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2019 Transactions of the American Nuclear Society, ANS 2019

作者： Wang, Donghui Zeng, Qingna Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China 328# 1st section Chuangshun Dadao Avenue Chengdu610213 China

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Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation

arXiv

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arXiv 2025年

作者： Liu, Jian Sun, Wei Yang, Hui Deng, Pengchao Liu, Chongpei Sebe, Nicu Rahmani, Hossein Mian, Ajmal National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering School of Robotics State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha410082 China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China Department of Information Engineering and Computer Science University of Trento Trento38123 Italy School of Computing and Communications Lancaster University LA1 4YW United Kingdom Department of Computer Science The University of Western Australia WA6009 Australia

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization to intra-class unknown objects. However, these methods require manual collection and labeling of large-scale real-world training data. To address this problem, we introduce a diffusion-based paradigm for domain-generalized category-level 9-DoF object pose estimation. Our motivation is to leverage the latent generalization ability of the diffusion model to address the domain generalization challenge in object pose estimation. This entails training the model exclusively on rendered synthetic data to achieve generalization to real-world scenes. We propose an effective diffusion model to redefine 9-DoF object pose estimation from a generative perspective. Our model does not require any 3D shape priors during training or inference. By employing the Denoising Diffusion Implicit Model, we demonstrate that the reverse diffusion process can be executed in as few as 3 steps, achieving near real-time performance. Finally, we design a robotic grasping system comprising both hardware and software components. Through comprehensive experiments on two benchmark datasets and the real-world robotic system, we show that our method achieves state-of-the-art domain generalization performance. Our code will be made public at https://***/CNJianLiu/Diff9D. Copyright © 2025, The Authors. All rights reserved.

关键词： Augmented reality

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Adding a third level of parallelism to OpenMOC, an open source deterministic neutron transport solver

Adding a third level of parallelism to OpenMOC, an open sour...

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2019 International Conference on Mathematics and Computational Methods Applied to Nuclear science and Engineering, M and C 2019

作者： Giudicelli, Guillaume Wu, Wenbin Josey, Colin Smith, Kord Forget, Benoit Nuclear Science and Engineering Department Massachusetts Institute of Technology 77 Massachusetts Avenue Cambridge02139 United States Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu610041 China Los Alamos National Laboratory New Mexico United States

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Thermofluids Performances with Innovative design on Multi-Circuit Nested Loop Applicable for Double-Layer Microchannel Heat Sinks

SSRN

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SSRN 2022年

作者： Shen, Han Liu, Huan-Ling Shao, Xiaodong Xie, Gongnan Wang, Chi-Chuan Shaanxi Key Laboratory of Space Solar Power Station System School of Mechano-Electronic Engineering Xidian University Xi’an710071 China School of Marine Science and Technology Northwestern Polytechnical University Xi’an710072 China Department of Mechanical Engineering National Yang Ming Chiao Tung University Hsinchu300 Taiwan

This study numerically proposes a novel microchannel heat sink design named multi-circuit nested loop (ML) to strength the thermal performance of double-layer microchannel heat sinks(DMCHS). The ML is introduced into the DMCHS to enhance the thermal characteristics and is compared with the traditional straight DMCHS. Due to the complexity of the ML-DMCHS, 4 different working conditions on inlets and outlets are designed to find the optimal one. Based on the analysis of the thermal gradients on substrate, flow characteristics of coolant, overall thermal resistance and thermal performance factor, it is found that the novel ML-DMCHS not only can significantly reduce the peak temperature, but also offer better temperature uniformity on substrate. The peak temperature on substrate can be reduced up to 34K when compared with traditional parallel straight double-layer microchannels (P-DMCHS). Furthermore, the inner cooling circuit in ML-DMCHS shows greater impact on the lowest temperature on substrate, while the outer cooling circuit affects more on the peak temperature. © 2022, The Authors. All rights reserved.

关键词： Heat resistance

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design and analysis of a truss deployable antenna mechanism based on a 3UU-3URU unit

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Chinese Journal of Aeronautics 2019年第12期32卷 2743-2754页

作者： Yundou XU Jinwei GUO Luyao GUO Wenlan LIU Jiantao YAO Yongsheng ZHAO Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China College of Energy and Power Engineering Lanzhou University of TechnologyLanzhou 730050China

Space deployable structures with large calibers, high accuracy, and large folding ratios are indispensable equipment in the aerospace field. Given that the single-DOF 3 RR-3 RRR deployable unit cannot be fully folded, this study proposes a 3 UU-3 URU deployable unit with two kinds of DOF: folding movement and orientation adjustment. First, based on the G-K formula, the DOF of the 3 UU-3 URU unit is analyzed. Then, the 3 UU-3 URU unit is used to construct a deployable truss antenna with a curved surface, and the DOF of the whole deployable antenna containing multiple 3 UU-3 URU units is calculated. The structural design of a deployable antenna with two loops is carried out with specific parameters and geometric relations. Next, a DOF simulation of a basic combination unit composed of three 3 UU-3 URU units is performed. Finally, a prototype of the basic combination unit is manufactured, and the DOF of the mechanism is experimentally verified.

