Disparity estimation for multi-scale multi-sensor fusion

The perception module of advanced driver assistance systems plays a vital role.Perception schemes often use a single sensor for data processing and environmental perception or adopt the information processing results of various sensors for the fusion of the detection layer.This paper proposes a multi-scale and multi-sensor data fusion strategy in the front end of perception and accomplishes a multi-sensor function disparity map generation scheme.A binocular stereo vision sensor composed of two cameras and a light deterction and ranging(LiDAR)sensor is used to jointly perceive the environment,and a multi-scale fusion scheme is employed to improve the accuracy of the disparity map.This solution not only has the advantages of dense perception of binocular stereo vision sensors but also considers the perception accuracy of LiDAR sensors.Experiments demonstrate that the multi-scale multi-sensor scheme proposed in this paper significantly improves disparity map estimation.

State Estimation Method for GNSS/INS/Visual Multi-sensor Fusion Based on Factor Graph Optimization for Unmanned System

With the development of unmanned driving technology,intelligent robots and drones,high-precision localization,navigation and state estimation technologies have also made great progress.Traditional global navigation satellite system/inertial navigation system(GNSS/INS)integrated navigation systems can provide high-precision navigation information continuously.However,when this system is applied to indoor or GNSS-denied environments,such as outdoor substations with strong electromagnetic interference and complex dense spaces,it is often unable to obtain high-precision GNSS positioning data.The positioning and orientation errors will diverge and accumulate rapidly,which cannot meet the high-precision localization requirements in large-scale and long-distance navigation scenarios.This paper proposes a method of high-precision state estimation with fusion of GNSS/INS/Vision using a nonlinear optimizer factor graph optimization as the basis for multi-source optimization.Through the collected experimental data and simulation results,this system shows good performance in the indoor environment and the environment with partial GNSS signal loss.

Research on the Mechanism of Multi-Sensor Fusion Configuration Based on the Optimal Principle of the Vehicle

In order to address the issue of sensor configuration redundancy in intelligent driving,this paper constructs a multi-objective optimization model that considers cost,coverage ability,and perception performance.And then,combining a specific set of parameters,the NSGA-II algorithm is used to solve the multi-objective model established in this paper,and a Pareto front containing 24 typical configuration schemes is extracted after considering empirical constraints.Finally,using the decision preference method proposed in this paper that combines subjective and objective factors,decision scores are calculated and ranked for various configuration schemes from both cost and performance preferences.The research results indicate that the multi-objective optimization model established in this paper can screen and optimize various configuration schemes from the optimal principle of the vehicle,and the optimized configuration schemes can be quantitatively ranked to obtain the decision results for the vehicle under different preference tendencies.

Progress and Achievements of Multi-sensor Fusion Navigation in China during 2019—2023

Global Navigation Satellite System(GNSS)can provide all-weather,all-time,high-precision positioning,navigation and timing services,which plays an important role in national security,national economy,public life and other aspects.However,in environments with limited satellite signals such as urban canyons,tunnels,and indoor spaces,it is difficult to provide accurate and reliable positioning services only by satellite navigation.Multi-source sensor integrated navigation can effectively overcome the limitations of single-sensor navigation through the fusion of different types of sensor data such as Inertial Measurement Unit(IMU),vision sensor,and LiDAR,and provide more accurate,stable and robust navigation information in complex environments.We summarizes the research status of multi-source sensor integrated navigation technology,and focuses on the representative innovations and applications of integrated navigation and positioning technology by major domestic scientific research institutions in China during 2019—2023.

基于改进Centerfusion的自动驾驶3D目标检测模型

针对自动驾驶路面上目标漏检和错检的问题,提出一种基于改进Centerfusion的自动驾驶3D目标检测模型。该模型通过将相机信息和雷达特征融合,构成多通道特征数据输入,从而增强目标检测网络的鲁棒性,减少漏检问题;为了能够得到更加准确丰富的3D目标检测信息,引入了改进的注意力机制,用于增强视锥网格中的雷达点云和视觉信息融合;使用改进的损失函数优化边框预测的准确度。在Nuscenes数据集上进行模型验证和对比,实验结果表明,相较于传统的Centerfusion模型,提出的模型平均检测精度均值(mean Average Precision,mAP)提高了1.3%,Nuscenes检测分数(Nuscenes Detection Scores,NDS)提高了1.2%。

Influence of heat treatment on microstructure,mechanical and corrosion behavior of WE43 alloy fabricated by laser-beam powder bed fusion

