A Single Multi-Task Deep Neural Network with a Multi-Scale Feature Aggregation Mechanism for Manipulation Relationship Reasoning in Robotic Grasping

Grasping specific objects in complex and irregularly stacked scenes is still challenging for robotics. Because the robot is not only required to identify the object's grasping posture but also needs to reason the manipulation relationship between the objects. In this paper, we propose a manipulation relationship reasoning network with a multi-scale feature aggregation (MSFA) mechanism for robot grasping tasks. MSFA aggregates high-level semantic information and low-level spatial information in a cross-scale connection way to improve the generalization ability of the model. Furthermore, to improve the accuracy, we propose to use intersection features with rich location priors for manipulation relationship reasoning. Experiments are validated in VMRD datasets and real environments, respectively. The experimental results demonstrate that our proposed method can accurately predict the manipulation relationship between objects in the scene of multi-object stacking. Compared with previous methods, it significantly improves reasoning speed and accuracy

Study on Effect of Product Liability to Inherent Safety

AbstractMany industry accidents and product liability problems occur in China in recent years. The safety of products not only influents public daily life, also affects industrial production. Product safety concept reflects the attitude of people to product safety, and is reflected in product liability system. The influences of different product liability system to the status of inherent safety were studied based on the analysis of the doctrine of liability fixation in different technology development period. It can be seen that there were still many problems in the product liability acts such as the standard and identification of product defects, compensation liability, which were not beneficial to improve the industry safety though strict liability has been accepted in our country. Therefore, product liability system should be improved, and the method of design defect determination should be established. At the same time, carrying out the risk evaluation of the products, increasing the amount and scope of compensation are also important to realize the product safety and industrial inherent safety

Effect of tenofovir disoproxil and telbivudine on the growth and development of infants by blocking mother-to-child transmission of hepatitis B virus

Purpose: To investigate the effect of tenofovir disoproxil and telbivudine on the growth and development of infants after blocking mother-to-child transmission (MTCT) of hepatitis B virus (HBV). Methods: Seventy pregnant women with chronic hepatitis B (CHB) were recruited and allocated to tenofovir disoproxil group (n = 35) and telbivudine group (n = 35) using random number table method. Tenofovir disoproxil group was given 300 mg tenofovir disoproxil orally four times daily, while telbivudine group was given telbivudine 600 mg orally four times daily. Results: After treatment, both groups showed no significant differences in serum HBV-DNA and ALT levels before delivery and 3 months after delivery (p > 0.05). Both groups showed no remarkable differences in the incidence of hypohydramnios, cholestasis, hypothyroidism, anemia, prolonged labor, fetal distress, and placental adhesions (p > 0.05). Both groups showed no significant differences in the rates of premature rupture of membranes, preterm birth, vaginal delivery, and cesarean section (p > 0.05). Both groups showed no significant differences in neonatal sex, gestational age at birth, weight, length, and Apgar scores (p > 0.05). The differences in the positive rates of HBVsAg, HBsAb, and HBeAg at birth and at 12 months were not statistically noticeable (p > 0.05). Conclusion: Tenofovir disoproxil and telbivudine reduce HBV-DNA levels, effectively blocks MTCT, and have a similar safety profile for infants. Further investigations to confirm t

META analysis on the effect of taijiquan on improving negative psychological symptoms of college students and the optimal dose

