检索结果-内蒙古大学图书馆

Position-aware pushing and grasping synergy with deep reinforcement learning in clutter

CAAI Transactions on Intelligence Technology 2024年第3期9卷 738-755页

作者： Min Zhao Guoyu Zuo Shuangyue Yu Daoxiong Gong Zihao Wang Ouattara Sie Intelligent Robotics Laboratory Faculty of Information TechnologyBeijing University of TechnologyBeijingChina Beijing Key Laboratory of Computational Intelligence and Intelligent Systems BeijingChina Laboratory of Biomechatronics and Intelligent Robotics(BIRO) Department of Mechanical and Aerospace EngineeringNorth Carolina State UniversityRaleighNorth CarolinaUSA

The positional information of objects is crucial to enable robots to perform grasping and pushing manipulations in *** effectively perform grasping and pushing manipu-lations,robots need to perceive the position information of objects,including the co-ordinates and spatial relationship between objects(e.g.,proximity,adjacency).The authors propose an end-to-end position-aware deep Q-learning framework to achieve efficient collaborative pushing and grasping in ***,a pair of conjugate pushing and grasping attention modules are proposed to capture the position information of objects and generate high-quality affordance maps of operating positions with features of pushing and grasping *** addition,the authors propose an object isolation metric and clutter metric based on instance segmentation to measure the spatial re-lationships between objects in cluttered *** further enhance the perception capacity of position information of the objects,the authors associate the change in the object isolation metric and clutter metric in cluttered environment before and after performing the action with reward function.A series of experiments are carried out in simulation and real-world which indicate that the method improves sample efficiency,task completion rate,grasping success rate and action efficiency compared to state-of-the-art end-to-end *** that the authors’system can be robustly applied to real-world use and extended to novel *** material is available at https://***/NhG\_k5v3NnM}{https://***/NhG\_k5v3NnM.

关键词： deep learning deep neural networks intelligent robots

来源：评论

学校读者我要写书评

暂无评论

Bifunctional nanoprobe for simultaneous detection of intracellular reactive oxygen species and temperature in single cells

引用

Microsystems & Nanoengineering 2024年第6期10卷 161-172页

作者： Yanmei Ma Weikang Hu Jian Hu Muyang Ruan Jie Hu Ming Yang Yi Zhang Hanhan Xie Chengzhi Hu Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518000China Department of Electrical and Electronic Engineering Southern University of Science and TechnologyShenzhen 518000China

Living cells can rapidly adjust their metabolic activities in response to external stimuli,leading to fluctuations in intracellular temperature and reactive oxygen species(ROS)*** these parameters is essential for understanding cellular metabolism,particularly during dynamic biological *** this study,we present a bifunctional nanoprobe capable of simultaneous measurement of ROS levels and temperature within single *** nanoprobe features two individually addressable nanoelectrodes,with platinum(Pt)and nickel(Ni)coatings on both *** the tip,these two metal layers form a nano-thermocouple,enabling precise intracellular temperature measurements,while the Pt layer facilitates selective ROS *** dual functionality allows for real-time monitoring of cellular responses during synergistic chemo-photothermal therapy of cancer cells and zebrafish embryos subjected to mitochondrial toxic *** results demonstrate that the nanoprobe effectively measures increases in temperature and ROS levels in HeLa cells undergoing chemo-photothermal therapy,as well as in chemically stimulated zebrafish *** providing detailed analysis of submicrometer-scale temperature and ROS variations within living cells,this nanoprobe offers valuable insights into cellular processes and holds promise for early disease detection and drug development.