Magnesium(Mg)alloys are considered to be a new generation of revolutionary medical metals.Laser-beam powder bed fusion(PBF-LB)is suitable for fabricating metal implants withpersonalized and complicated structures.However,the as-built part usually exhibits undesirable microstructure and unsatisfactory performance.In this work,WE43 parts were firstly fabricated by PBF-LB and then subjected to heat treatment.Although a high densification rate of 99.91%was achieved using suitable processes,the as-built parts exhibited anisotropic and layeredmicrostructure with heterogeneously precipitated Nd-rich intermetallic.After heat treatment,fine and nano-scaled Mg24Y5particles were precipitated.Meanwhile,theα-Mg grainsunderwent recrystallization and turned coarsened slightly,which effectively weakened thetexture intensity and reduced the anisotropy.As a consequence,the yield strength and ultimate tensile strength were significantly improved to(250.2±3.5)MPa and(312±3.7)MPa,respectively,while the elongation was still maintained at a high level of 15.2%.Furthermore,the homogenized microstructure reduced the tendency of localized corrosion and favoredthe development of uniform passivation film.Thus,the degradation rate of WE43 parts was decreased by an order of magnitude.Besides,in-vitro cell experiments proved their favorable biocompatibility.

Hilbert空间中的fusion-Besselian框架与拟fusion-Riesz基

fusion框架作为Hilbert空间中g-框架的特例,与g-框架有许多类似的性质.该文在已有文献的基础上,借助算子理论知识,举反例说明去掉有限维空间的条件下结论不成立,进一步给出fusion-Besselian框架的算子刻画.结合fusion-Besselian框架的算子刻画和反例1,阐明在探讨该类框架性质时,应关注其适用条件和范围.随后讨论拟fusion-Riesz基与拟Riesz基、fusion-Besselian框架之间的关系.最后讨论fusion-Besselian框架和拟fusion-Riesz基的算子扰动,所得结论补充了算子扰动方面的研究.

Influence of layer thickness on formation quality,microstructure,mechanical properties,and corrosion resistance of WE43 magnesium alloy fabricated by laser powder bed fusion

Laser powder bed fusion(L-PBF)of Mg alloys has provided tremendous opportunities for customized production of aeronautical and medical parts.Layer thickness(LT)is of great significance to the L-PBF process but has not been studied for Mg alloys.In this study,WE43 Mg alloy bulk cubes,porous scaffolds,and thin walls with layer thicknesses of 10,20,30,and 40μm were fabricated.The required laser energy input increased with increasing layer thickness and was different for the bulk cubes and porous scaffolds.Porosity tended to occur at the connection joints in porous scaffolds for LT40 and could be eliminated by reducing the laser energy input.For thin wall parts,a large overhang angle or a small wall thickness resulted in porosity when a large layer thicknesses was used,and the porosity disappeared by reducing the layer thickness or laser energy input.A deeper keyhole penetration was found in all occasions with porosity,explaining the influence of layer thickness,geometrical structure,and laser energy input on the porosity.All the samples achieved a high fusion quality with a relative density of over 99.5%using the optimized laser energy input.The increased layer thickness resulted to more precipitation phases,finer grain sizes and decreased grain texture.With the similar high fusion quality,the tensile strength and elongation of bulk samples were significantly improved from 257 MPa and 1.41%with the 10μm layer to 287 MPa and 15.12%with the 40μm layer,in accordance with the microstructural change.The effect of layer thickness on the compressive properties of porous scaffolds was limited.However,the corrosion rate of bulk samples accelerated with increasing the layer thickness,mainly attributed to the increased number of precipitation phases.

Pyrimethamine upregulates BNIP3 to interfere SNARE-mediated autophagosome-lysosomal fusion in hepatocellular carcinoma

