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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

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High-precision magnetic field measurement system based on a coherent population trapping magnetometer onboard the SATech-01 satellite

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science China(Technological sciences) 2025年第2期68卷 227-242页

作者： Hongbo XUE Wei SONG Haoran ZHAO Yiteng ZHANG Shanzhi YE Jindong WANG Ran TAO Peng SANG Keli CHEN Xingzi BI Bingjun CHENG Bin ZHOU Yongliang XUE Yingying TANG Liu LIU Jinsong LI Xiaocheng ZHU Baoquan LI Jinguo LIU Wen CHEN Xiaofeng ZHANG Yonghe ZHANG Lei LI State Key Laboratory of Space Weather National Space Science CenterChinese Academy of SciencesBeijing 100190China Key Laboratory of Solar Activity and Space Weather National Space Science CenterChinese Academy of SciencesBeijing 100190China Key Laboratory of Electronics and Information Technology for Space Systems National Space Science CenterChinese Academy of SciencesBeijing 100190China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Innovation Academy for Microsatellites Chinese Academy of SciencesShanghai 201304China

On July 27,2022,a high-precision system for measuring the magnetic field based on a coherent population trapping magnetometer(referred to as the CPT system)was launched onboard the Space Advanced technology demonstration satellite(SATech-01)by a ZK-1A *** payload comprises a scalar coherent population trapping magnetometer(CPTM),triaxial anisotropic magnetoresistance magnetometer(AMRM),and nano star tracker mounted on a non-magnetic telescopic tubular *** configuration enables synchronized measurement of scalar and vector geomagnetic fields,as well as the attitude,making the payload with its compact sensors suitable for applications on miniature satellite *** November 7,2022,the novel telescopic tubular mast was deployed in orbit,extending to a length of 5.28 *** CPTM,an absolute scalar magnetometer with an omnidirectional sensor,is the first China-developed quantum/atomic magnetometer successfully operating in *** orbit,the CPTM has sensitivity of~10 pT/Hz^(1/2) and can automatically operate under complex magnetic field *** difference between the scalar fields obtained using the CPTM and CHAOS model has a mean deviation of -3.73 nT and a standard deviation of 26.11 nT(1σ),without on-orbit calibration or *** miniaturized AMRM has a sensitivity of~0.3 nT/Hz^(1/2) and maintains stable and reliable operation in *** low-power and miniaturized nano star tracker has a measurement uncertainty of 14.23″(1σ)in *** mission has realized the on-orbit technical verification of the integrated and synchronized detection of the vector magnetic field and attitude and fully validated the system’s performance,automation level,and reliability.

关键词： magnetic field measurement system coherent population trapping magnetometer anisotropic magnetoresistance magnetometer nano star tracker non-magnetic telescopic tubular mast satellite

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Network-Assisted Full-Duplex Cell-Free mmWave Massive MIMO systems with DAC Quantization and Fronthaul Compression

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China Communications 2024年第11期21卷 75-87页

作者： Li Jiamin Fan Qingrui Zhang Yu Zhu Pengcheng Wang Dongming Wu Hao You Xiaohu National Mobile Communications Research Laboratory Southeast UniversityNanjing 210096China Department of Electronic&Information Engineering Nanjing University of Information Science&TechnologyNanjing 210044China State Key Laboratory of Mobile Network and Mobile Multimedia Technology ZTE CorporationShenzhen 518055China

In this paper,we investigate networkassisted full-duplex(NAFD)cell-free millimeter-wave(mmWave)massive multiple-input multiple-output(MIMO)systems with digital-to-analog converter(DAC)quantization and fronthaul *** propose to maximize the weighted uplink and downlink sum rate by jointly optimizing the power allocation of both the transmitting remote antenna units(T-RAUs)and uplink users and the variances of the downlink and uplink fronthaul compression *** deal with this challenging problem,we further apply a successive convex approximation(SCA)method to handle the non-convex bidirectional limited-capacity fronthaul *** simulation results verify the convergence of the proposed SCA-based algorithm and analyze the impact of fronthaul capacity and DAC quantization on the spectral efficiency of the NAFD cell-free mmWave massive MIMO ***,some insightful conclusions are obtained through the comparisons of spectral efficiency,which shows that NAFD achieves better performance gains than cotime co-frequency full-duplex cloud radio access network(CCFD C-RAN)in the cases of practical limited-resolution ***,their performance gaps with 8-bit DAC quantization are larger than that with1-bit DAC quantization,which attains a 5.5-fold improvement.

