针对非结构化环境中多目标抓取检测存在速度慢、效果差的问题,提出一种先目标检测后抓取检测的方法。在目标检测中,为了加快网络的运行速度,文中采用深度可分离卷积和坐标注意力机制对YOLOv5网络进行轻量化改进。在抓取任务中,设计了一...针对非结构化环境中多目标抓取检测存在速度慢、效果差的问题,提出一种先目标检测后抓取检测的方法。在目标检测中,为了加快网络的运行速度,文中采用深度可分离卷积和坐标注意力机制对YOLOv5网络进行轻量化改进。在抓取任务中,设计了一种单阶段抓取位姿检测算法。首先,考虑到非结构化环境中存在的干扰,选用RGB-D图像作为抓取网络的输入数据,并选用GG-CNN作为主干网络;其次,为了加强抓取网络的特征提取能力,利用Inception-ResNet模块中不同大小卷积核的并联使用来拓宽网络感受野,同时无参三维注意力机制的融入使得网络更专注于抓取信息特征,抑制背景噪声信息;最后,使用抓取质量评估来对抓取框进行修正,并输出置信度和最高的抓取框。实验结果表明:轻量化的目标检测网络参数量为2776708,每秒帧数(frames per second,FPS)为102;改进后的抓取检测网络在公共Cornell数据集上,取得了96.57%的准确率,FPS为54.17。这说明2个网络能部署在机械臂上并较好地实现在多目标场景下的抓取任务,可以应用到实际工业生产中。展开更多
Secure platooning control plays an important role in enhancing the cooperative driving safety of automated vehicles subject to various security vulnerabilities.This paper focuses on the distributed secure control issu...Secure platooning control plays an important role in enhancing the cooperative driving safety of automated vehicles subject to various security vulnerabilities.This paper focuses on the distributed secure control issue of automated vehicles affected by replay attacks.A proportional-integral-observer(PIO)with predetermined forgetting parameters is first constructed to acquire the dynamical information of vehicles.Then,a time-varying parameter and two positive scalars are employed to describe the temporal behavior of replay attacks.In light of such a scheme and the common properties of Laplace matrices,the closed-loop system with PIO-based controllers is transformed into a switched and time-delayed one.Furthermore,some sufficient conditions are derived to achieve the desired platooning performance by the view of the Lyapunov stability theory.The controller gains are analytically determined by resorting to the solution of certain matrix inequalities only dependent on maximum and minimum eigenvalues of communication topologies.Finally,a simulation example is provided to illustrate the effectiveness of the proposed control strategy.展开更多
Field-free spin-orbit torque(SOT)switching of perpendicular magnetization is essential for future spintronic devices.This study demonstrates the field-free switching of perpendicular magnetization in an HfO_(2)/Pt/Co/...Field-free spin-orbit torque(SOT)switching of perpendicular magnetization is essential for future spintronic devices.This study demonstrates the field-free switching of perpendicular magnetization in an HfO_(2)/Pt/Co/TaO_(x) structure,which is facilitated by a wedge-shaped HfO_(2)buffer layer.The field-free switching ratio varies with HfO_(2)thickness,reaching optimal performance at 25 nm.This phenomenon is attributed to the lateral anisotropy gradient of the Co layer,which is induced by the wedge-shaped HfO_(2)buffer layer.The thickness gradient of HfO_(2)along the wedge creates a corresponding lateral anisotropy gradient in the Co layer,correlating with the switching ratio.These findings indicate that field-free SOT switching can be achieved through designing buffer layer,offering a novel approach to innovating spin-orbit device.展开更多
BACKGROUND Gastric cancer(GC)is a significant health problem worldwide,and early detection and accurate diagnosis are crucial for improving patient outcomes.Crawling-type gastric adenocarcinoma is a rare subtype of GC...BACKGROUND Gastric cancer(GC)is a significant health problem worldwide,and early detection and accurate diagnosis are crucial for improving patient outcomes.Crawling-type gastric adenocarcinoma is a rare subtype of GC that has unique histopathological and clinical characteristics,and its diagnosis and management can be challenging.This pathological type of GC is also rare.CASE SUMMARY Here,we report the case of a patient who underwent ordinary endoscopy,na-rrow-band imaging,and endoscopic ultrasonography intending to determine the extent of tumor invasion and upper abdominal enhanced computed tomography and whether there was tumor metastasis.Then,endoscopic submucosal dissection was performed.After pathological and immunohistochemical examination,the pathological diagnosis was crawling-type gastric adenocarcinoma.This is a very rare and special pathological type of tumor.This case highlights the importance of using advanced endoscopic techniques and pathological examination in diagnosing and managing gastric crawling-type adenocarcinoma.Moreover,the findings underscore the need for continued research and clinical experience in this rare subtype of GC to improve patient outcomes.CONCLUSION The“crawling-type”GC is a rare and specific tumor pathology.It is difficult to identify and diagnose gliomas via endoscopy.The tumor is ill-defined,with a flat appearance and indistinct borders due to the lack of contrast against the background mucosa.Pathology revealed that the tumor cells were hand-like,so the patient has diagnosed with“crawling-type”gastric adenocarcinoma.展开更多
