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.     

Theoretical study of a thermoelectric-assisted vapor compression cycle for air-source heat pump applications

This paper proposes a thermoelectric-assisted vapor compression cycle (TVCC) for applications in air-source heat pump systems which could enhance the heating capacity of the system. Performances of TVCC are calculated and then compared with that of basic vapor compression cycle (BVCC). The simulation results show that when coefficients of performance (COPs) of the two cycles are almost equal, the TVCC under maximum COP condition of the thermoelectric modules still performs better than BVCC by 13.0% in heating capacity through selecting the appropriate intermediate temperature. In addition, the TVCC can also achieve an improvement of 16.4%–21.7% in both the heating COP and capacity when compared with the BVCC with an assistant electric heater that is provided with the equivalent power input of thermoelectric heat exchanger. Thus, the TVCC could be beneficial to the applications in small heat pumps if there is always need for auxiliary electric heat.     

Retinal Vessel Extraction Framework Using Modified Adaboost Extreme Learning Machine

An explicit extraction of the retinal vessel is a standout amongst the most significant errands in the field of medical imaging to analyze both the ophthalmological infections, for example, Glaucoma, Diabetic Retinopathy (DR), Retinopathy of Prematurity (ROP), Age-Related Macular Degeneration (AMD) as well as non retinal sickness such as stroke, hypertension and cardiovascular diseases. The state of the retinal vasculature is a significant indicative element in the field of ophthalmology. Retinal vessel extraction in fundus imaging is a difficult task because of varying size vessels, moderately low distinction, and presence of pathologies such as hemorrhages, microaneurysms etc. Manual vessel extraction is a challenging task due to the complicated nature of the retinal vessel structure, which also needs strong skill set and training. In this paper, a supervised technique for blood vessel extraction in retinal images using Modified Adaboost Extreme Learning Machine (MAD-ELM) is proposed. Firstly, the fundus image preprocessing is done for contrast enhancement and in-homogeneity correction. Then, a set of core features is extracted, and the best features are selected using “minimal Redundancy-maximum Relevance (mRmR).” Later, using MAD-ELM method vessels and non vessels are classified. DRIVE and DR-HAGIS datasets are used for the evaluation of the proposed method. The algorithm’s performance is assessed based on accuracy, sensitivity and specificity. The proposed technique attains accuracy of 0.9619 on the DRIVE database and 0.9519 on DR-HAGIS database, which contains pathological images. Our results show that, in addition to healthy retinal images, the proposed method performs well in extracting blood vessels from pathological images and is therefore comparable with state of the art methods.     

Animations showing Lego manipulative tasks: Three potential moderators of effectiveness

Evidence suggests that transient visual information, such as animations, may be more challenging to learn than static visualizations. However, when a procedural-manipulative task is involved, our evolved embodied cognition seems to reverse this transitory challenge. Hence, for object manipulative tasks, instructional animations may be more suitable than statics. We investigated this argument further by comparing animations with statics using a Lego task shown to university students, by examining three potential moderators of effectiveness: (a) the environment of manipulation (virtual or physical), (b) the quality of visual information (focused or unfocused), and (c) the presence of hands (no hands or with hands). In Experiment 1 we found an advantage of animation over statics, and no differences among the environments. In Experiment 2, we again observed an animation advantage, a small advantage of focused static information compared to unfocused static information, and a positive effect of not showing the hands.     

Broadband bowtie belt nanoantennas

In this article, we study a linear array of bowtie nanoantennas placed between two metallic strips that can work from 800 to 1420 nm (600 nm linewidth), with an electric field enhancement factor close to 20. We study the dynamical change of the position of the electric field enhancement amongst different elements in the array and, at the same time, the effects of dispersion on the scalability of the array elements. A systematic analysis and methodology to produce an array that can operate over a large bandwidth whilst maintaining the electric field enhancement without significant variation is provided.     

地层测试的压力"下滑恢复"响应分析

在油气井的试油测试资料中，压力恢复曲线有时会出现下滑现象，常被认为是施工失误所致。本文以实际资料为例，分析了“下滑恢复”的压力响应特征和影响因素，认为只在低渗透地层有可能产生“下滑恢复”现象，并提出了避免“下滑恢复”的施工建议。     

地震属性解释技术的研究及确定性分析

随着油气勘探开发的不断发展，储层预测、属性分析等技术得到了广泛的应用，在生产中取得了较好的效果。但地震属性的概念，分类方法，地震属性之间、地震属性与储层参数之间的相互关系仍较模糊，各种地震属性解释方法虽然种类繁多，但缺乏系统的研究，这使得地震属性在应用中存在较大的不确定性。文章通过系统研究地震属性的概念、储层地震响应的基本特征，提出了地震响应的核心是反映地震波在介质传播过程中的能量变化，所有能引起地震能量发生变化的介质的不均质性均可导致地震属性的变化，由此提出了一种新的地震属性分类方法，并认为大部分地震属性只是基本属性在不同域中的不同表现形式。在分析现有地震解释技术的基础上，提出了对地震属性解释的新认识，强调了地震属性对地层岩性油气藏勘探的重要性，对属性间的关系及地震属性解释技术的确定性进行了研究，提出了岩性油气藏地震解释的工作流程及对地震资料采集和处理的要求。     

声波测井换能器激发响应实验研究

声波测井换能器的激发响应由换能器振动时所表现出来的动态阻抗和激发电路参数决定。而换能器的动态（阻抗）参数随压电晶体及其装配方式（力学边界条件）改变。为了测量换能器动态参数的影响，采用声波测井仪器常用的压电晶体和升压变压器，通过改变激发脉冲宽度和直流电压进行了实验，结果发现：在换能器两端的瞬态响应中，一共有三个二阶网络响应，分别对应于不同的频率。最低的一个影响声波测井波形的基线、与换能器主频接近的一个决定激发效率以及电路与压电晶体之间的匹配关系，是激发电路设计中比较关键的，其参数可以通过导纳圆测量仪器得到。     

Fast Positive Feedback Between the Adrenocortical Stress Response and a Brain Mechanism Involved in Aggressive Behavior.

Aggressive behavior induces an adrenocortical stress response, and sudden stressors often precipitate violent behavior. Experiments in rats revealed a fast, mutual, positive feedback between the adrenocortical stress response and a brain mechanism controlling aggression. Stimulation of the aggressive area in the hypothalamus rapidly activated the adrenocortical response, even in the absence of an opponent and fighting. Hypothalamic aggression, in turn, was rapidly facilitated by a corticosterone injection in rats in which the natural adrenocortical stress response was prevented by adrenalectomy. The rapidity of both effects points to a fast, mutual, positive feedback of the controlling mechanisms within the time frame of a single conflict. Such a mutual facilitation may contribute to the precipitation and escalation of violent behavior under stressful conditions. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

快速纳秒响应二代近贴聚焦像增强器的批量生产

叙述了二代近贴聚焦像增强器批量生产所用真空设备性能及特点，同时给出了管子工艺考核结果及管子纳秒时间响应特性。工艺考核结果表明，制管工艺可靠、性能稳定，管子批量生产合格率大于70％。