关键词： cell-free massive MIMO DAC quantization millimeter-wave network-assisted full-duplex

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Density waves of vortex fluids on a sphere

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Communications in Theoretical Physics 2025年第4期77卷 159-166页

作者： Yanqi Xiong Zhijun Zou Liang Luo Key Laboratory of Hunan Province on Information Photonics and Freespace Optical Communications School of Physics and Electronic ScienceHunan Institute of Science and TechnologyYueyang 414006China Graduate School of China Academy of Engineering Physics Beijing 100193China

We aim to find one highly nontrivial example of the solutions to the vortex fluid dynamical equation on the unit sphere(S^(2))and compare it with the numerical *** the rigid rotating steady solution for vortex fluids on S^(2)is already known to us,we consider the perturbations above *** decomposing the perturbation of the vortex number density and vortex charge density into spherical harmonics,we find that the perturbations are propagating *** be precise,the velocities for different single-mode vortex number density waves are all the same,while the velocities for single-mode vortex charge density waves depend on the degree of the spherical harmonics l,which is a signal of the existence of ***,we find that there is a beat phenomenon for the positive(or negative)vortex density *** simulation based on the canonical equations for the point vortex model agrees perfectly with our theoretical calculations.

关键词： quantum vortex 2D sphere superfluid density wave dispersion ome

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Single-mode GaSb-based laterally coupled distributed-feedback laser for CO_(2)gas detection

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Chinese Physics B 2023年第10期32卷 443-447页

作者：韩实现严进一曹春芳杨锦杜安天陈元宇刘若涛王海龙龚谦 Key Laboratory of Terahertz Solid State Technology Shanghai Institute of Microsystem and Information TechnologyShanghai 200050China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijing 100049China Shandong Provincial Key Laboratory of Laser Polarization and Information Technology School of Physics and Physical EngineeringQufu Normal UniversityQufu 273165China

We report on a GaSb-based laterally coupled distributed feedback(LC-DFB)laser with Cr gratings operating at 2004 nm for CO_(2)detection *** packaged with single-mode fiber pigtailed,the laser diode operates in the continuous-wave mode in a temperature range from-10℃to 60℃,with a maximum output power of 2 mW and a maximum side-mode suppression ratio over 30 ***-modulated absorption spectroscopy of CO_(2)demonstrates the applicability of the LC-DFB laser to tunable diode laser absorption ***,the diode junction temperature,which is measured by using the wavelength shift method,exhibits a maximum value of 17℃in the single-mode operation range.

关键词： semiconductor lasers quantum wells laser spectroscopy

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Sensitivity Improvements for Picosecond Ultrasonic Thickness Measurements in Gold and Tungsten Nanoscale Films

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Nanomanufacturing and Metrology 2024年第2期7卷 1-12页

作者： Jiaqi Dong Chengyuan Yao Yuanhao Zhu Shaojie Li Bowen Liu JinTao Fan Chunguang Hu Youjian Song Minglie Hu Key Laboratory of Opto-Electronic Information Science and Technology of Ministry of Education School of Precision Instruments and Opto-Electronics EngineeringTianjin UniversityTianjin 300072China State Key Laboratory of Precision Measuring Technology and Instruments Tianjin UniversityTianjin 300072China

Picosecond ultrasonics,as a nondestructive and noncontact method,can be employed for nanoscale metallic film thickness *** sensitivity of the system,which determines the measurement precision and practicability of this technique,is often limited by the weak intensity of the ultrasonic *** solve this problem,we investigate the distinct mechanisms involved in picosecond ultrasonic thickness measurement for two types of metals,namely tungsten(W)and gold(Au).For thickness measurement in W films,theory and simulation show that optimizing the pump and probe laser wavelengths,which determine the intensity and shape of the ultrasonic signal,is critical to improving measurement sensitivity,while for Au film measurements,where acoustic-induced beam distortion is dominant,the signal intensity can be optimized by selecting an appropriate aperture size and sample *** above approaches are validated in experiments.A dual-wavelength pump-probe system is constructed based on a passively mode-locked ytterbium-doped fiber *** smoothing method and multipeak Gaussian fitting are employed for the extraction of ultrasonic *** measurement precision is achieved in a series of W and Au films with thicknesses of 43-750 *** work can be applied to various high-precision,noncontact measurements of metal film thickness in the semiconductor industry.

关键词： Picosecond ultrasonics Thickness measurement Optical pump-probe Beam distortion technique

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Developing microwave-induced thermoacoustic tomography:System,application,and reconstruction

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Journal of Electronic science and technology 2023年第4期21卷 1-19页

作者： Shuang-Li Liu Wan-Ting Peng Xiao-Zhang Zhu Jian Song Xin Shang Hua Zhang Zhi-Qin Zhao School of Information Engineering Southwest University of Science and TechnologyMianyang621010China School of Electronic Science and Engineering University of Electronic Science and Technology of ChinaChengdu611731China Yunnan Key Laboratory of Computer Technologies Application Kunming University of Science and TechnologyKunming650500China

A microwave-induced thermoacoustic imaging(MITAT)system is a non-destructive physical medical imaging method that combines the advantages of the high contrast of microwave imaging and the high resolution of ultrasound *** uses the microwave as the excitation source and ultrasound as the information *** different kinds of biological tissue absorb electromagnetic energy,it results in localized temperature *** thermal expansion will induce ultrasonic signals(i.e.,thermoacoustic signals),known as the thermoacoustic *** microwave absorption image of the sample can be reconstructed by algorithm *** MITAT contrast depends on different dielectric parameters of different kinds of *** introduce the developed system and its *** addition,the challenges and prospects of MITAT for further development are discussed.

