基于BlendMask与改进Super4PCS的物体位姿估计方法

针对工业上常见的散乱堆叠工件的位姿估计和无序分拣问题,文章提出一种基于BlendMask实例分割算法与改进Super 4PCS(super 4-points congruent sets)点云配准算法的物体位姿估计方法。利用BlendMask实例分割算法分割目标工件并构建工件表面点云;定义抓取分数选择最上层工件作为抓取对象,实现机器人自上而下抓取;针对不同形状的目标工件,基于相似匹配度函数选择模板点云;融合Super 4PCS与正态分布转换(normal distributions transform,NDT)算法完成目标点云和模板点云在低重合率情况下的精确配准,获取目标工件的抓取位姿;并针对Super 4PCS算法粗配准时速度较慢的问题,通过对体素滤波后的目标点云和模板点云提取3D内部形状描述子(intrinsic shape signatures,ISS)作为点云配准算法的输入点集来提高算法的配准速度。点云配准实验和机器人无序分拣实验结果表明,文章提出的物体位姿估计方法可以快速、准确地完成目标工件的位姿估计和无序分拣任务,配准算法均方根误差(root mean square error,RMSE)小于3.8 mm,位姿估计所需时间小于5.8 s,性能满足实际应用要求。

基于Super-GBS简化基因组测序技术的柞蚕SNP位点挖掘

基于Super-GBS基因分型(super-genotyping-by-sequencing)技术开展柞蚕单核苷酸多态性标记(single nucleotide polymorphism,SNP)位点挖掘研究,旨在开发性状关联SNP分子标记,为柞蚕种质资源评价鉴定、遗传图谱构建、QTL定位提供数据支撑。以白体色小白蚕为母本、黄体色H04为父本,获得BC1M群体(110个)、F_(1)(3个)、P_(1)(1个)、P_(2)(1个)总计115个柞蚕材料,利用PstⅠ-HF/MspⅠ双酶切基因组构建Super-GBS文库并测序,使用BWA软件将过滤后的序列数据比对到柞蚕参考基因组,采用GATK软件开发SNP标记,使用SnpEff软件注释SNP位点及R语言分析遗传结构。测序共产生序列数据量为106.39 Gb,过滤后的平均读长为0.89 Gb,Q30测序质量值平均为90.11%,比对率平均为98.48%。共得到有效SNP位点141100个,主要位于基因间隔区、内含子区、基因下游、上游,其中C/T、A/G变异类型最多,转换与颠换的比例为1.296187∶1。SNP位点变异主要为同义突变和错义突变,产生修饰(MODIFIER)影响。主成分与聚类分析将115个样品分为4组(P_(1)、P_(2)、F_(1)、BC_(1)M),反映了样品的遗传背景及亲缘关系,群体遗传分化指数F_(ST)在0.0003777~0.8272间,群体遗传距离DR分布在0.0004~1.7556,F_(ST)与DR均表现出明显的遗传背景上的聚类。结果表明,Super-GBS技术能够获得大量柞蚕SNP位点信息,可用于SNP标记开发,且开发的SNP标记能够对115个样品的亲缘关系、体色演变进行解释,为今后柞蚕种质资源评价与鉴定、分子标记辅助育种工作奠定基础。

基于简化基因组测序(Super-GBS)的子午岭黑山羊保种群遗传结构评估

旨在分析子午岭黑山羊的群体遗传多样性和亲缘关系以及家系结构,为子午岭黑山羊的保护和利用提供依据。本研究通过简化基因组测序(super-genotyping by sequencing,Super-GBS)技术对99只(10公/89母)成年子午岭黑山羊进行全基因组SNP检测。利用Plink软件计算观测杂合度(Ho)、期望杂合度(He)、多态信息含量(PIC)、核苷酸多样性(Pi)、有效等位基因数(Ne)及次要等位基因频率(MAF)等6项遗传多样性指标;GCTA软件进行主成分分析及基因组亲缘关系G矩阵构建;Plink软件构建IBS遗传距离矩阵,R语言绘制热图;PHYLP构建系统发育树;detect RUNS工具检测ROH。结果表明,99只子午岭黑山羊个体共检测到996042个SNPs。子午岭黑山羊群体的PIC、Pi、Ne及MAF值分别是0.161、0.193、1.295、0.130,且Ho(0.167)低于He(0.192),说明子午岭黑山羊群体遗传多样性较低。G矩阵和IBS遗传距离结果均表明子午岭黑山羊群体间大部分个体间亲缘关系较远。主成分分析结果揭示子午岭黑山羊群体内部不存在明显分化,系统发育树结果说明子午岭黑山羊群体公羊可大致分为6个家系,所有家系公羊数量较少。子午岭黑山羊群体的近交系数FROH为0.0496,说明子午岭黑山羊群体内部近交程度相对较低。综上所述,子午岭黑山羊群体遗传多样性较低,大部分个体间亲缘关系较远,群体内近交程度较低,后期应注意后代的选育,避免血统流失。