关键词： metabolism simultaneous holds

来源：评论

学校读者我要写书评

暂无评论

Light-driven high-precision cell adhesion kinetics

引用

Light(Science & Applications) 2022年第10期11卷 2256-2257页

作者： Zhiyuan Zhang Daniel Ahmed Acoustic Robotics Systems Laboratory Institute of Robotics and Intelligent SystemsDepartment of Mechanical and Process EngineeringETH ZurichS?umerstrasse 4CH-8803 ZurichSwitzerland

Existing single-cell adhesion kinetics methods are performed under conditions highly unlike the physiological cell adhesion ***,researchers have developed a new optical technique for high-precision measurement of cell... 详细信息

关键词： conditions. kinetics formed

来源：评论

学校读者我要写书评

暂无评论

Recent advances on monolithic perovskite-organic tandem solar cells

引用

Interdisciplinary materials 2024年第1期3卷 113-132页

作者： Guanshui Xie Huan Li Longbin Qiu Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Department of Mechanical and Energy EngineeringSUSTech Energy Institute for Carbon NeutralitySouthern University of Science and TechnologyShenzhenChina

Perovskite-organic tandem solar cells(TSCs)have emerged as a groundbreaking technology in the realm of photovoltaics,showcasing remarkable enhancements in efficiency and significant potential for practical ***-organic TSCs also exhibit facile fabrication surpassing that of all-perovskite or all-organic TSCs,attributing to the advantageous utilization of orthogonal solvents enabling sequential solution process for each *** perovskite-organic TSCs capitalize on the complementary light absorption characteristics of perovskite and organic *** is a promising prospect of achieving further enhanced power conversion efficiencies by covering a broad range of the solar spectrum with optimized perovskite absorber,organic semiconductors as well as the interconnecting layer's optical and electrical *** review comprehensively analyzes the recent advancements in perovskite-organic TSCs,highlighting the synergistic effects of combining perovskite with a low open-circuit voltage deficit,organic materials with broader light absorption,and interconnecting layers with reduced optical and electrical ***,the underlying device architecture design,regulation strategies,and key challenges facing the high performance of the perovskite-organic TSCs are also discussed.

关键词： interconnecting layer narrow‐bandgap organic solar cells recombination layer tandem solar cells wide‐bandgap perovskite solar cells

来源：评论

学校读者我要写书评

暂无评论

Experimental Characterization and Comparison of Three Typical Omnidirectional Mobile Robots 8

Experimental Characterization and Comparison of Three Typica...

引用

8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Li, Zhuolun Long, Jiajun Zhang, Ximan Gao, Chengyuan Jiang, Shixing Zhu, Zheng Jia, Zhenzhong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China

ISBN: (纸本)9798350300178

Omnidirectional vehicles (ODVs) or mobile robots are widely used in various industries due to their ability to move and rotate in narrow spaces without the need for multiple adjustments of moving direction or stopping. There are multiple types of ODVs, including those with standard wheels and those with special wheels such as Swedish wheels. Comprehensive characterization of the ODV's overall performance, which is very important when selecting specific configurations in the robot design process, is still missing in the literature. This paper qualitatively summarizes the comprehensive characteristics of three typical omnidirectional mobile robots in indoor scenarios through theoretical analysis and physical experiments. We compare the robot's performance through six representative evaluation metrics (maneuverability, efficiency, etc.) and express the results in a radar chart. The results of this study can assist designers in designing omnidirectional robots more effectively for specific application scenarios. © 2023 IEEE.

关键词： Wheels

来源：评论

学校读者我要写书评

暂无评论

Understanding the catalysis of chromium trioxide added magnesium hydride for hydrogen storage and Li ion battery applications

引用

Journal of Magnesium and Alloys 2024年第3期12卷 1117-1130页

作者： D.Pukazhselvan IhsanÇaha Catarina de Lemos Sergey M.Mikhalev Francis Leonard Deepak Duncan Paul Fagg Department of Mechanical Engineering TEMA-Centre for Mechanical Technology and AutomationUniversity of AveiroAveiro 3810-193Portugal LASI-Intelligent Systems Associate Laboratory Guimarães 4800-058Portugal Nanostructured Materials Group International Iberian Nanotechnology Laboratory(INL)Avenida Mestre Jose VeigaBraga 4715-330Portugal

