| 1. |
- Chen, Yiting, et al.
(författare)
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GraspAda: Deep Grasp Adaptation through Domain Transfer
- 2023
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Ingår i: Proceedings - IEEE International Conference on Robotics and Automation. - 1050-4729. - 9798350323658
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Konferensbidrag (refereegranskat)abstract
- Learning-based methods for robotic grasping have been shown to yield high performance. However, they rely on expensive-to-acquire and well-labeled datasets. In addition, how to generalize the learned grasping ability across different scenarios is still unsolved. In this paper, we present a novel grasp adaptation strategy to transfer the learned grasping ability to new domains based on visual data using a new grasp feature representation. We present a conditional generative model for visual data transformation. By leveraging the deep feature representational capacity from the well-trained grasp synthesis model, our approach utilizes feature-level contrastive representation learning and adopts adversarial learning on output space. This way we bridge the domain gap between the new domain and the training domain while keeping consistency during the adaptation process. Based on transformed input grasp data via the generator, our trained model can generalize to new domains without any fine-tuning. The proposed method is evaluated on benchmark datasets and based on real robot experiments. The results show that our approach leads to high performance in new scenarios.
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| 2. |
- Zhan, Liangtong, et al.
(författare)
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Effects of multiscale heterogeneity on transport in three-dimensional fractured porous rock with a rough-walled fracture network
- 2022
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Ingår i: Computers and geotechnics. - : Elsevier BV. - 0266-352X .- 1873-7633. ; 148, s. 104836-
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Tidskriftsartikel (refereegranskat)abstract
- This study numerically analyzed the effect of multiscale heterogeneity on flow and transport response of a threedimensional (3D) fractured porous rock with rough-walled fracture network. 3D discrete fracture matrix (DFM) models with different heterogeneity scales (network-scale, fracture-to-fracture-scale, and individual fracture scale) were generated. The results showed that the velocity and concentration distributions among the different DFMs were highly variable due to multiscale heterogeneity. The cumulative distribution function curves (CDFs) of the concentration disctribution indicated that fracture-to-fracture-scale heterogeneity led to an earlier breakthrough time than network-scale heterogeneity, and this behavior was further enhanced by individual fracture-scale heterogeneity, suggesting that transport was accelerated by enhanced local channeling flow with increasing fracture roughness. The complementary cumulative distribution function curves (CCDFs) showed obvious long tailing as heterogeneity increased from fracture-to-fracture-scale to individual fracture-scale. Compared with the case where only network-scale heterogeneity was considered, the calculated downstream concentration with fracture-to-fracture-scale heterogeneity increased first from 0.670 to 0.709. However, the downstream concentration then decreased from 0.684 to 0.618 as the roughness increased from & USigma; = 0.03 mm to & USigma; = 0.07 mm. These results can help predict the migration behavior of radioactive nuclides in far-field areas and assess the long-term performance of deep geological repositories.
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| 3. |
- Chen, Hui, et al.
(författare)
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A General Methodology and Architecture for Arbitrary Complex Number Nth Root Computation
- 2021
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Ingår i: 2021 SCAS 2021/IEEE International Symposium on Circuits and Systems. - : Institute of Electrical and Electronics Engineers (IEEE).
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Konferensbidrag (refereegranskat)abstract
- As the existing complex number Nth root computation methods are relatively discrete, we propose a general method and architecture based on coordinate rotation digital computer (CORDIC) to compute arbitrary complex number Nth root for the first time. Our method performs the tasks of computing complex modulus, complex phase angle, real Nth root, sine function and cosine function, which can be implemented by circular CORDIC, linear CORDIC and hyperbolic CORDIC. Based on these CORDICs, our proposed architecture can not only improve the hardware efficiency just through shift-add operations, but also flexibly adjust the precision and the input range of complex number Nth root. To prove its feasibility, we conduct a software simulation and implement an example circuit in hardware. Under the TSMC 28nm CMOS technology, we synthesize it and get the report that it has the area of 6561 mu m(2) and the power of 3.95mW at the frequency of 1.5GHz.
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| 4. |
- Ding, Ming, et al.