Investigation on tool wear and tool life prediction in micro-milling of Ti-6Al-4V

Short tool life and rapid tool wear in micromachining of hard-to-machine materials remain a barrier to the process being economically viable. In this study, standard procedures and conditions set by the ISO for tool life testing in milling were used to analyze the wear of tungsten carbide micro-end-milling tools through slot milling conducted on titanium alloy Ti-6 Al-4 V. Tool wear was characterized by flank wear rate,cutting-edge radius change, and tool volumetric change. The effect of machining parameters, such as cutting speed and feedrate, on tool wear was investigated with reference to surface roughness and geometric accuracy of the finished workpiece. Experimental data indicate different modes of tool wear throughout machining, where nonuniform flank wear and abrasive wear are the dominant wear modes. High cutting speed and low feedrate can reduce the tool wear rate and improve the tool life during micromachining.However, the low feedrate enhances the plowing effect on the cutting zone, resulting in reduced surface quality and leading to burr formation and premature tool failure. This study concludes with a proposal of tool rejection criteria for micro-milling of Ti-6 Al-4 V.

Micro-milling of Pyramid Structured Surface for Implant Application

Surface modification,as a promising approach to improve biocompatibility of biomaterials,has captured extensive close attention among many researchers.Here,micro-milling technology was used in constructing pyramid micro-structures on the surface of Ti-6Al-4Vimplant.Cutting parameters,including spindle speed,feed rate and depth of cut,were optimized to control the generation of burrs.In addition,low melting point alloy was selected to extend the boundary of the workpiece as supporting material to prevent the generation of top burrs.The surface topographies were characterized using scanning electron microscope and laser scanning microscope.Results showed that the dimension of burrs decreased with the decrease of depth of cut,and the size of burrs decreased with the increase of feed rate.Moreover,burrs nearly not appeared on both sides of the micro-grooves machined with low melting point alloy(LMPA)coating.Pyramid micro-structure on the workpiece surface was built successfully by combining optimized cutting parameters(S=35kr/min,Vf=60mm/min,ap=5μm)and LMPA coating.

Super-Boost变换器的工作模式及输出纹波电压分析

Super-Boost变换器代替传统的充、放电模块可大大减小电源的质量和体积,提高其功率密度,因此在空间电力系统中具有广阔的应用前景。但由于Super-Boost变换器有多个功率元件,且存在电感电流反向流动特性,导致其供能模式及输出纹波电压较传统Boost变换器复杂。为了给Super-Boost变换器的分析和设计提供正确的理论指导,对Super-Boost变换器供能模式及输出纹波电压进行了深入研究。研究发现,电感L_(1)和L_(2)均存在连续导电模式、伪连续导电模式和伪断续导电模式等工作模式,建立各工作模式的临界电感和输出纹波电压解析数学模型,探讨峰值电流与电感间的关系,得到了满足设计要求的最小电容和最小电感,据此给出了变换器参数设计方法,实验结果验证了理论分析的正确性。

基于Super-Twisting滑模S面的无人机路径跟踪控制

针对小型固定翼无人机在执行任务时跟踪精度低以及容易受外界风影响的问题,设计基于Super-Twisting滑模S面(STSM S-Plane)的路径跟踪控制器,同时采用内外双环控制模式。外环即速度环采用Super-Twisting滑模控制,内环即姿态环采用S面控制。考虑到S面控制求导易导致积分爆炸的问题引入了二阶微分器,并对外界风组成进行建模研究。最后通过空间特殊曲线来验证所设计算法的控制性能。仿真结果表明,所设计的算法可以实现固定翼无人机对期望路径的精确跟踪,并具有良好的鲁棒性和抗干扰性能。