This study explores how the chemical interaction between magnesium hydride(MgH_(2))and the additive CrO_(3) influences the hydrogen/lithium storage characteristics of MgH_(2).We have observed that a 5 wt.%CrO_(3) additive reduces the dehydrogenation activation energy of MgH_(2) by 68 kJ/mol and lowers the required dehydrogenation temperature by 80℃.CrO_(3) added MgH_(2) was also tested as an anode in an Li ion battery,and it is possible to deliver over 90%of the total theoretical capacity(2038 mAh/g).Evidence for improved reversibility in the battery reaction is found only after the incorporation of additives with MgH_(2).In depth characterization study by X-ray diffraction(XRD)technique provides convincing evidence that the CrO_(3) additive interacts with MgH_(2) and produces Cr/MgO *** free energy analyses confirm the thermodynamic feasibility of conversion from MgH_(2)/CrO_(3) to MgO/Cr,which is well supported by the identification of Cr(0)in the powder by X ray photoelectron spectroscopy(XPS)*** high resolution transmission electron microscopy(HRTEM)and energy dispersive spectroscopy(EDS)we found evidence for the presence of 5 nm size Cr nanocrystals on the surface of MgO rock salt *** is also convincing ground to consider that MgO rock salt accommodates Cr in the *** observations support the argument that creation of active metal–metal dissolved rock salt oxide interface may be vital for improving the reactivity of MgH_(2),both for the improved storage of hydrogen and lithium.

关键词： Hydrogen storage Rechargeable batteries Binary hydrides Metal oxides Catalytic mechanism.

来源：评论

学校读者我要写书评

暂无评论

Hydrogel bioadhesives harnessing nanoscale phase separation for Achilles tendon repairing

引用

Nano Research 2024年第2期17卷 778-787页

作者： Jun Zhang Xingmei Chen Jingseng Lin Pei Zhang Iek Man Lei Yue Tao Jiajun Zhang Tian Luo Ji Liu Department of Mechanical and Energy Engineering Southern University of Science and TechnologyShenzhen 518055China Research and Innovation Center SKG Health TechnologyShenzhen 518000China SAFE(Shenzhen)Medical Technology Company Limited Shenzhen 518000China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhen 518055China

Repairing Achilles tendon has emerged as a long-standing challenge in the orthopaedic *** suture is the gold standard for re-attaching and repairing the fractured Achilles tendons in clinical surgeries,it is still subjected to numerous adverse side-effects,including chronic inflammatory,tendon tissue re-rupture,scar formation,and post-surgical peritendinous *** this work,we develop a class of hydrogel bioadhesives with tailored nanoscale phase separation for Achilles tendon *** address the existing limitations of sutures,our hydrogel bioadhesives encompass three core functionalities:(i)instant and tough adhesion to Achilles tendon tissues,(ii)extraordinary long-term adhesion robustness under wet and dynamic in vivo conditions,and(iii)anti-postsurgical peritendinous *** our hydrogel bioadhesives with sutures,such kind of integrated approach enables a conformable yet robust biointerface with the tendon tissues,and prevents the fibroblast migration and formation of connective tissues,thus facilitating the tendon *** hydrogel bioadhesives reported here open up new opportunities for the repairing of fractured Achilles tendons in diverse and complicated clinical scenarios.

关键词： hydrogels phase separation bioadhesion robustness tendon repairing

来源：评论

学校读者我要写书评

暂无评论

Comment on “Ferroelectric composite-based piezoelectric energy harvester for self-powered detection of obstructive sleep”

引用

Journal of Materiomics 2024年第5期10卷 1144-1146页

作者： Alexander Tkach Olena Okhay CICECO-Aveiro Institute of Materials Department of Materials and Ceramic EngineeringUniversity of Aveiro3810-193AveiroPortugal TEMA-Centre for Mechanical Technology and Automation Department of Mechanical EngineeringUniversity of Aveiro3810-193AveiroPortugal LASI-Intelligent Systems Associate Laboratory 4800-058GuimaraesPortugal

SrTi_(2)O_(5) particles were claimed by Panda et *** *** 2023;9:609 as a new lead-free ferroelectric material with orthorhombic symmetry and space group of Cmm2,being,therefore,employed as a base of piezoelectric energy ***,in this comment we express concerns regarding the presence of the piezoelectricity in the studied material and the interpretation of the structural,microstructural,and ferroelectric results in that publication as those associated with SrTi_(2)O_(5).We also note that the presented dielectric results are contradictory and that many important details are missing.