Hepatocellular carcinoma (HCC) is one of the most common tumor types and remains a major clinical challenge. Increasing evidence has revealed that mitophagy inhibitors can enhance the effect of chemotherapy on HCC. However, few mitophagy inhibitors have been approved for clinical use in humans. Pyrimethamine (Pyr) is used to treat infections caused by protozoan parasites. Recent studies have reported that Pyr may be beneficial in the treatment of various tumors. However, its mechanism of action is still not clearly defined. Here, we found that blocking mitophagy sensitized cells to Pyr-induced apoptosis. Mechanistically, Pyr potently induced the accumulation of autophagosomes by inhibiting autophagosome-lysosome fusion in human HCC cells. In vitro and in vivo studies revealed that Pyr blocked autophagosome-lysosome fusion by upregulating BNIP3 to inhibit synaptosomal-associated protein 29 (SNAP29)-vesicle-associated membrane protein 8 (VAMP8) interaction. Moreover, Pyr acted synergistically with sorafenib (Sora) to induce apoptosis and inhibit HCC proliferation in vitro and in vivo. Pyr enhances the sensitivity of HCC cells to Sora, a common chemotherapeutic, by inhibiting mitophagy. Thus, these results provide new insights into the mechanism of action of Pyr and imply that Pyr could potentially be further developed as a novel mitophagy inhibitor. Notably, Pyr and Sora combination therapy could be a promising treatment for malignant HCC.

Alloy design for laser powder bed fusion additive manufacturing:a critical review

Metal additive manufacturing(AM)has been extensively studied in recent decades.Despite the significant progress achieved in manufacturing complex shapes and structures,challenges such as severe cracking when using existing alloys for laser powder bed fusion(L-PBF)AM have persisted.These challenges arise because commercial alloys are primarily designed for conventional casting or forging processes,overlooking the fast cooling rates,steep temperature gradients and multiple thermal cycles of L-PBF.To address this,there is an urgent need to develop novel alloys specifically tailored for L-PBF technologies.This review provides a comprehensive summary of the strategies employed in alloy design for L-PBF.It aims to guide future research on designing novel alloys dedicated to L-PBF instead of adapting existing alloys.The review begins by discussing the features of the L-PBF processes,focusing on rapid solidification and intrinsic heat treatment.Next,the printability of the four main existing alloys(Fe-,Ni-,Al-and Ti-based alloys)is critically assessed,with a comparison of their conventional weldability.It was found that the weldability criteria are not always applicable in estimating printability.Furthermore,the review presents recent advances in alloy development and associated strategies,categorizing them into crack mitigation-oriented,microstructure manipulation-oriented and machine learning-assisted approaches.Lastly,an outlook and suggestions are given to highlight the issues that need to be addressed in future work.

Infrared and Visible Image Fusion Based on Res2Net-Transformer Automatic Encoding and Decoding

A novel image fusion network framework with an autonomous encoder and decoder is suggested to increase thevisual impression of fused images by improving the quality of infrared and visible light picture fusion. The networkcomprises an encoder module, fusion layer, decoder module, and edge improvementmodule. The encoder moduleutilizes an enhanced Inception module for shallow feature extraction, then combines Res2Net and Transformerto achieve deep-level co-extraction of local and global features from the original picture. An edge enhancementmodule (EEM) is created to extract significant edge features. A modal maximum difference fusion strategy isintroduced to enhance the adaptive representation of information in various regions of the source image, therebyenhancing the contrast of the fused image. The encoder and the EEM module extract features, which are thencombined in the fusion layer to create a fused picture using the decoder. Three datasets were chosen to test thealgorithmproposed in this paper. The results of the experiments demonstrate that the network effectively preservesbackground and detail information in both infrared and visible images, yielding superior outcomes in subjectiveand objective evaluations.

Fusion SST from Infrared and Microwave Measurement of FY-3D Meteorological Satellite

Sea surface temperature(SST)is one of the important parameters of global ocean and climate research,which can be retrieved by satellite infrared and passive microwave remote sensing instruments.While satellite infrared SST offers high spatial resolution,it is limited by cloud cover.On the other hand,passive microwave SST provides all-weather observation but suffers from poor spatial resolution and susceptibility to environmental factors such as rainfall,coastal effects,and high wind speeds.To achieve high-precision,comprehensive,and high-resolution SST data,it is essential to fuse infrared and microwave SST measurements.In this study,data from the Fengyun-3D(FY-3D)medium resolution spectral imager II(MERSI-II)SST and microwave imager(MWRI)SST were fused.Firstly,the accuracy of both MERSIII SST and MWRI SST was verified,and the latter was bilinearly interpolated to match the 5km resolution grid of MERSI SST.After pretreatment and quality control of MERSI SST and MWRI SST,a Piece-Wise Regression method was employed to correct biases in MWRI SST.Subsequently,SST data were selected based on spatial resolution and accuracy within a 3-day window of the analysis date.Finally,an optimal interpolation method was applied to fuse the FY-3D MERSI-II SST and MWRI SST.The results demonstrated a significant improvement in spatial coverage compared to MERSI-II SST and MWRI SST.Furthermore,the fusion SST retained true spatial distribution details and exhibited an accuracy of–0.12±0.74℃compared to OSTIA SST.This study has improved the accuracy of FY satellite fusion SST products in China.

