Multimodal sensing and active continuous closed‐loop feedback for achieving reliable manipulation in the outdoor physical world

The use of field robots can greatly decrease the amount of time, effort, and associated risk compared to if human workers were to carryout certain tasks such as disaster response. However, transportability and reliability remain two main issues for most current robot systems. To address the issue of transportability, we have developed a lightweight modularizable platform named AeroArm. To address the issue of reliability, we utilize a multimodal sensing approach, combining the use of multiple sensors and sensor types, and the use of different detection algorithms, as well as active continuous closed‐loop feedback to accurately estimate the state of the robot with respect to the environment. We used Challenge 2 of the 2017 Mohammed Bin Zayed International Robotics Competition as an example outdoor manipulation task, demonstrating the capabilities of our robot system and approach in achieving reliable performance in the fields, and ranked fifth place internationally in the competition.     

我国钢管行业如何走出目前困境——对钢管行业进入“新常态”、谋求新发展的思考

阐述了我国钢管行业进入"新常态"时期面临的主要问题,以及钢管企业经营状态;提出我国钢管企业提高生存能力的方向与开发新领域。建议我国钢管企业主动适应"新常态",及时转型,走差异化发展之路;找准生产产品的发展方向和路径;积极开发新领域,研发新产品。     

应变纤锌矿ZnO/MgxZn1-xO量子点中离子施主束缚激子的光学性质

Within the framework of the effective-mass approximation and the dipole approximation, considering the three-dimensional confinement of the electron and hole and the strong built-in electric field(BEF) in strained wurtzite Zn O/Mg0:25Zn0:75O quantum dots(QDs), the optical properties of ionized donor-bound excitons(D+, X)are investigated theoretically using a variational method. The computations are performed in the case of finite band offset. Numerical results indicate that the optical properties of(D+, X) complexes sensitively depend on the donor position, the QD size and the BEF. The binding energy of(D+, X) complexes is larger when the donor is located in the vicinity of the left interface of the QDs, and it decreases with increasing QD size. The oscillator strength reduces with an increase in the dot height and increases with an increase in the dot radius. Furthermore, when the QD size decreases, the absorption peak intensity shows a marked increment, and the absorption coefficient peak has a blueshift. The strong BEF causes a redshift of the absorption coefficient peak and causes the absorption peak intensity to decrease remarkably. The physical reasons for these relationships have been analyzed in depth.     

Blocked crystallization in capped ultrathin polymer films studied by molecular simulations

The crystallization of capped ultrathin polymer films is closely dependent on film thickness and interfacial interaction. Using dynamic Monte Carlo simulations, the crystallization behaviors of polymer films confined between two substrates were investigated. The crystallization rate of confined polymers is reduced with high interfacial interactions. Above a critical strength of interfacial interaction, polymer crystallization in the thin film is inhibited within the simulation time scales. An increase in film thickness leads to a rise in critical interfacial interaction. In thicker films, the chains have more space to change conformation to form crystal stems. In addition, there are fewer absorbed segments in confined chains for the thicker films, and thus the chains have stronger ability to adjust their conformation. Therefore an increase in film thickness can cause a reduction in the entropic barrier required for the formation of crystals and thus an increase in the critical interfacial interaction. © 2018 Society of Chemical Industry     

基于深度学习的秀丽隐杆线虫显微图像分割方法

利用计算机实现自动、准确的秀丽隐杆线虫(C.elegans)的各项形态学参数分析,至关重要的是从显微图像上分割出线虫体态,但由于显微镜下的图像噪声较多,线虫边缘像素与周围环境相似,而且线虫的体态具有鞭毛和其他附着物需要分离,多方面因素导致设计一个鲁棒性的C.elegans分割算法仍然面临着挑战。针对这些问题,提出了一种基于深度学习的线虫分割方法,通过训练掩模区域卷积神经网络(Mask R-CNN)学习线虫形态特征实现自动分割。首先,通过改进多级特征池化将高级语义特征与低级边缘特征融合,结合大幅度软最大损失(LMSL)损失算法改进损失计算;然后,改进非极大值抑制;最后,引入全连接融合分支等方法对分割结果进行进一步优化。实验结果表明,相比原始的Mask R-CNN,该方法平均精确率(AP)提升了4.3个百分点,平均交并比(mIOU)提升了4个百分点。表明所提出的深度学习分割方法能够有效提高分割准确率,在显微图像中更加精确地分割出线虫体。     

Fabrication of Cu/graphite film/Cu sandwich composites with ultrahigh thermal conductivity for thermal management applications

Effective thermal management of electronic integrated devices with high powder density has become a serious issue, which requires materials with high thermal conductivity (TC). In order to solve the problem of weak bonding between graphite and Cu, a novel Cu/graphite film/Cu sandwich composite (Cu/GF/Cu composite) with ultrahigh TC was fabricated by electro-deposition. The micro-riveting structure was introduced to enhance the bonding strength between graphite film and deposited Cu layers by preparing a rectangular array of micro-holes on the graphite film before electro-deposition. TC and mechanical properties of the composites with different graphite volume fractions and current densities were investigated. The results showed that the TC enhancement generated by the micro-riveting structure for Cu/GF/Cu composites at low graphite content was more effective than that at high graphite content, and the strong texture orientation of deposited Cu resulted in high TC. Under the optimizing preparing condition, the highest in-plane TC reached 824.3 W·m⁻¹·K⁻¹, while the ultimate tensile strength of this composite was about four times higher than that of the graphite film.     

CO2对煤炭氧化自燃抑制作用的影响研究

通过煤炭自然氧化程序升温实验,采用程序升温实验系统等设备,对比分析煤样中通入不同浓度CO2条件下的相关参数的变化情况,针对性分析研究CO2对阳煤二矿易自燃高瓦斯的15号煤层氧化自燃的抑制性能。研究表明:CO2对阳煤二矿15号煤层煤样自然氧化发火过程具有显著抑制作用,尤其是20%浓度的CO2对煤样高温氧化阶段的抑制作用强烈;CO2的注入驱离了煤样中的O2,降低了煤样中O2浓度。同时,延迟推后了CO、CH4等自然氧化产物出现,且其浓度低于未注入CO2的煤样,降低了煤样的耗氧速率和CO产生率,抑制和延迟了煤样自然氧化的发生和发展过程。     

道在山林，周弥六合——浙东天台山“洞天福地”的山岳景观流变及文化意象研究

道教洞天福地作为中国名山风景的经典类型之一，在宗教山岳景观中占据独特地位。浙东天台山水神秀，历代高道以入山隐修为主要目的，形成了道教在区域山林的景观文化基础。从天台山“神仙之乡”的文化背景出发，从“想象与实践”的视角切入，梳理了天台山洞天福地的景观流变：分析其“不死之福庭”地域性景观的形成经历了“赤城→桐柏”的信仰转移过程；以天台山为坐标，洞天福地格局打破了区域“层级”分布特征，而呈现大范围“州郡”空间格局。作为“联结点”的天台山，洞天世界沟通了宇宙、山、人3个基本场域，由此衍生出“洞宫”式和“周回”式山岳空间营建典范。旨在挖掘洞天福地中典型案例的价值，为中国洞天福地体系的构建提供理论依据。