关键词： Basic combination unit Degree of freedom(DOF) Deployable truss antenna Simulation analysis Structural design

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Transformer-LSTM-KOA: A novel approach for prediction of chlorophyll in the South China Sea

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Environmental Modelling & Software 2025年 192卷

作者： Gang Chen Zhenzhong Liu Runfeng Zhang Guobin Zhang Jutao Wang Tongrui Zhang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin 300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology) Tianjin China School of Environmental Science and Safety Engineering Tianjin University of Technology Tianjin 300384 China Tianjin Hanhailanfan Marine Technology Co. Ltd. Tianjin 300457 China

Chlorophyll is a critical indicator of marine primary productivity and is essential in assessing aquatic ecosystem health. To address the limitations of current prediction models regarding accuracy, mobility, and reliability, this study proposes a novel Transformer-LSTM-KOA model for Chlorophyll prediction. Leveraging remote sensing data from the South China Sea, the model synergistically integrates Transformer's global analytical capabilities via self-attention and multi-head attention mechanisms with LSTM's proficiency in capturing long-term dependencies through gated mechanisms. The Kepler Optimization Algorithm (KOA) is subsequently employed to systematically optimize both global and local model parameters, thereby enhancing adaptability and robustness across diverse prediction datasets. Experimental results demonstrate superior performance with MSE and MAE values of 0.00011 and 0.00685, respectively, outperforming benchmark models. This enhanced modeling framework provides crucial technical support for marine ecological forecasting and early warning systems.

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An Approach on Visual Detecting Multi-Targets in the Unstructured and Complex Scenes Based on RGB-D Images 5

An Approach on Visual Detecting Multi-Targets in the Unstruc...

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5th International Conference on Automation, Control and Robotics Engineering, CACRE 2020

作者： Tan, Qimeng Sun, Yikun Xin, Pengfei Lin, Yimin Ma, Chao Wang, Xinyu Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China Beijing Special Engineering Design and Research Institute Propellant Injection Laboratory Beijing China Beijing University of Posts Telecommunications Institute of Optical Communication Optoelectronics Beijing China Beijing Information Science and Technology University School of Instrument Science and Optoelectronic Engineering Beijing China

ISBN: (纸本)9781728198880

The technology of detecting and identifying multitarget is of significance for robotic visual navigation within the unknown, unstructured, complex scenes, whose result could be considered as important references of 3D map building and path planning for mobile robot. Traditional algorithms of target detection can be applied to 2D images without depth information generally, which is disturbed by few factors such as illumination, view and scale easily. Therefore, an approach on visual detecting multi-target of unstructured and complex scenes based on RGBD images is proposed in this article to solve the above problem, which is composed of extracting descriptor of rotation and scale invariance feature, local encoding of targets, random ferns classifier training, Hough map generation, Hough voting theoretical model and local maximum search. Experimental results have shown that the proposed approach reduce the calculation of extracting and matching local feature, improve the accuracy of object recognition and detection in unknown complex environments, be capable of well robust against few disturbing factors i.e. rotation, scale, illumination, occlusion and non-rigid body deformation. © 2020 IEEE.

关键词： Motion planning

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Evaluation and Analysis of RT Suspected Defects on reactor Pressure Boundary Weld

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IOP Conference Series: Earth and Environmental science 2021年第3期632卷

作者： Bo Yang Qiang Deng Cong Chen FengShou Zhang Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institution of China Sichuan ChengDu China

The control rod driving mechanism (CRDM) is one of the important equipments in the nuclear reactor, and its sealing shell is part of the pressure boundary of the nuclear reactor. The sealing shell is a pressure vessel made of two different material (austenitic stainless steel and nickel base alloy) cylinders welded by dissimilar metal welds. Product production process, in this dissimilar metal weld ray detection found suspected defects show. In this paper, the mechanism and process of the suspected defects are expounded through experimental verification, and it is proved that the suspected defects do not affect the quality of the weld.