关键词： Application Microwave-induced thermoacoustic tomography(MITAT) Reconstruction System

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Quantum correlations in a chain-type quantum network

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Communications in Theoretical Physics 2024年第6期76卷 77-91页

作者： Xiaofei Qi Aihong Zhai Lihua Yang School of Mathematical Science Shanxi UniversityTaiyuan 030006China Key Laboratory of Complex Systems and Data Science of Ministry of Education Shanxi UniversityTaiyuan 030006China School of Mathematics and Information Technology Yuncheng UniversityYuncheng 044000China

A quantum network concerns several independent entangled resources and can create strong quantum correlations by performing joint measurements on some *** this paper,we discuss an n-partite chain network with each of two neighboring observers sharing an arbitrary Bell state and all intermediate observers performing some positive-operator-valued measurements with parameterλ.The expressions of all post-measurement states between any two observers are obtained,and their quantifications of Bell nonlocality,Einstein-Podolsky-Rosen steering and entanglement with different ranges ofλare respectively detected and analyzed.

关键词： quantum correlation nonlocality entanglement chain-type quantum network

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NEATmap: a high-efficiency deep learning approach for whole mouse brain neuronal activity trace mapping

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National science Review 2024年第5期11卷 202-216页

作者： Weijie Zheng Huawei Mu Zhiyi Chen Jiajun Liu Debin Xia Yuxiao Cheng Qi Jing Pak-Ming Lau Jin Tang Guo-Qiang Bi Feng Wu Hao Wang AHU-IAI AI Joint Laboratory Anhui University Anhui Province Key Laboratory of Biomedical Imaging and Intelligent Processing Institute of Artificial IntelligenceHefei Comprehensive National Science Center National Engineering Laboratory for Brain-inspired Intelligence Technology and Application School of Information Science and TechnologyUniversity of Science and Technology of China Division of Life Sciences and Medicine University of Science and Technology of China Interdisciplinary Center for Brain Information Brain Cognition and Brain Disease InstituteShenzhen-Hong Kong Institute of Brain Science-Shenzhen Fundamental Research Institutions Shenzhen Institute of Advanced Technology Chinese Academy of Sciences

Quantitative analysis of activated neurons in mouse brains by a specific stimulation is usually a primary step to locate the responsive neurons throughout the brain. However, it is challenging to comprehensively and consistently analyze the neuronal activity trace in whole brains of a large cohort of mice from many terabytes of volumetric imaging data. Here, we introduce NEATmap, a deep learning–based high-efficiency,high-precision and user-friendly software for whole-brain neuronal activity trace mapping by automated segmentation and quantitative analysis of immunofluorescence labeled c-Fos+neurons. We applied NEATmap to study the brain-wide differentiated neuronal activation in response to physical and psychological stressors in cohorts of mice.

关键词： whole-brain imagingneuronal activity trace mapping deep learning quantitative analysis

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Outage Behaviors of Active Intelligent Reflecting Surface Enabled NOMA Communications

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Computer Modeling in engineering & sciences 2023年第10期137卷 789-812页

作者： Zhiping Lu Xinwei Yue Shuo Chen Weiguo Ma School of Information and Communication Engineering Beijing University of Posts and TelecommunicationsState Key Laboratory of Wireless Mobile CommunicationsChina Academy of Telecommunications Technology(CATT)BeijingChina School of Information and Communication Engineering Beijing Information Science and Technology UniversityBeijing100101China

Active intelligent reflecting surface(IRS)is a novel and promising technology that is able to overcome the multiplicative fading introduced by passive *** this paper,we consider the application of active IRS to nonorthogonalmultiple access(NOMA)networks,where the incident signals are amplified actively through integrating amplifier to reflecting *** specifically,the performance of active/passive IRS-NOMA networks is investigated over large and small-scale fading *** to characterize the performance of active IRSNOMA networks,the exact and asymptotic expressions of outage probability for a couple of users,i.e.,near-end user n and far-end user m are derived by exploiting a 1-bit coding *** on approximated analyses,the diversity orders of user n and user m are obtained for active *** addition,the system throughput of active IRS-NOMA is discussed in the delay-sensitive *** simulation results are carried out to verify that:i)The outage behaviors of active IRS-NOMAnetworks are superior to that of passive IRS-NOMAnetworks;ii)As the reflection amplitude factors increase,the active IRS-NOMAnetworks are capable of furnishing the enhanced outage performance;and iii)The active IRS-NOMA has a larger system throughput than passive IRS-NOMA and conventional communications.

关键词： Active intelligent reflecting surface amplification noise non-orthogonal multiple access outage probability

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