(författare)
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On Dynamic Time Division Duplex Transmissions for Small Cell Networks
- 2016
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Ingår i: IEEE Transactions on Vehicular Technology. - 0018-9545 .- 1939-9359. ; 65:11, s. 8933-8951
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Tidskriftsartikel (refereegranskat)abstract
- Motivated by the promising benefits of dynamic Time Division Duplex (TDD), in this paper, we use a unified framework to investigate both the technical issues of applying dynamic TDD in homogeneous small cell networks (HomSCNs), and the feasibility of introducing dynamic TDD into heterogeneous networks (HetNets). First, HomSCNs are analyzed, and a small cell BS scheduler that dynamically and independently schedules DL and UL subframes is presented, such that load balancing between the DL and the UL traffic can be achieved. Moreover, the effectiveness of various inter-link interference mitigation (ILIM) schemes as well as their combinations, is systematically investigated and compared. Besides, the interesting possibility of partial interference cancellation (IC) is also explored. Second, based on the proposed schemes, the joint operation of dynamic TDD together with cell range expansion (CRE) and almost blank subframe (ABS) in HetNets is studied. In this regard, scheduling polices in small cells and an algorithm to derive the appropriate macrocell traffic off-load and ABS duty cycle under dynamic TDD operation are proposed. Moreover, the full IC and the partial IC schemes are investigated for dynamic TDD in HetNets. The user equipment (UE) packet throughput performance of the proposed/discussed schemes is benchmarked using system-level simulations.
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| 5. |
- Jia, Pan, et al.
(författare)
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The combination of 2d layered graphene oxide and 3d porous cellulose heterogeneous membranes for nanofluidic osmotic power generation
- 2021
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Ingår i: Molecules. - : MDPI AG. - 1420-3049 .- 1420-3049 .- 1431-5157. ; 26:17
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Tidskriftsartikel (refereegranskat)abstract
- Salinity gradient energy, as a type of blue energy, is a promising sustainable energy source. Its energy conversion efficiency is significantly determined by the selective membranes. Recently, nanofluidic membrane made by two-dimensional (2D) nanomaterials (e.g., graphene) with densely packed nanochannels has been considered as a high-efficient membrane in the osmotic power generation research field. Herein, the graphene oxide-cellulose acetate (GO–CA) heterogeneous membrane was assembled by combining a porous CA membrane and a layered GO membrane; the combination of 2D nanochannels and 3D porous structures make it show high surface-charge-governed property and excellent ion transport stability, resulting in an efficient osmotic power harvesting. A power density of about 0.13 W/m2 is achieved for the sea–river mimicking system and up to 0.55 W/m2 at a 500-fold salinity gradient. With different functions, the CA and GO membranes served as ion storage layer and ion selection layer, respectively. The GO–CA heterogeneous membrane open a promising avenue for fabrication of porous and layered platform for wide potential applications, such as sustainable power generation, water purification, and seawater desalination.
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| 6. |
- Ngo, Debby, et al.
(författare)
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Proteomic profiling reveals novel biomarkers and pathways in yype 2 diabetes risk
- 2021
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Ingår i: JCI Insight. - : American Society for Clinical Investigation. - 2379-3708. ; 6:5
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Tidskriftsartikel (refereegranskat)abstract
- Recent advances in proteomic technologies have made high throughput profiling of low abundance proteins in large epidemiological cohorts increasingly feasible. We investigated whether aptamer-based proteomic profiling could identify biomarkers associated with future development of type 2 diabetes (T2DM) beyond known risk factors. We identified dozens of markers with highly significant associations with future T2DM across two large longitudinal cohorts (n=2,839) followed for up to 16 years. We leveraged proteomic, metabolomic, genetic and clinical data from humans to nominate one specific candidate to test for potential causal relationships in model systems. Our studies identified functional effects of aminoacylase 1 (ACY1), a top protein association with future T2DM risk, on amino acid metabolism and insulin homeostasis in vitro and in vivo. Further, a loss-of-function variant associated with circulating levels of the biomarker WAP, Kazal, immunoglobulin, Kunitz and NTR domain-containing protein 2 (WFIKKN2) was in turn associated with fasting glucose, hemoglobin A1c and HOMA-IR measurements in humans. In addition to identifying novel disease markers and potential pathways in T2DM, we provide publicly available data to be leveraged for new insights about gene function and disease pathogenesis in the context of human metabolism. .