关键词： SrTiO_(3) Dielectric permittivity Ferroelectrics Piezoelectrics Energy harvesting

来源：评论

学校读者我要写书评

暂无评论

Sub-nanometer structured silicon-carbon composite nanolayers armoring on graphite for fast-charging and high-energy-density lithium-ion batteries

引用

Rare Metals 2023年第11期42卷 3692-3704页

作者： Zhen-Wei Li Mei-Sheng Han Jie Yu Songshan Lake Materials Laboratory Dongguan523808China Guangdong Provincial Key Laboratory of Semiconductor Optoelectronic Materials and Intelligent Photonic Systems Shenzhen Engineering Lab for Supercapacitor MaterialsSchool of Material Science and EngineeringHarbin Institute of TechnologyShenzhenShenzhen 518055China Department of Mechanical and Energy Engineering Southern University of Science and TechnologyShenzhen518055China

Silicon/carbon composites are promising alternatives to current graphite anodes in commercial lithiumion batteries(LIBs)because of their high capacity and excellent ***,the unsatisfactory fastcharging capability and cycle stability of Si/C composites caused by slow charge transport capability and huge volume change under industrial electrode conditions severely hamper their ***,a novel Si/C anode was fabricated by homogeneously depositing amorphous C-Si nanolayers on graphite(C-Si@graphite).C-Si nanolayers with uniformly dispersed sub-nanometer Si particles in 3D carbon skeleton significantly boost electron and Li-ion transport and efficiently relieve Si's agglomeration and volume *** a result,the tailored C-Si@graphite electrodes show an excellent rate capacity(760.3 mAh·g^(-1)at 5.0C)and long cycle life of over 1000 cycles at 1.0C and800 cycles at 2.0C under industrial electrode *** addition,the assembled full cells(C-Si@graphite,anode;Li[Ni_(0.8)Co_(0.1)Mn_(0.1)]O_(2),cathode)present superior fastcharging capability(240.4 Wh·kg^(-1),charging for16.2 min,3.0C)and long cycle life(80.7%capacity retention after 500 cycles at 1.0C),demonstrating the massive potential of C-Si@graphite for practical application.

关键词： Si/C anode Sub-nanometer Si Fast-charging capability Lithium-ion batteries(LIBs)

来源：评论

学校读者我要写书评

暂无评论

Hierarchical Sponge-Hydrogel Hybrid Structures with Robust Interfaces

引用

Chinese Journal of Chemistry 2023年第20期41卷 2635-2640页

作者： Pei Zhang Guangda Chen Xingmei Chen Junfei Xing Yue Tao Ji Liu Department of Mechanical and Energy Engineering Southern University of Science and TechnologyShenzhenGuangdong518055 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhenGuangdong518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhenGuangdong518055 China

Soft materials including elastomers and hydrogels are playing critical roles in a variety of fields,including bioelectrodes,batteries,supercapacitors,biomedical scaffolds,and solar vapor *** hydrophobic sponges(i.e.,mechanical robustness,elasticity and macroscopic porous structure)and hydrophilic hydrogels(i.e.,autonomous water absorption and transportation,biocompatibility)within one unit could readily combine the complementary characters from each component,making a number of future research directions and applications *** propose a simple yet effective strategy to construct sponge-hydrogel hybrid structures with robust hydrophobic-hydrophilic *** sponge scaffold imparts the sponges-hydrogel hybrids with desirable mechanical robustness,elasticity and macroscopic *** the other hand,the incorporated hydrogel component endows the hybrids with high water content(98 wt%hydrogel and 2 wt%sponge),superior compatibility,and nanoscale pores allowing for storage and transportation of various chemical and biological *** further demonstrate that the introduction of hydrophilic hydrogel components could effectively improve the liquid absorption capability,blood coagulation rate,hemostatic capacity and hemocompatibility,thus promising as hemostatic agents.

关键词： Sponge-hydrogel hybrid Interface Hierarchical Robustness Liquid absorption Gels Polymer Composites materials Science

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：