文摘针对非结构化环境中多目标抓取检测存在速度慢、效果差的问题,提出一种先目标检测后抓取检测的方法。在目标检测中,为了加快网络的运行速度,文中采用深度可分离卷积和坐标注意力机制对YOLOv5网络进行轻量化改进。在抓取任务中,设计了一种单阶段抓取位姿检测算法。首先,考虑到非结构化环境中存在的干扰,选用RGB-D图像作为抓取网络的输入数据,并选用GG-CNN作为主干网络;其次,为了加强抓取网络的特征提取能力,利用Inception-ResNet模块中不同大小卷积核的并联使用来拓宽网络感受野,同时无参三维注意力机制的融入使得网络更专注于抓取信息特征,抑制背景噪声信息;最后,使用抓取质量评估来对抓取框进行修正,并输出置信度和最高的抓取框。实验结果表明:轻量化的目标检测网络参数量为2776708,每秒帧数(frames per second,FPS)为102;改进后的抓取检测网络在公共Cornell数据集上,取得了96.57%的准确率,FPS为54.17。这说明2个网络能部署在机械臂上并较好地实现在多目标场景下的抓取任务,可以应用到实际工业生产中。
基金supported in part by the National Natural Science Foundation of China (61973219,U21A2019,61873058)the Hainan Province Science and Technology Special Fund (ZDYF2022SHFZ105)。
文摘Secure platooning control plays an important role in enhancing the cooperative driving safety of automated vehicles subject to various security vulnerabilities.This paper focuses on the distributed secure control issue of automated vehicles affected by replay attacks.A proportional-integral-observer(PIO)with predetermined forgetting parameters is first constructed to acquire the dynamical information of vehicles.Then,a time-varying parameter and two positive scalars are employed to describe the temporal behavior of replay attacks.In light of such a scheme and the common properties of Laplace matrices,the closed-loop system with PIO-based controllers is transformed into a switched and time-delayed one.Furthermore,some sufficient conditions are derived to achieve the desired platooning performance by the view of the Lyapunov stability theory.The controller gains are analytically determined by resorting to the solution of certain matrix inequalities only dependent on maximum and minimum eigenvalues of communication topologies.Finally,a simulation example is provided to illustrate the effectiveness of the proposed control strategy.
基金Project supported by the National Natural Science Foundation of China (Grant No.12274108)the Natural Science Foundation of Zhejiang Province,China (Grant Nos.LY23A040008 and LY23A040008)the Basic Scientific Research Project of Wenzhou,China (Grant No.G20220025)。
文摘Field-free spin-orbit torque(SOT)switching of perpendicular magnetization is essential for future spintronic devices.This study demonstrates the field-free switching of perpendicular magnetization in an HfO_(2)/Pt/Co/TaO_(x) structure,which is facilitated by a wedge-shaped HfO_(2)buffer layer.The field-free switching ratio varies with HfO_(2)thickness,reaching optimal performance at 25 nm.This phenomenon is attributed to the lateral anisotropy gradient of the Co layer,which is induced by the wedge-shaped HfO_(2)buffer layer.The thickness gradient of HfO_(2)along the wedge creates a corresponding lateral anisotropy gradient in the Co layer,correlating with the switching ratio.These findings indicate that field-free SOT switching can be achieved through designing buffer layer,offering a novel approach to innovating spin-orbit device.
基金Supported by the Songjiang District Tackling Key Science and Technology Research Projects,No.20sjkjgg32Excellent Young Talents Training Program of Songjiang Hospital Affiliated with Shanghai Jiao Tong University School of Medicine,No.QNRC-004Science and Technology project of Songjiang District,No.22SJKJGG81.
文摘BACKGROUND Gastric cancer(GC)is a significant health problem worldwide,and early detection and accurate diagnosis are crucial for improving patient outcomes.Crawling-type gastric adenocarcinoma is a rare subtype of GC that has unique histopathological and clinical characteristics,and its diagnosis and management can be challenging.This pathological type of GC is also rare.CASE SUMMARY Here,we report the case of a patient who underwent ordinary endoscopy,na-rrow-band imaging,and endoscopic ultrasonography intending to determine the extent of tumor invasion and upper abdominal enhanced computed tomography and whether there was tumor metastasis.Then,endoscopic submucosal dissection was performed.After pathological and immunohistochemical examination,the pathological diagnosis was crawling-type gastric adenocarcinoma.This is a very rare and special pathological type of tumor.This case highlights the importance of using advanced endoscopic techniques and pathological examination in diagnosing and managing gastric crawling-type adenocarcinoma.Moreover,the findings underscore the need for continued research and clinical experience in this rare subtype of GC to improve patient outcomes.CONCLUSION The“crawling-type”GC is a rare and specific tumor pathology.It is difficult to identify and diagnose gliomas via endoscopy.The tumor is ill-defined,with a flat appearance and indistinct borders due to the lack of contrast against the background mucosa.Pathology revealed that the tumor cells were hand-like,so the patient has diagnosed with“crawling-type”gastric adenocarcinoma.