BackgroundTaijiquan, as a physical and mental exercise, can improve the negative psychology of college students. However, it is still controversial, and the optimal exercise dose of taijiquan to interfere with negative psychology has not been evaluated.ObjectiveThis study is aimed at systematically evaluating the effect of taijiquan therapy on improving negative psychological symptoms of college students and its optimal intervention dose.MethodsSearch databases such as Web of Science, Embase, PubMed, CNKI, WFSD, etc. Collect high-quality relevant RCT studies. After screening, extracting, coding and counting the data, a META analysis is done through Review Manage 5.3 and Stata 15.0 software. PICOS established the eligibility criteria to select the studies as follows: (i) population - non-clinical of college students; (ii) intervention - taijiquan intervention; (iii) comparison - taijiquan intervention group and regular physical activity group; (iv) outcomes - depression, anxiety; and (v) study design - randomized controlled trial.ResultsA total of 12 articles and 1,000 samples were included. All of the participants are college students. Taijiquan therapy can significantly reduce the depression and anxiety symptoms of college students [SMD = −0.53, 95% CI (−0.82, −0.23)], [SMD = −0.49, 95% CI (−0.90, −0.09)], with statistical significance (P < 0.05). Subgroup analysis shows that: there is a precise focus on depression and anxiety symptoms. The intervention period is more than 12 weeks, and the best effect appears when people practice 3 times a week. The best single intervention time for depression symptoms is 60 min, and for anxiety symptoms 80–90 min. It is found that taijiquan combined with mindfulness intervention can significantly reduce negative psychological symptoms like depression and anxiety of college students than single taijiquan intervention. Funnel plot combined with sensitivity analysis, Begg, Egger test showed no publication bias.ConclusionTaijiquan intervention can effectively improve the negative psychological symptoms of college students, and it has great promotion value in colleges and universities.Systematic review registrationhttps://www.crd.york.ac.uk/PROSPERO/, identifier: CRD42022314071

Short−Term Assessment of Heavy Metals in Surface Water from Xiaohe River Irrigation Area, China: Levels, Sources and Distribution

The aims of this study were to determine the pollution characteristics of heavy metals and their potential harm to human health in the surface water of agricultural irrigation areas, China, over a short term. In this study, Cu, Zn, Pb, Hg, Ni, Cr, Cd, and As in surface water of the Xiaohe River irrigation area were detected and analyzed. The results showed that the concentrations of Pb, Hg, Ni, Cr, Cd, and As exceeded the national environmental quality standard for surface water in varying degrees. The concentrations of heavy metals in surface water in October were significantly lower than that in November and December due to the impact of extreme precipitation events. Point source pollution (industrial sewage, etc.) was the main factor affecting the spatial distribution of heavy metals. The main source of heavy metals in October was domestic sewage. Domestic sewage and industrial sewage were the main sources of heavy metals in November. The sources of heavy metals in surface water in December were relatively diverse, and industrial sewage was the main source. The temporal variation of heavy metal pollution sources changed significantly. Industrial sewage was the main pollution source of heavy metals in surface water in the study area. The impact of urban domestic sewage and agricultural activities cannot be ignored. The health risk of heavy metals in surface water mainly depends on Cr, Cd, and As. Policy recommendations were also proposed for better control of heavy metal pollution in the surface water of river ecosystems involving agricultural irrigation areas

Double Carbon Networks Reinforce the Thermal Storage and Thermal Transfer Properties of 1-Octadecanol Phase Change Materials

Using thermal storage materials with excellent thermal properties in the energy utilization system enables efficient use of renewable energy sources. Organic phase change materials (PCMs) have the advantages of high heat storage density, no corrosion, and low cost, but low thermal conductivity and insufficient heat transfer capacity have always been the bottlenecks in their application. In this paper, melamine foam@ reduction graphene oxide (MF@rGO) and carbon foam@ reduction graphene oxide (CF@rGO) composite foams with double carbon networks were prepared by self-assembly method and further employed in 1-octadecinal (OD) PCMs. The microstructure, chemical composition, phase change behavior, thermal conductivity, and photothermal conversion performance of MF@rGO/OD and CF@rGO/OD were studied in detail using SEM, FTIR, Raman DSC, and LFA. The melting and solidification enthalpies of CF@rGO/OD composite PCMs were 208.3 J/g and 191.4 J/g, respectively, its thermal conductivity increased to 1.54 W/m·K, which is 6.42 times that of pure OD. The porous structure and high thermal conductivity of the double carbon network substantially enhance the efficiency of energy storage and release in composite PCMs. CF@rGO/OD composite PCMs have excellent heat storage performance and heat transfer capacity, and a wide range of application prospects in the fields of low-temperature solar heat storage, precision instrument temperature control, and intelligent buildings

Advancements in LAM-based diagnostic kit for tuberculosis detection: enhancing TB diagnosis in HIV-negative individuals

