Organic mesh template-based laminated object manufacturing to fabricate ceramics with regular micron scaled pore structures

A new aqueous slurry-based laminated object manufacturing process for porous ceramics is proposed: firstly, an organic mesh sheet is pre-paved as a pore-forming template before slurry layer scraping; secondly, the 2D pattern is built with laser outline cutting of the dried mesh–ceramic composite layer; finally, the pore structure is formed after degreasing and sintering. Alumina parts with porosities of 51.5 %, round hole diameters of 80 ± 5 μm were fabricated using 70 wt. % solid content slurry and 100 mesh nylon net. Using an organic mesh as the framework and template not only reduces the risk of damage of the green body but also ensures the regularity, uniformity and connectivity of the micron scaled pore network. The layer-by-layer drying method avoids the delamination phenomenon and improves the paving density. The new method can realize the flexible design of the pore structure by using various organic mesh templates.     

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 comprehensive survey on computer vision based concepts,methodologies, analysis and applications for automatic gun/knife detection

The ability to detect gun and gun held in hand or other body parts is a typical human skill. The same problem presents an imperative task for computer vision system. Automatic observer independent detection of hand held gun or gun held in the other body part, whether it is visible or concealed, provides enhance security in vulnerable places and initiates appropriate action there. Compare to the automatic object detection systems, automatic detection of gun has very few successful attempts. In the present scope of this paper, we present an extensive survey on automatic detection of gun and define a taxonomy for this particular detection system. We also describe the inherent difficulties related with this problem. In this survey of published papers, we examine different approaches used in state-of-the-art attempts and compare performances of these approaches. Finally, this paper concludes pointing to the possible research gaps in related fields.     

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。     

YOLSO: You Only Look Small Object

Small object detection is challenging and far from satisfactory. Most general object detectors suffer from two critical issues with small objects: (1) Feature extractor based on classification network cannot express the characteristics of small objects reasonably due to insufficient appearance information of targets and a large amount of background interference around them. (2) The detector requires a much higher location accuracy for small objects than for general objects. This paper proposes an effective and efficient small object detector YOLSO to address the above problems. For feature representation, we analyze the drawbacks in previous backbones and present a Half-Space Shortcut(HSSC) module to build a background-aware backbone. Furthermore, a coarse-to-fine Feature Pyramid Enhancement(FPE) module is introduced for layer-wise aggregation at a granular level to enhance the semantic discriminability. For loss function, we propose an exponential L1 loss to promote the convergence of regression, and a focal IOU loss to focus on prime samples with high classification confidence and high IOU. Both of them significantly improves the location accuracy of small objects. The proposed YOLSO sets state-of-the-art results on two typical small object datasets, MOCOD and VeDAI, at a speed of over 200 FPS. In the meantime, it also outperforms the baseline YOLOv3 by a wide margin on the common COCO dataset.     

DCNN深度特征与交替方向乘子的相关滤波跟踪

针对采用相关滤波的判别式目标跟踪遇到的瓶颈问题：由于目标快速移动引起边界效应，使得相关滤波器在学习与更新过程中可能会引入错误，最终错误的累积将导致跟踪失败。在采集深度学习特征与样本相似性度量的基础上，提出一种引入交替方向乘子方法的改进相关滤波目标跟踪算法，选择DCNN深度特征有效地表征待跟踪目标的初始状态，通过在线分类过程中样本相似性比对与半监督学习，辅助解决相关滤波器在学习过程中存在的自学习问题。所提目标跟踪算法特别适合训练样本为持续获得的、同时存储空间较小的机器学习过程，提高目标在快速运动与部分遮挡等复杂情况下的跟踪成功率，针对VOT2016标准测试视频的实验表明：当目标面临快速运动时，对比CN、SAMF、STC算法，所提DA-CFT跟踪算法将跟踪成功率分别由60.4%～73.4%、67.2%～82.9%、80.9%～88.1%提升至85.6%～91.0%。     

基于深度学习的四旋翼无人机单目视觉避障方法

针对无人机避障问题，提出一种基于深度学习的四旋翼无人机单目视觉避障方法。首先通过目标检测框选出目标在图像中的位置，并通过计算目标选框上下边距的长度，以此来估量出障碍物到无人机之间的距离；然后通过协同计算机判断是否执行避障动作；最后使用基于Pixhawk搭建的飞行实验平台进行实验。实验结果表明，该方法可用于无人机低速飞行条件下避障。该方法所用到的传感器只有一块单目摄像头，而且相对于传统的主动式传感器避障方法，所占用无人机的体积大幅减小。该方法鲁棒性较好，能够准确识别不同姿态的人，实现对人避障。     

基于张量分解融合RGB-D图像的物体识别

为了充分利用RGB-D图像的深度图像信息，提出了基于张量分解的物体识别方法。首先将RGB-D图像构造成一个四阶张量，然后将该四阶张量分解为一个核心张量和四个因子矩阵，再利用相应的因子矩阵将原张量进行投影，获得融合后的RGB-D数据，最后输入到卷积神经网络中进行识别。RGB-D数据集中三组相似物体的识别结果表明，利用张量分解融合RGB-D图像的物体识别准确率高于未采用张量分解的物体识别准确率，并且单一错分实例的准确率最高可提升99%。