Characterization, preparation, and reuse of metallic powders for laser powder bed fusion: a review

Laser powder bed fusion(L-PBF) has attracted significant attention in both the industry and academic fields since its inception, providing unprecedented advantages to fabricate complex-shaped metallic components. The printing quality and performance of L-PBF alloys are infuenced by numerous variables consisting of feedstock powders, manufacturing process,and post-treatment. As the starting materials, metallic powders play a critical role in infuencing the fabrication cost, printing consistency, and properties. Given their deterministic roles, the present review aims to retrospect the recent progress on metallic powders for L-PBF including characterization, preparation, and reuse. The powder characterization mainly serves for printing consistency while powder preparation and reuse are introduced to reduce the fabrication costs.Various powder characterization and preparation methods are presented in the beginning by analyzing the measurement principles, advantages, and limitations. Subsequently, the effect of powder reuse on the powder characteristics and mechanical performance of L-PBF parts is analyzed, focusing on steels, nickel-based superalloys, titanium and titanium alloys, and aluminum alloys. The evolution trends of powders and L-PBF parts vary depending on specific alloy systems, which makes the proposal of a unified reuse protocol infeasible. Finally,perspectives are presented to cater to the increased applications of L-PBF technologies for future investigations. The present state-of-the-art work can pave the way for the broad industrial applications of L-PBF by enhancing printing consistency and reducing the total costs from the perspective of powders.

Reinforcement Learning Based Data Fusion Method for Multi-Sensors

In order to improve detection system robustness and reliability, multi-sensors fusion is used in modern air combat. In this paper, a data fusion method based on reinforcement learning is developed for multi-sensors. Initially, the cubic B-spline interpolation is used to solve time alignment problems of multisource data. Then, the reinforcement learning based data fusion(RLBDF) method is proposed to obtain the fusion results. With the case that the priori knowledge of target is obtained, the fusion accuracy reinforcement is realized by the error between fused value and actual value. Furthermore, the Fisher information is instead used as the reward if the priori knowledge is unable to be obtained. Simulations results verify that the developed method is feasible and effective for the multi-sensors data fusion in air combat.

CAEFusion: A New Convolutional Autoencoder-Based Infrared and Visible Light Image Fusion Algorithm

To address the issues of incomplete information,blurred details,loss of details,and insufficient contrast in infrared and visible image fusion,an image fusion algorithm based on a convolutional autoencoder is proposed.The region attention module is meant to extract the background feature map based on the distinct properties of the background feature map and the detail feature map.A multi-scale convolution attention module is suggested to enhance the communication of feature information.At the same time,the feature transformation module is introduced to learn more robust feature representations,aiming to preserve the integrity of image information.This study uses three available datasets from TNO,FLIR,and NIR to perform thorough quantitative and qualitative trials with five additional algorithms.The methods are assessed based on four indicators:information entropy(EN),standard deviation(SD),spatial frequency(SF),and average gradient(AG).Object detection experiments were done on the M3FD dataset to further verify the algorithm’s performance in comparison with five other algorithms.The algorithm’s accuracy was evaluated using the mean average precision at a threshold of 0.5(mAP@0.5)index.Comprehensive experimental findings show that CAEFusion performs well in subjective visual and objective evaluation criteria and has promising potential in downstream object detection tasks.

Role of heterogenous microstructure and deformation behavior in achieving superior strength-ductility synergy in zinc fabricated via laser powder bed fusion

Zinc(Zn)is considered a promising biodegradable metal for implant applications due to its appropriate degradability and favorable osteogenesis properties.In this work,laser powder bed fusion(LPBF)additive manufacturing was employed to fabricate pure Zn with a heterogeneous microstructure and exceptional strength-ductility synergy.An optimized processing window of LPBF was established for printing Zn samples with relative densities greater than 99%using a laser power range of 80∼90 W and a scanning speed of 900 mm s−1.The Zn sample printed with a power of 80 W at a speed of 900 mm s−1 exhibited a hierarchical heterogeneous microstructure consisting of millimeter-scale molten pool boundaries,micrometer-scale bimodal grains,and nanometer-scale pre-existing dislocations,due to rapid cooling rates and significant thermal gradients formed in the molten pools.The printed sample exhibited the highest ductility of∼12.1%among all reported LPBF-printed pure Zn to date with appreciable ultimate tensile strength(∼128.7 MPa).Such superior strength-ductility synergy can be attributed to the presence of multiple deformation mechanisms that are primarily governed by heterogeneous deformation-induced hardening resulting from the alternative arrangement of bimodal Zn grains with pre-existing dislocations.Additionally,continuous strain hardening was facilitated through the interactions between deformation twins,grains and dislocations as strain accumulated,further contributing to the superior strength-ductility synergy.These findings provide valuable insights into the deformation behavior and mechanisms underlying exceptional mechanical properties of LPBF-printed Zn and its alloys for implant applications.