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designing of covalent organic framework/2D g-C 3 N 4 heterostructure using a simple method for enhanced photocatalytic hydrogen production

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Journal of Colloid and Interface science 2024年 653卷 1650-1661页

作者： Ahmed E. Hassan Ahmed M. Elewa Mai S.A. Hussien Ahmed F.M. EL-Mahdy Islam M.A. Mekhemer Ibrahim S. Yahia Tarek A. Mohamed Ho-Hsiu Chou Zhenhai Wen CAS Key Laboratory of Design and Assembly of Functional Nanostructures and Fujian Provincial Key Laboratory of Nanomaterials Fujian Institute of Research on the Structure of Matter Chinese Academy of Sciences Fuzhou Fujian 350002 China University of Chinese Academy of Sciences Beijing 100049 China Department of Chemistry Faculty of Science Al-Azhar University Nasr City 11884 Cairo Egypt Department of Chemical Engineering National Tsing Hua University Hsinchu 300044 Taiwan Nuclear Chemistry Department Hot Laboratories Center Atomic Energy Authority Cairo 13759 Egypt Nanoscience Laboratory for Environmental and Biomedical Applications (NLEBA) Semiconductor Lab Department of Physics Faculty of Education Ain Shams University Roxy Cairo 11757 Egypt Department of Chemistry Faculty of Education Ain Shams University Roxy Cairo 11757 Egypt Department of Materials and Optoelectronic Science National Sun Yat-Sen University Kaohsiung 80424 Taiwan Laboratory of Nano-Smart Materials for Science and Technology (LNSMST) Department of Physics Faculty of Science King Khalid University P.O. Box 9004 Abha Saudi Arabia Research Center for Advanced Materials Science (RCAMS) King Khalid University Abha 61413 P.O. Box 9004 Saudi Arabia Center of Medical and Bio-Allied Health Sciences Research (CMBHSR) Ajman University Ajman P.O. Box 346 United Arab Emirates

designing heterostructure photocatalysts is a promising approach for developing highly efficient photocatalysts for hydrogen energy production. In this work, we synthesized a series of a covalent organic framework (COF)/g-C 3 N 4 (CN) heterojunction photocatalysts, denoted as x % COF/CN (in which x indicates the weight % of COF and x = 5, 10, 20, 30, 40, 50, 90, 95, 100), for hydrogen production . The COF, which is a key component of the photocatalyst, was prepared by assembling benzothiadiazole (BT) and pyrene (Py) derivatives as building blocks. Integrating COF rods into the two-dimensional (2D) layered g-C 3 N 4 structure significantly improved photocatalytic H 2 production. The hybrid system (30 % COF/CN) displayed an outstanding hydrogen evolution rate (HER) of 27540 ± 805 μmol g −1 h −1 , outperforming most known COFs and g-C 3 N 4 -based photocatalysts, besides exhibiting stable photocatalytic performance. Moreover, the apparent quantum yield (AQY) was 15.5 ± 0.8 % at 420 nm. Experimental techniques and density functional theory (DFT) calculations demonstrated that the 30 % COF/CN heterostructure has broad visible-light absorption, adequate band energy levels, and the best chemical reactivity descriptors compared to the individual components, resulting in effective carrier separation and excellent performance. Our findings offer a valuable strategy for developing highly efficient and stable heterojunction photocatalysts for visible-light‐driven H 2 evolution.

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Tension Characteristics Analysis of Scraper Chain of Heavy-Duty Scraper Conveyor with Time-Varying Loads

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Shock and Vibration 2024年第1期2024卷

作者： Shuai Li Zhencai Zhu Hao Lu Yujun Xue School of Mechatronics Engineering Henan University of Science and Technology Luoyang 471003 China *** Henan Key Laboratory for Machinery Design and Transmission System Luoyang 471003 China Collaborative Innovation Center of Henan Province for High-End Bearing Henan University of Science and Technology Luoyang 471000 China *** Longmen Laboratory Luoyang 471000 China School of Mechatronics Engineering Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment China University of Mining and Technology Xuzhou 221116 Jiangsu China ***

With the intensification and large scale of coal mining, scraper conveyors are developing towards high power, large volume, long haul distance, and high reliability. It is more and more important to obtain the dynamic tension of the scraper chain with time-varying loads. The purpose of this paper is to obtain the dynamic tension of scraper chains of the scraper conveyor with time-varying loads. First, according to the structural characteristics and working environment of the scraper conveyor and the polygon effect of the sprocket, the scraper conveyor dynamic model under the action of the time-varying loads is established by the finite unit method. Second, the load variation rule of the bearing section is explored when the scraper conveyor and shearer work together. Furthermore, the element resistance of each discrete element, the stiffness coefficient of the scraper chain, and the influence of polygonal effect of sprocket wheel are analyzed. And then, the dynamic tension of the scraper chain is obtained by the Hilber–Hughes–Taylor (HHT) method. Finally, the validity of the scraper conveyor dynamic model is verified by the example analysis and field measurement experiment. Due to the influence of heavy starting, the maximum tension of the scraper chain during the starting process is 751.6 kN, which is 12.25% higher than the tension with smooth running (669.6 kN). During the startup stage, significant impacts occur on both motors and scraper chains which may lead to damage. To protect these components effectively, control strategies such as “soft start” or no-load start hold crucial engineering significance in achieving reliable operation of the scraper conveyor. The obtained results can provide a theoretical basis for the reliability evaluation and parameter optimization of the scraper conveyor.

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