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| 7. |
- Shu, Jiangpeng, 1987, et al.
(författare)
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Automated generation of FE model for digital twin of concrete structures from segmented 3D point cloud
- 2019
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Ingår i: Structural Health Monitoring 2019: Enabling Intelligent Life-Cycle Health Management for Industry Internet of Things (IIOT) - Proceedings of the 12th International Workshop on Structural Health Monitoring. - Lancaster, PA : DEStech Publications, Inc.. ; 1, s. 428-434
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Konferensbidrag (refereegranskat)abstract
- To achieve real-time structural health monitoring (SHM), a concept of digital twin - a digital copy of a structure has been brought up and investigated. It provides an up-to-date virtual model of structures, with the integration of physical as well as data information. The goal of this research is to provide faster and more accurate procedures to capture the spatial information required by a digital twin of a concrete structure using 3D point cloud data. Given that the method is intended for real-scale structures, such as bridges, the work can be divided to 3 steps: (1) to segment and extract geometric information for structural components; (2) to convert the geometry information to FE mesh with consideration of element types; (3) to assign material property as well as boundary conditions based on extracted components type. Linear FE analyses have been carried out to evaluate the structural performance based on the FE model created from the point cloud. The automation of such a process is an essential part of the creation of a digital twin of infrastructures.
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| 8. |
- Storsjö, Tobias, et al.
(författare)
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Elemental carbon - An efficient method to measure occupational exposure from materials in the graphene family
- 2024
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Ingår i: NanoImpact. - 2452-0748. ; 33
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Tidskriftsartikel (refereegranskat)abstract
- Graphene is a 2D-material with many useful properties such as flexibility, elasticity, and conductivity among others. Graphene could therefore become a material used in many occupational fields in the future, which can give rise to occupational exposure. Today, exposure is unknown, due to the lack of efficient measuring techniques for occupational exposure to graphene. Readily available screening techniques for air sampling and -analysis are either nonspecific or nonquantitative. Quantifying materials from the broad graphene family by an easy-to-use method is important for the large-scale industrial application of graphene, especially when for the safety of working environment. Graphene consists primarily of elemental carbon, and the present study evaluates the organic carbon/elemental carbon (OC/EC)-technique for exposure assessment. The purpose of this work is to evaluate the OC/EC analysis technique as an efficient and easy-to-use method for quantification of occupational exposure to graphene. Methods that can identify graphene would be preferable for screening, but they are time consuming and semi-quantitative and therefore not suited for quantitative work environment assessments. The OC/EC-technique is a thermal optical analysis (TOA), that quantitively determines the amount of and distinguishes between two different types of carbon, organic and elemental. The technique is standardised, well-established and among other things used for diesel exposure measurements (ref standard). OC/EC could therefore be a feasible measuring technique to quantitively determine occupational exposure to graphene. The present evaluation of the technique provides an analytical method that works quantitatively for graphene, graphene oxide and reduced graphene oxide. Interestingly, the TOA technique makes it possible to distinguish between the three graphene forms used in this study. The technique was tested in an industrial setting and the outcome suggests that the technique is an efficient monitoring technique to be used in combination with characterisation techniques like for example Raman spectroscopy, scanning electron microscopy and atomic force microscopy.
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| 9. |
- Sun, Yue, et al.
(författare)
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Surface chemistry and structure manipulation of graphene-related materials to address the challenges of electrochemical energy storage
- 2023
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Ingår i: Chemical Communications. - : Royal Society of Chemistry (RSC). - 1364-548X .- 1359-7345. ; 59:18, s. 2571-2583
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Tidskriftsartikel (refereegranskat)abstract
- Energy storage devices are important components in portable electronics, electric vehicles, and the electrical distribution grid. Batteries and supercapacitors have achieved great success as the spearhead of electrochemical energy storage devices, but need to be further developed in order to meet the ever-increasing energy demands, especially attaining higher power and energy density, and longer cycling life. Rational design of electrode materials plays a critical role in developing energy storage systems with higher performance. Graphene, the well-known 2D allotrope of carbon, with a unique structure and excellent properties has been considered a “magic” material with its high energy storage capability, which can not only aid in addressing the issues of the state-of-the-art lithium-ion batteries and supercapacitors, but also be crucial in the so-called post Li-ion battery era covering different technologies, e.g., sodium ion batteries, lithium-sulfur batteries, structural batteries, and hybrid supercapacitors. In this feature article, we provide a comprehensive overview of the strategies developed in our research to create graphene-based composite electrodes with better ionic conductivity, electron mobility, specific surface area, mechanical properties, and device performance than state-of-the-art electrodes. We summarize the strategies of structure manipulation and surface modification with specific focus on tackling the existing challenges in electrodes for batteries and supercapacitors by exploiting the unique properties of graphene-related materials.