基于改进型Super-twisting的双馈感应发电机直接功率控制

为提高双馈感应发电机(DFIG)直接功率控制的鲁棒性和抗干扰能力,提出一种改进型超螺旋滑模(STSMC)的直接功率控制(DPC)。首先,建立参数摄动下的DFIG最大功率捕获模型和定子磁场定向的双馈感应发电机模型;然后,将非奇异快速终端滑模面(NFTSM)与一种改进型超螺旋(Super-twisting)优化算法结合,设计DFIG直接功率控制器(IST-NFTSMC)。其中所设计的非奇异滑模面能有效避免传统滑模控制(SMC)的奇异现象,且改进超螺旋控制律能有效削弱NFTSMC抖振,提高功率控制精度;最后,通过仿真和实验,与PI控制和传统SMC控制相比,该控制能削弱DFIG功率与电流抖振问题,加快其收敛速度,提高DFIG直接功率控制稳态精度。

组态视角下我国物流业绿色全要素生产率提升路径研究--基于Super-SBM-Malmquist与fsQCA方法

通过整合TOE框架,提取互联网发展水平、新能源比例、创新能力、物流业集聚程度、市场化水平和对外开放程度6个指标为前因变量,以物流业绿色全要素生产率为结果变量,将我国30个省(自治区、直辖市)数据作为研究样本,运用fsQCA方法揭示导致我国物流业产生高与非高绿色全要素生产率的组态路径。研究发现:“十三五”期间我国物流业绿色全要素生产率持续进步;大部分省市区的物流业绿色全要素生产率有提升;产生高物流业绿色全要素生产率的路径可归纳为“互联网-对外开放-创新”驱动型、“互联网-对外开放-新能源-物流业集聚”驱动型和“新能源-市场化-物流业集聚”驱动型三种。

TP347H与Super304H耐热钢热疲劳过程的变形与开裂行为研究

基于金属板材热疲劳试验方法(HB 6660-2011),对比分析了TP347H和Super304H两种耐热钢的供货态、相同热处理条件下的固溶态和时效态试样在热疲劳过程中底部尺寸的变形行为,以及缺口部位裂纹形貌。结果表明:这3种状态Super304H钢在热疲劳试验后的变形均小于相应TP347H钢的,TP347H缺口呈现相对较大的钝化,时效态试样钝化最大,裂纹最短。缺口附近的观察结果,TP347H在缺口附近龟裂损伤程度弱于Super304H钢的,开裂方式主要为沿晶开裂,也有部分穿晶开裂。

Design and Manufacturing of Ultra-Hard Micro-Milling Tool

Based on the study of existing typical micro-milling tools and the actual demand for micro-milling tools, the P3 design principle and design flow for ultra-hard micro-milling tool were introduced to give basic guidance for the optimization of micro-milling tools. Then, according to the P3 design flow, the manufacturing process of polycrystalline diamond(PCD) micro-milling tool was proposed, and the PCD micro-milling tool with diameter of 0.5 mm was developed. Finally, the micro-milling test on the slot was carried out to study the milling performance of PCD micromilling tool.

Priming mesenchymal stem cells to develop “super stem cells”

The stem cell pre-treatment approaches at cellular and sub-cellular levels encompass physical manipulation of stem cells to growth factor treatment,genetic manipulation,and chemical and pharmacological treatment,each strategy having advantages and limitations.Most of these pre-treatment protocols are non-combinative.This editorial is a continuum of Li et al’s published article and Wan et al’s editorial focusing on the significance of pre-treatment strategies to enhance their stemness,immunoregulatory,and immunosuppressive properties.They have elaborated on the intricacies of the combinative pre-treatment protocol using pro-inflammatory cytokines and hypoxia.Applying a well-defined multi-pronged combinatorial strategy of mesenchymal stem cells(MSCs),pre-treatment based on the mechanistic understanding is expected to develop“Super MSCs”,which will create a transformative shift in MSC-based therapies in clinical settings,potentially revolutionizing the field.Once optimized,the standardized protocols may be used with slight modifications to pre-treat different stem cells to develop“super stem cells”with augmented stemness,functionality,and reparability for diverse clinical applications with better outcomes.