ObjectiveThe purpose of this study was to investigate the diagnostic value of urine lipoarabinomannan (LAM) detection based on chemiluminescence assay for pulmonary tuberculosis (PTB) and extrapulmonary tuberculosis (EPTB) in HIV-negative individuals.MethodsA total of 215 patients and 37 healthy individuals were included according to inclusion and exclusion criteria, including 173 cases of PTB and 42 cases of EPTB. Sputum smears, sputum culture, TB-RNA, GeneXpert, and urine LAM results were obtained from all patients before treatment. Using the composite reference standard as the reference, the diagnostic performance of these methods for PTB and EPTB was evaluated, and the diagnostic performance and cost-effectiveness of different combinations were analyzed.ResultsIn PTB, LAM exhibited the highest sensitivity (55.49%), followed by GeneXpert (44.51%). In EPTB, LAM also had the highest sensitivity (40.48%), followed by GeneXpert (33.33%). When combined with one method, LAM combined with GeneXpert showed the highest sensitivity for both PTB (68.79%) and EPTB (61.9%). When combined with two methods, culture, GeneXpert, and LAM showed the highest sensitivity for both PTB (73.99%) and EPTB (69.05%). In terms of cost-effectiveness analysis, the price of LAM was significantly lower than that of GeneXpert ($129.82 vs.$275.79 in PTB and 275.79 vs. 502.33 in EPTB). Among all combinations, the combination of LAM and sputum smear had the lowest cost, with prices of $124.94 for PTB and$263.72 for EPTB.ConclusionUrine LAM detection based on chemiluminescence assay can be used as an adjunct diagnostic tool for PTB and EPTB in HIV-negative individuals. This facilitates expanding the current application of urine LAM from solely HIV-positive populations to the general population. LAM detection can overcome the limitations of obtaining clinical samples, and its ease of sample acquisition will be beneficial for its broader application in a larger scope. For economically better-off areas, we recommend using a combination of LAM + GeneXpert+culture for higher sensitivity; for economically disadvantaged areas, LAM + smear microscopy combination can provide a quick and accurate diagnosis of tuberculosis at a lower cost

Digital Twin-based Safety Evaluation of Prestressed Steel Structure

The safety of prestressed steel structures in service has been studied widely. However, traditional safety assessment methods for prestressed steel structures involve few sample points, do not provide accurate predictions, and consume substantial human and material resources. The digital twin technology can be used to monitor the structural behavior, state, and activity of a steel structure throughout its life cycle, which is equivalent to performing a safety assessment of the structure. The purpose of this study is to establish a digital twin multidimensional model of prestressed steel structures. Based on this model, the support vector machine and prediction model are trained using the relevant structural history data, and the safety risk level of the structure is then predicted based on the measured data. Finally, a proportional reduction model of the wheel-spoke cable truss structure is used to verify the feasibility of the proposed method. The results show that digital twin technology can achieve real-time monitoring of prestressed steel structures in use and can provide timely predictions of the safety level. This represents a new method for the safety risk assessment of prestressed steel structures

Challenges and Advances in Sustainable Transportation Systems

Proceedings of the 10th Asia Pacific Transportation Development Conference, held in Beijing, China, May 25-27, 2014. Sponsored by International Chinese Transportation Professionals Association, Beijing University of Technology, and Transportation & Development Institute of ASCE Proceedings of the 10th Asia Pacific Transportation Development Conference, held in Beijing, China, May 25-27, 2014. Sponsored by International Chinese Transportation Professionals Association, Beijing University of Technology, and Transportation & Development Institute of ASCE. Challenges and Advances in Sustainable Transportation Systems contains 86 peer-reviewed papers addressing the challenges facing transportation engineers in the design, construction, maintenance, and management of transportation facilities. Topics include: planning and design of sustainable public transport; asphalt mixtures in highway construction; rail and subway planning and design; intelligent transportation systems; tunnel design and construction; geotechnical design considerations; and bridge design, durability, monitoring, and evaluation. This proceedings will be of interest to academics, practitioners, planners, and managers working in the field of transportation engineering