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.     

Bioinspired Triboelectric Soft Robot Driven by Mechanical Energy

A sustainable power source is a key technical challenge for practical applications of electrically responsive soft robots, especially the required voltage is over several thousand volts. Here, a practicable new technology, triboelectric soft robot (TESR) system with the primary characteristics of power source from mechanical energy, is developed. At its heart is TESR with bioinspired architectures made of soft-deformable body and two triboelectric adhesion feet, which is driven and accurately controlled through triboelectric effect, while reaching maximum crawling speeds of 14.9 mm s⁻¹ on the acrylic surface. The characteristics of the TESR, including displacement and force, are tested and simulated under the power of a rotary freestanding triboelectric nanogenerator (RF-TENG). Crawling of TESR is successfully realized on different materials surfaces and different angle slopes under the driven of RF-TENG. Furthermore, a real-time visual monitoring platform, in which TESR carries a micro camera to transmit images in a long narrow tunnel, is also achieved successfully, indicating that it can be used for fast diagnosis in an area inaccessible to human beings in the future. This study offers a new insight into the sustainable power source technologies suitable for electrically responsive soft robots and contributes to expanding the applicability of TENGs.     

Hydrogen production by oxidative steam reforming of methanol over anodic aluminum oxide-supported Cu-Zn catalyst

Oxidative steam reforming of methanol (OSRM), which is a convenient reaction for producing hydrogen, suffers from the hot spot formation problem when conventional particle catalysts are used. Recently, an anodic aluminum oxide (AAO)-supported Cu-Zn catalyst was proposed as an OSRM catalyst for its high thermal conductivity through the aluminum metal body. In this study, OSRM was conducted in a prototype reactor packed with the AAO plate catalyst strips. It was verified that the high thermal conductivity of the catalyst effectively suppresses the hot spot formation and makes the temperature profile smooth along the reactor. The start-up time of the reactor depended on the preheating temperature and was very short (less than 2 min) for preheating over 503 K. The methanol conversion and reactor temperature increased with increasing O₂/CH₃OH mole ratio, indicating that the mole ratio can be used as a control variable to operate the reactor at desired conditions. Further, a reactor model was developed and verified, and the simulation showed that for a given total reactor volume, an optimal reactor configuration could be achieved by shortening the reactor length while widening the cross-sectional area.     

Potential pitfalls of smart city development: A study on parking mobile applications (apps) in Hong Kong

Smart cities are built upon information and communication technologies (ICTs) to enable a broad range of advanced services. Through a comprehensive literature review, this study identified four pitfalls brought by the pervasive application of ICT, including information insecurity, privacy leakage, information islands, and digital divide. Therefore, a questionnaire survey together with 27 interviews was conducted in Hong Kong to investigate how the public perceived these pitfalls within the context of mobile apps providing real-time parking information which form a major part of smart mobility. System insecurity and privacy leakage were found to arouse worries among the app-users while their awareness of protecting personal data was found to have room for improvement. Islands of real-time parking information occur as a result of the lack of collaboration among private carpark operators. Digital divide existed widely among the disadvantaged groups and the problem cannot be solved by mere provision of ICT facilities. Overall, technologies alone cannot make a city smart or smarter. It is the suitable way in which ICTs are used to serve all citizens that matters.     

Why do people purchase virtual goods? A uses and gratification (U&G) theory perspective

Few literature studies have investigated the relationships between different uses and gratifications (U&Gs) of mobile instant messaging (MIM) apps, continuation, and purchase intentions. To address this gap, the researchers aimed to examine the influence of the content, social, process, and technology U&Gs of MIM on continuation intentions toward MIMs, and purchase intentions toward virtual goods available on MIMs. A comprehensive research model was developed based on the U&G theory, which was tested using cross-sectional data from 309 Japanese MIM users. The study considered six different U&Gs of MIM as independent variables and purchase intentions towards stickers and continuation intentions towards MIM as dependent variables. The study results suggest that exposure U&G has a significant positive association with MIM sticker purchase intentions. The entertainment and affection U&G are positively associated with continuation intentions towards MIM use. The study contributes to the literature by investigating U&Gs that motivate MIM users to have both positive purchase intentions toward virtual goods, such as stickers, and continuation intentions toward MIMs. The study has significant theoretical and practical implications for both researchers and practitioners who are interested in virtual goods, the virtual economy, MIM apps, social media, new media, and the service economy.     