An improved particle filter indoor fusion positioning approach based on Wi-Fi/PDR/geomagnetic field

The existing indoor fusion positioning methods based on Pedestrian Dead Reckoning(PDR)and geomagnetic technology have the problems of large initial position error,low sensor accuracy,and geomagnetic mismatch.In this study,a novel indoor fusion positioning approach based on the improved particle filter algorithm by geomagnetic iterative matching is proposed,where Wi-Fi,PDR,and geomagnetic signals are integrated to improve indoor positioning performances.One important contribution is that geomagnetic iterative matching is firstly proposed based on the particle filter algorithm.During the positioning process,an iterative window and a constraint window are introduced to limit the particle generation range and the geomagnetic matching range respectively.The position is corrected several times based on geomagnetic iterative matching in the location correction stage when the pedestrian movement is detected,which made up for the shortage of only one time of geomagnetic correction in the existing particle filter algorithm.In addition,this study also proposes a real-time step detection algorithm based on multi-threshold constraints to judge whether pedestrians are moving,which satisfies the real-time requirement of our fusion positioning approach.Through experimental verification,the average positioning accuracy of the proposed approach reaches 1.59 m,which improves 33.2%compared with the existing particle filter fusion positioning algorithms.

Recent research progress in the mechanism and suppression of fusion welding-induced liquation cracking of nickel based superalloys

Nickel-based superalloys are extensively used in the crucial hot-section components of industrial gas turbines,aeronautics,and astronautics because of their excellent mechanical properties and corrosion resistance at high temperatures.Fusion welding serves as an effective means for joining and repairing these alloys;however,fusion welding-induced liquation cracking has been a challenging issue.This paper comprehensively reviewed recent liquation cracking,discussing the formation mechanisms,cracking criteria,and remedies.In recent investigations,regulating material composition,changing the preweld heat treatment of the base metal,optimizing the welding process parameters,and applying auxiliary control methods are effective strategies for mitigating cracks.To promote the application of nickel-based superalloys,further research on the combination impact of multiple elements on cracking prevention and specific quantitative criteria for liquation cracking is necessary.

Possibilities for the synthesis of superheavy element Z=121 in fusion reactions

Based on the dinuclear system model,the calculated evaporation residue cross sections matched well with the current experimental results.The synthesis of superheavy elements Z=121 was systematically studied through combinations of stable projectiles with Z=21-30 and targets with half-lives exceeding 50 d.The influence of mass asymmetry and isotopic dependence on the projectile and target nuclei was investigated in detail.The reactions^(254)Es(^(46)Ti,3n)^(297)121 and^(252)Es(^(46)Ti,3n)^(295)121 were found to be experimentally feasible for synthesizing superheavy element Z=121,with maximal evaporation residue cross sections of 6.619 and 4.123 fb at 219.9 and 223.9 MeV,respectively.

Microstructure and thermal properties of dissimilar M300–CuCr1Zr alloys by multi-material laser-based powder bed fusion

Multi-material laser-based powder bed fusion (PBF-LB) allows manufacturing of parts with 3-dimensional gradient and additional functionality in a single step. This research focuses on the combination of thermally-conductive CuCr1Zr with hard M300 tool steel.Two interface configurations of M300 on CuCr1Zr and CuCr1Zr on M300 were investigated. Ultra-fine grains form at the interface due to the low mutual solubility of Cu and steel. The material mixing zone size is dependent on the configurations and tunable in the range of0.1–0.3 mm by introducing a separate set of parameters for the interface layers. Microcracks and pores mainly occur in the transition zone.Regardless of these defects, the thermal diffusivity of bimetallic parts with 50vol% of CuCr1Zr significantly increases by 70%–150%compared to pure M300. The thermal diffusivity of CuCr1Zr and the hardness of M300 steel can be enhanced simultaneously by applying the aging heat treatment.