Deep eutectic solvents:Green multi-task agents for sustainable super green hydrogen technologies

While reliance on renewable energy resources has become a reality, there is still a need to deploy greener and more sustainable methods in order to achieve sustainable development goals. Indeed, green hydrogen is currently believed to be a reliable solution for global warming and the pollution challenges arising from fossil fuels, making it the resilient fuel of the future. However, the sustainability of green hydrogen technologies is yet to be achieved. In this context, generation of green hydrogen with the aid of deep eutectic solvents(DESs) as green mixtures has been demonstrated as a promising research area. This systematic review article covers green hydrogen generation through water splitting and biomass fermentation when DESs are utilized within the generation process. It also discusses the incorporation of DESs in fuel cell technologies. DESs can play a variety of roles such as solvent, electrolyte, or precursor;colloidal suspension and reaction medium;galvanic replacement, shape-controlling, decoration, or extractive agent;finally oxidant. These roles are relevant to several methods of green hydrogen generation, including electrocatalysis, photocatalysis, and fermentation. As such, it is of utmost importance to screen potential DES formulations and determine how they can function in and contribute throughout the green hydrogen mobility stages. The realization of super green hydrogen generation stands out as a pivotal milestone in our journey towards achieving a more sustainable form of development;DESs have great potential in making this milestone achievable. Overall, incorporating DESs in hydrogen generation constitutes a promising research area and offers potential scalability for green hydrogen production, storage,transport, and utilization.

Image super‐resolution via dynamic network

Convolutional neural networks depend on deep network architectures to extract accurate information for image super‐resolution.However,obtained information of these con-volutional neural networks cannot completely express predicted high‐quality images for complex scenes.A dynamic network for image super‐resolution(DSRNet)is presented,which contains a residual enhancement block,wide enhancement block,feature refine-ment block and construction block.The residual enhancement block is composed of a residual enhanced architecture to facilitate hierarchical features for image super‐resolution.To enhance robustness of obtained super‐resolution model for complex scenes,a wide enhancement block achieves a dynamic architecture to learn more robust information to enhance applicability of an obtained super‐resolution model for varying scenes.To prevent interference of components in a wide enhancement block,a refine-ment block utilises a stacked architecture to accurately learn obtained features.Also,a residual learning operation is embedded in the refinement block to prevent long‐term dependency problem.Finally,a construction block is responsible for reconstructing high‐quality images.Designed heterogeneous architecture can not only facilitate richer structural information,but also be lightweight,which is suitable for mobile digital devices.Experimental results show that our method is more competitive in terms of performance,recovering time of image super‐resolution and complexity.The code of DSRNet can be obtained at https://github.com/hellloxiaotian/DSRNet.

New direction for surgery:Super minimally invasive surgery

The top goal of modern medicine is treating disease without destroying organ structures and making patients as healthy as they were before their sickness.Minimally invasive surgery(MIS)has dominated the surgical realm because of its lesser invasiveness.However,changes in anatomical structures of the body and reconstruction of internal organs or different organs are common after traditional surgery or MIS,decreasing the quality of life of patients post-operation.Thus,I propose a new treatment mode,super MIS(SMIS),which is defined as“curing a disease or lesion which used to be treated by MIS while preserving the integrity of the organs”.In this study,I describe the origin,definition,operative channels,advantages,and future perspectives of SMIS.

结合改进FPFH的Super-4PCS点云配准方法

针对超四点快速鲁棒匹配算法(Super-4PCS)粗匹配过程计算复杂度较高,配准时间长等问题,提出一种结合改进快速点特征直方图(FPFH)的Super-4PCS粗配准算法。通过主成分分析法(PCA)从快速点特征直方图中筛选出能代表点云特征信息的特征点,并将筛选出的特征点云作为输入数据进行Super-4PCS粗配准,由Super-4PCS粗配准得到初始变换矩阵,再进一步进行最近点迭代算法(ICP)精配准。为了验证在不同密度点云下的匹配效率,分别使用Bunny、Dragon两种不同密度的点云数据集进行配准实验,在满足精配准精度的基础上,对比FPFH-SAC和Super-4PCS粗配准方法,粗配准速率分别提升了72%和58%,总体配准速率分别提升了43%和32%。

Hollow Ni Mo-based nitride heterojunction with super-hydrophilic/aerophobic surface for efficient urea-assisted hydrogen production

