless steels. However, these alloys are still not the preferred choice, probably due to a lack of field experience. A study was thus initiated in view of defining the limits of use of selected (lean) duplexes for urban wastewater treatment units. The present paper shows the localized corrosion performance of selected lean duplexes in chloride contaminated solutions. The results are compared with austenitic S30403 and S31603 and with the more standard duplexes S82441 and S32205. The effect of welding was also investigated. Exposures in field municipal wastewater plants were conducted for 1 year in low and high chloride content units. The results show that lean duplexes S32101 and S32202 can be used as alternatives to S30403 and S31603 in low chloride electrolytes. At 500 ppm of chloride content, duplex stainless steel S32304 showed better corrosion resistance than S30403 and S31603. For higher chloride contents (1000 ppm and above) the standard duplexes S82441 and S32205 shall be preferred.     

A survey on tracking control of unmanned underwater vehicles: Experiments-based approach

This paper aims to provide a review of the conceptual design and theoretical framework of the main control schemes proposed in the literature for unmanned underwater vehicles (UUVs). Additionally, the objective of the paper is not only to present an overview of the recent control architectures validated on UUVs but also to give detailed experimental-based comparative studies of the proposed control schemes. To this end, the main control schemes, including proportional–integral–derivative (PID) based, sliding mode control (SMC) based, adaptive based, observation-based, model predictive control (MPC) based, combined control techniques, are revisited in order to consolidate the principal efforts made in the last two decades by the automatic control community in the field. Besides implementing some key tracking control schemes from the classification mentioned above on Leonard UUV, several real-time experimental scenarios are tested, under different operating conditions, to evaluate and compare the efficiency of the selected tracking control schemes. Furthermore, we point out potential investigation gaps and future research trends at the end of this survey.     

复杂环境下氧化铝储槽定向爆破拆除

在较为复杂的环境下,爆破拆除钢筋混凝土氧化铝储槽。该储槽自重大、呈圆形,内有4根立柱支撑下料漏斗。为使储槽顺利定向倒塌,通过爆破方案选择、参数确定,采取梯形切口和预处理以及安全防护和减振措施,使储槽爆破拆除获圆满成功。     

Effects of non-thermal plasma treating wheat kernel on the physicochemical properties of wheat flour and the quality of fresh wet noodles

The effects of non-thermal plasma (NTP) on the physicochemical properties of wheat flour and the quality of fresh wet noodles ( FWN) were investigated. The results showed that NTP effectively decreased the total plate count (TPC), yeast and mould count (YMC) and Bacillus spp. in wheat flour. Wet gluten contents and the stability time reached the maximum when treated for 20 s. The viscosity of starch increased significantly after treatment due to the increased of damaged starch. The contents of secondary structure were altered to some extent, which was because that the ordered network structure of gluten protein broken. Furthermore, compared with the control, texture properties of FWN were enhanced significantly at 20 s, and the darkening rate of FWN was greatly inhibited due to the low polyphenol oxidase (PPO) activity. Consequently, the most suitable treatment was 500 W for 20 s, providing a basis for the application of NTP in flour products.     

基于CFD⁃DEM的水下切粒装置水室内颗粒流动过程数值模拟

基于CFD?DEM耦合方法，研究了颗粒在水室内的流动状态，分析了不同刀盘转速、粒子水通入量和水室出口角度对造粒过程的影响，发现提高刀盘转速、增加粒子水通入量和水室出口倾斜一定的角度都有利于水室内颗粒的排出。进一步研究了颗粒与碎屑在水室内的流动，发现在水室出口处二者的流动基本呈现出一定的分离角度。     

Effect of slot-die configurations on coating gap dependence of maximum and minimum wet thicknesses

The dependence of the maximum and minimum wet thicknesses on the coating gap is derived for the slot-die coating process, under different slot-die configurations. Analytical expressions for the wet thickness and its derivative with respect to the coating gap are obtained using a simple flow model. The results indicate that, as expected, the minimum wet thickness increases linearly with the coating gap; however, the maximum wet thickness demonstrates a counterintuitive trend of decreasing as the coating gap increases, when a specific slot-die configuration is assumed. Moreover, the results are also validated by numerically solving the complete two-dimensional (2D) Navier–Stokes equation.