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| 10. |
- Yang, Ruiqi, et al.
(författare)
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Genomic insights revealed the environmental adaptability of Planococcus halotolerans Y50 isolated from petroleum-contaminated soil on the Qinghai-Tibet Plateau
- 2022
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Ingår i: Gene. - : Elsevier BV. - 0378-1119 .- 1879-0038. ; 823, s. 146368-
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Tidskriftsartikel (refereegranskat)abstract
- The Tibetan Plateau niche provides unprecedented opportunities to find microbes that are functional and commercial significance. The present study investigated the physiological and genomic characteristics of Pla-nococcus halotolerans Y50 that was isolated from a petroleum-contaminated soil sample from the Qinghai-Tibet Plateau, and it displayed psychrotolerant, antiradiation, and oil-degraded characteristics. Whole genome sequencing indicated that strain Y50 has a 3.52 Mb genome and 44.7% G + C content, and it possesses 3377 CDSs. The presence of a wide range of UV damage repair genes uvrX and uvsE, DNA repair genes radA and recN, superoxide dismutase, peroxiredoxin and dioxygenase genes provided the genomic basis for the adaptation of the plateau environment polluted by petroleum. Related experiments also verified that the Y50 strain could degrade n-alkanes from C-11-C-23, and approximately 30% of the total petroleum at 25 & DEG;C within 7 days. Meanwhile, strain Y50 could withstand 5 x 10(3) J/m(2) UVC and 10 KGy gamma ray radiation, and it had strong antioxidant and high radical scavengers for superoxide anion, hydroxyl radical and DPPH. In addition, pan-genome analysis and horizontal gene transfers revealed that strains with different niches have obtained various genes through hori -zontal gene transfer in the process of evolution, and the more similar their geographical locations, the more similar their members are genetically and ecologically. In conclusion, P. halotolerans Y50 possesses high potential of applications in the bioremediation of alpine hydrocarbons contaminated environment.
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| 11. |
- Zandi, Kamyab, 1981, et al.
(författare)
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A framework for digital twin of civil infrastructure-challenges and opportunities
- 2019
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Ingår i: Structural Health Monitoring 2019: Enabling Intelligent Life-Cycle Health Management for Industry Internet of Things (IIOT) - Proceedings of the 12th International Workshop on Structural Health Monitoring. - Lancaster, PA : DEStech Publications, Inc.. ; 1, s. 1627-1633
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Konferensbidrag (refereegranskat)abstract
- All rights reserved. Digital Twin of an infrastructure is a living digital simulation that brings all the data and models together and updates itself from multiple sources to represent its physical counterpart. The primary focal point of the present study is to propose a framework for Digital Twin of infrastructure and to demonstrate it in the context of a next-generation condition assessment method. The proposed framework is based on the optimized integration of: (1) Structural Inspection: Autonomous Data Collection using drones to minimize intrusion on the transport flow, cover large areas in a minimum of time, access to hard-to-reach areas and minimize exposure to safety hazards for inspectors and users; (2) Damage Quantification: Automated Data Interpretation using data-driven techniques to detect and quantify geometrical and visual anomalies, e.g. cracking and spalling, on the surface and sub-surface of concrete infrastructure; and (3) Performance Prediction: Advanced Structural Simulation combined with physics-based deterioration models to calculate structural performance. The outcome of the study is expected to radically transform the current practices by leveraging drones for inspection, data-driven models for damage quantification, and physics-based models for performance prediction, all seamlessly connected to a living simulation platform "Digital Twin" which updates itself after each inspection round.
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