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.     

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.     

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。     

Driving performance and road sign identification by multifocal contact lens wearers in a driving simulator

PurposeThe purpose of this study was to compare sign identification distances and driving performance metrics in presbyopic participants while wearing multifocal contact lenses (MFCL) and while wearing progressive addition lens (PAL) spectacles.Methods19 presbyopic participants completed PAL spectacle assessments and contact lens fitting and follow up visits before driving assessments began. These assessments occurred in a simulator equipped with a full-sized sedan on a motion platform and a 260 degree screen. Participants completed the driving task with PAL and with MFCL. Participants followed a lead car and identified signs at various distances from the road. For the two wearing conditions, comparisons of the distance along the road at which signs were identified were made using repeated measures ANOVA. Paired t-tests were used to compare driving performance for the two conditions.ResultsThere was no statistical difference in sign identification distance between PAL and MFLC for signs 32.0 m from the road side of the road (182 ± 46 m for MFCL; 205 ± 45 m for PAL; P = 0.07) or 51.4 m from the side of the road (204 ± 43 m for MFCL; 216 ± 36 m for PAL; P = 0.3). Only signs 70.2 m from the roadside showed a significant difference (207 ± 42 m with MFCL; 232 ± 39 m with PAL; P = 0.01), All distances were greater than those required to safely stop a vehicle. There were no significant differences in the driving performance metrics between the refractive corrections.ConclusionDriving performance metrics were similar for MFCL and PAL spectacles. Sign identification distances with both eyewear types were well within the distances required for safe vehicle stopping.     

微通道板表面羟基化工艺研究北大核心

研究了3种微通道板基底羟基化的方法,测量了羟基化处理后微通道板基底表面水接触角及通道端面的形貌变化,分析了各种方法中微通道板基底的亲水性和腐蚀情况。实验结果表明:氨水双氧水溶液对基体表面的亲水性能提升不大,NaOH溶液对基体有腐蚀作用,经食人鱼溶液处理的基体表面亲水性明显提高且无腐蚀作用。研究了微通道板在食人鱼溶液中的浸泡时间和浸泡温度对表面亲水性的影响。结果表明:随着浸泡温度的增加,微通道板表面水接触角先减小后增大,当温度为80℃时达到极小值,浸泡时间对微通道板表面的亲水性影响不大。最终确定了微通道板表面羟基化工艺:浸泡温度为80℃,静置时间为20~60 min。     

Experimental research on combined effect of obstacle and local spraying water fog on hydrogen/air premixed explosion

In order to reveal the mechanism of water fog explosion suppression and research the combined effect of water fog and obstacle on hydrogen/air deflagration, multiple sets of experiments were set up. The results show that the instability of thermal diffusion under lean combustion conditions is the main influencing factor of hydrogen/air flame surface instability, and the existence of water fog will aggravate the hydrogen/air flame surface instability. When obstacle is not considered, 8 μm, 15 μm, 30 μm water fog can significantly reduce the flame velocity and explosion overpressure of hydrogen/air, 45 μm fine water fog plays the opposite role. When considering the relative position of the water fog release position and the obstacle, the 8 μm, 15 μm, 30 μm water fog has almost no suppression effect when released near the obstacle, but a significant suppression effect occur, when using the 45 μm water fog. In the field of theoretical research, the research results not only provide an experimental basis for the fine water fog to reduce the consequences of hydrogen explosion accidents, and the optimal diameter range used by the water fog, but also provide experimental reference for the numerical simulation of hydrogen/air explosion suppression in semi-open space, and promote the development of hydrogen explosion suppression theory. In terms of engineering applications, this study can provide a theoretical basis for the layout of fire fighting equipment in the engine room of nuclear power plants or hydrogen-powered ships.     

Analytical modeling of complex contact behavior between rock mass and lining structure

Based on the nondestructive test data of operating railway tunnels in China, this paper summarizes the basic characteristics of the complex contact behavior between the rock mass and lining structure. The contact modes are classified into dense contact, local non-contact, and loose contact. Subsequently, the corresponding mechanical model for each contact mode is developed according to its mechanical characteristics using the complex variable method. In the proposed mechanical model, a special algorithm is introduced to detect whether the local non-contact zone is re-contacted. Besides, a novel conformal mapping method is also proposed to accurately calculate the mechanical response of the concrete lining. Finally, the accuracy of the proposed method is verified by comparing it with the finite element method (FEM). Several parameter investigations are conducted to analyze the effects of different contact modes on the rock–lining interaction. The results show that: (i) the height of the local non-contact area does not have a significant effect on the contact stress distribution if no re-contact occurs; (ii) backfill grouting can reduce the local stress concentration caused by poor contact modes; and (iii) reducing the friction coefficient of the interface can lead to a more uniform distribution of internal forces in the concrete lining.     

接触器触头系统振动机理分析及算法优化

为了解决合闸过程中动、静触头接触引起的振动弹跳问题.本文建立了接触系统的二自由度运动微分方程,并利用遗传算法对交流接触器吸合过程进行优化,同时通过高速摄影实验对接触弹跳的全过程进行了观察和分析.结果表明:理论与实验结果高度一致,铁心在触头分离前发生碰撞,进一步加剧触头弹跳;铁芯弹跳再次碰撞时,触头的弹跳不受影响;在接触器运行过程中,动铁芯的运动会引起系统轻微振动;采用遗传算法优化的接触器触头弹跳时间和最大振幅均减小.研究结果为进一步控制和减小接触弹跳提供了理论依据.     

爆炸防控技术在爆破工程警务规划和技术评估中应用

通过介绍爆炸防控技术概念的内涵和外延,说明了爆破工程警务规划设计和技术评估的目的,就是有效防止或遏制涉爆事故,维护社会公共安全。在对一项复杂环境下的基础开挖爆破工程实施警务规划设计和技术评估时,警务技术民警对照爆破作业设计施工单位技术方案中的参数,现场核实需要保护的建筑和重要设施,准确测量保护目标与爆区的实际距离,分析是否存在影响爆破工程实施的不稳定因素,确认上述参数符合安全要求后做出准予爆破许可的建议。爆破工程警务规划设计和技术评估的要点就是要通过现场核查,核实爆破有害效应是否可控,能否确保爆破施工时周边保护目标的安全。