一种大型复杂构件加工新模式及新装备探讨

大型复杂构件是航空航天、能源、船舶等领域装备的核心结构件，此类构件通常具有尺寸大、形状复杂、刚性弱等特点。传统“分体离线加工-在线检测”模式存在工艺不稳定、过程复杂、柔性差、周期长等问题，以龙门式多轴数控机床加工为代表的“包容式”加工模式，难以适应大型复杂构件的高效高质量加工制造需求。提出一种基于移动式和吸附式机器人的多机协同原位加工新模式，通过多机器人系统自主寻位、精确定位加工与加工质量原位检测，实现大型复杂构件多安装面并行铣削、制孔与打磨等作业。多机器人系统包括移动式混联机器人、吸附式并联机器人、移动式串联铣削机器人、移动式双臂加工机器人和移动式打磨机器人。构建多机协同原位加工模式，需要揭示多机器人协同原位加工行为与大型弱刚性结构件质量控制的交互机理，面临着本体、测量、工艺和集成四个方面的挑战，需要设计高灵活、高刚度的移动式和吸附式加工机器人，解决移动机器人自主准确寻位和超大结构件原位高精检测难题，攻克加工变形误差在线补偿和振动抑制技术，通过集成实现多机协同高效高精加工，为大型复杂构件的高效高质量制造提供创新技术及装备，并实现此类构件制造核心技术及装备自主可控。     

A Differentially Private Data Aggregation Method Based on Worker Partition and Location Obfuscation for Mobile Crowdsensing

With the popularity of sensor-rich mobile devices, mobile crowdsensing (MCS) has emerged as an effective method for data collection and processing. However, MCS platform usually need workers’ precise locations for optimal task execution and collect sensing data from workers, which raises severe concerns of privacy leakage. Trying to preserve workers’ location and sensing data from the untrusted MCS platform, a differentially private data aggregation method based on worker partition and location obfuscation (DP-DAWL method) is proposed in the paper. DP-DAWL method firstly use an improved K-means algorithm to divide workers into groups and assign different privacy budget to the group according to group size (the number of workers). Then each worker’s location is obfuscated and his/her sensing data is perturbed by adding Laplace noise before uploading to the platform. In the stage of data aggregation, DP-DAWL method adopts an improved Kalman filter algorithm to filter out the added noise (including both added noise of sensing data and the system noise in the sensing process). Through using optimal estimation of noisy aggregated sensing data, the platform can finally gain better utility of aggregated data while preserving workers’ privacy. Extensive experiments on the synthetic datasets demonstrate the effectiveness of the proposed method.     

Adaptive robust control of fully-constrained cable driven parallel robots

In this paper, adaptive robust control (ARC) of fully-constrained cable driven parallel robots is studied in detail. Since kinematic and dynamic models of the robot are partly structurally unknown in practice, in this paper an adaptive robust sliding mode controller is proposed based on the adaptation of the upper bound of the uncertainties. This approach does not require pre-knowledge of the uncertainties upper bounds and linear regression form of kinematic and dynamic models. Moreover, to ensure that all cables remain in tension, proposed control algorithm benefit the internal force concept in its structure. The proposed controller not only keeps all cables under tension for the whole workspace of the robot, it is chattering-free, computationally simple and it does not require measurement of the end-effector acceleration. The stability of the closed-loop system with proposed control algorithm is analyzed through Lyapunov second method and it is shown that the tracking error will remain uniformly ultimately bounded (UUB). Finally, the effectiveness of the proposed control algorithm is examined through some experiments on a planar cable driven parallel robot and it is shown that the proposed controller is able to provide suitable tracking performance in practice.