Hydrogen evolution reaction(HER)and urea oxidation reaction(UOR)are key reactions of the watercycling associated catalytic process/device.The design of catalysts with a super-hydrophilic/aerophobic structure and optimized electron distribution holds great promise.Here,we have designed a threedimensional(3D)hollow Ni/NiMoN hierarchical structure with arrayed-sheet surface based on a onepot hydrothermal route for efficient urea-assisted HER based on a simple hydrothermal process.The Ni/NiMoN catalyst exhibits super-hydrophilic/aerophobic properties with a small droplet contact angle of 6.07°and an underwater bubble contact angle of 155.7°,thus facilitating an escape of bubbles from the electrodes.Density functional theory calculations and X-ray photoelectron spectroscopy results indicate the optimized electronic structure at the interface of Ni and NiMoN,which can promote the adsorption/desorption of reactants and intermediates.The virtues combining with a large specific surface area endow Ni/NiMoN with efficient catalytic activity of low potentials of 25 mV for HER and 1.33 V for UOR at10 mA cm^(-2).The coupled HER and UOR system demonstrates a low cell voltage of 1.42 V at 10 mA cm^(-2),which is approximately 209 mV lower than water electrolysis.

Development of a 2D Vibration Stage for Vibration-assisted Micro-milling

Vibration-assisted machining(VAM) has the advantages of extending tool life,reducing cutting force and improving the surface finish.Implementation of vibration assistance with high frequency and amplitude is still a challenge,especially for a micro-milling process.In this paper,a new 2D vibration stage for vibration-assisted micro-milling is developed.The kinematics of the milling process with vibration assistance is modeled,and the effects of vibration parameters on the periodic tool-workpiece separation(TWS) is analyzed.The structure of the vibration stage is designed with flexure hinges,and two piezoelectric actuators are used to drive the stage in two directions.An amplifier is integrated into the vibration stage,and the dynamics of the whole vibration system are identified and analyzed.Micro-milling experiments are conducted to determine the effects of vibration assistance on cutting force and surface quality.

Connotation,pathway and significance of carbon neutrality“super energy system”:A case study of the Ordos Basin,NW China

Super oil and gas basins provide the energy foundation for social progress and human development.In the context of climate change and carbon peak and carbon neutrality goals,constructing an integrated energy and carbon neutrality system that balances energy production and carbon reduction becomes crucial for the transformation of such basins.Under the framework of a green and intelligent energy system primarily based on“four news”,new energy,new electricity,new energy storage,and new intelligence,integrating a“super energy system”composed of a huge amount of underground resources of coal,oil,gas and heat highly overlapping with abundant wind and solar energy resources above ground,and a regional intelligent energy consumption system with coordinated development and utilization of fossil energy and new energy,with a carbon neutrality system centered around carbon cycling is essential.This paper aims to select the traditional oil and gas basins as“super energy basins”with the conditions to build world-class energy production and demonstration bases for carbon neutrality.The Ordos Basin has unique regional advantages,including abundant fossil fuel and new energy resources,as well as matching CO_(2)sources and sinks,position it as a carbon neutrality“super energy basin”which explores the path of transformation of traditional oil and gas basins.Under the integrated development concept and mode of“coal+oil+gas+new energy+carbon capture,utilization and storage(CCUS)/carbon capture and storage(CCS)”,the carbon neutrality in super energy basin is basically achieved,which enhance energy supply and contribute to the carbon peak and carbon neutrality goals,establish a modern energy industry and promote regional green and sustainable development.The pioneering construction of the world-class carbon neutrality“super energy system”demonstration basin in China represented by the Ordos Basin will reshape the new concept and new mode of exploration and development of super energy basins,which is of great significance to the global energy revolution under carbon neutrality.

基于自适应Super-twisting算法的永磁同步电机驱动控制

在永磁同步电机调速系统中,良好的速度控制器要同时兼顾跟踪性能及抗干扰性能,非线性控制具有快速响应及强鲁棒性的优点,适用于速度控制器的设计,但传统滑模控制存在着严重的抖振问题。自适应Super-twisting算法属于二阶滑模,能将相轨迹的状态量以级数的形式收敛到原点,又能在线调整控制器的增益,因此能有效削弱抖振现象。采用自适应Super-twisting算法来设计速度控制器,并通过李雅普诺夫函数给出其稳定性证明。试验结果表明,所设计的控制器具有良好的跟踪性能及抗干扰性能,同时能减小电流的纹波,达到削弱抖振的目的。