TINA: Think, Interaction, and Action Framework for Zero-Shot Vision Language Navigation

Zero-shot navigation is a critical challenge in Vision-Language Navigation (VLN) tasks, where the ability to adapt to unfamiliar instructions and to act in unknown environments is essential. Existing supervised learning-based models, trained using annotated data through reinforcement learning, exhibit limitations in generalization capabilities. Large Language Models (LLMs), with their extensive knowledge and emergent reasoning abilities, present a potential pathway for achieving zero-shot navigation. This paper presents a VLN agent based on LLMs, exploring approaches to the zero-shot navigation problem. To compensate for the shortcomings of LLMs in environmental perception, we propose the Thinking, Interacting, and Action (TINA) framework. TINA enables the agent to scrutinize perceptual information and autonomously query key clues within the environment through an introduced question-answering module, thereby aligning instructions with specific perceptual data. The navigation agent's perceptual abilities are enhanced through the TINA framework, while the explicit thought and query processes also improve the navigational procedure's explainability and transparency. We evaluate the performance of our method on the Room-to-Room dataset. The experiment results indicate that our approach improves the navigation performance of LLM-based agents. Our approach also outperformed some supervised learning-based methods, highlighting its efficacy in zero-shot navigation

Investigation of Cutting Rock by TBM Hob using a SPG Method

TBM (tunnel boring machine) hob is the core component of the TBM for rock cutting, whose cutting performance can directly determine the overall tunneling efficiency of the TBM. The understanding of cutting rock caused by TBM hobs is still not enough due to the complex contact features between the TBM hob and rock. To study the dynamic cutting process of the TBM hobs deeply, the rock cutting numerical model of the TBM hob is built based on the SPG (smooth particle Galerkin) method, the influence of hob penetration and hob spacing on rock breaking dynamic process, rock cutting forces and specific energy consumption are investigated. The results indicate that the dynamic process of sequential cutting of TBM hobs can be simulated well, and the rock breaking patterns caused by TBM hobs can be reflected with the SPG method. It also shows that the cutting forces of the hob are positively correlated with the hob penetration and hob spacing. For a given hob penetration, there exists an optimum hob spacing to acquire the highest rock cutting efficiency. The hob penetrations of 5, 7, 9, and 11 mm correspond to the optimum hob spacing of 60, 80, 90, and 100 mm respectively. Finally, the simulated results based on the SPG method are verified by comparing the experimental results and the CSM model. This study can provide a new method for simulating the rock cutting dynamic process of the TBM hobs

A molecular dynamics simulation study on the recovery performance of aged asphalt binder by waste vegetable oil rejuvenators

This study employed molecular dynamics to simulate the recovery performance of a waste vegetable oil rejuvenator on aged asphalt binder. The model's accuracy was verified through density and glass transition temperature (Tg) calculations. The Radial Distribution Function (RDF) was utilized to assess the aggregation state of different asphalt binder components. The impact of the waste vegetable oil rejuvenator on asphalt binder microstructure was evaluated using cohesive energy density (CED), relative concentration, mean square displacement (MSD), radius of gyration (Rg), and free volume amount. Changes in functional groups of the aged and recycled asphalt binder samples were analyzed using Fourier transform infrared spectroscopy (FT-IR). Results indicate that the rejuvenator significantly influences the dispersion of SARA components. Improved compatibility between aged and virgin asphalt binders is achieved through increased activity of asphaltenes and resins. The incorporation of rejuvenators into asphalt binder mildly counters the aggregation of asphalt binder molecular structure, mitigates the negative effects of aging, and restores asphalt binder structure. The rejuvenator, enriched with polar groups as per FT-IR tests, increases the proportion of polar groups in the recycled asphalt binder. The recycled asphalt binder exhibits a higher proportion of polar molecules, and the rejuvenator reacts with the polar molecules in the asphalt binder at high temperatures

Support Loss and Q Factor Enhancement for a Rocking Mass Microgyroscope

A rocking mass gyroscope (RMG) is a kind of vibrating mass gyroscope with high sensitivity, whose driving mode and sensing mode are completely uniform. MEMS RMG devices are a research hotspot now because they have the potential to be used in space applications. Support loss is the dominant energy loss mechanism influencing their high sensitivity. An accurate analytical model of support loss for RMGs is presented to enhance their Q factors. The anchor type and support loss mechanism of an RMG are analyzed. Firstly, the support loads, powers flowing into support structure, and vibration energy of an RMG are all developed. Then the analytical model of support loss for the RMG is developed, and its sensitivities to the main structural parameters are also analyzed. High-Q design guidelines for rocking mass microgyroscopes are deduced. Finally, the analytical model is validated by the experimental data and the data from the existing literature. The thicknesses of the prototypes are reduced from 240 μm to 60 μm, while Q factors increase from less than 150 to more than 800. The derived model is general and applicable to various beam resonators, providing significant insight to the design of high-Q MEMS devices

Effect of Axial Force on the Performance of Micromachined Vibratory Rate Gyroscopes

It is reported in the published literature that the resonant frequency of a silicon micromachined gyroscope decreases linearly with increasing temperature. However, when the axial force is considerable, the resonant frequency might increase as the temperature increases. The axial force is mainly induced by thermal stress due to the mismatch between the thermal expansion coefficients of the structure and substrate. In this paper, two types of micromachined suspended vibratory gyroscopes with slanted beams were proposed to evaluate the effect of the axial force. One type was suspended with a clamped-free (C-F) beam and the other one was suspended with a clamped-clamped (C-C) beam. Their drive modes are the bending of the slanted beam, and their sense modes are the torsion of the slanted beam. The relationships between the resonant frequencies of the two types were developed. The prototypes were packaged by vacuum under 0.1 mbar and an analytical solution for the axial force effect on the resonant frequency was obtained. The temperature dependent performances of the operated mode responses of the micromachined gyroscopes were measured. The experimental values of the temperature coefficients of resonant frequencies (TCF) due to axial force were 101.5 ppm/°C for the drive mode and 21.6 ppm/°C for the sense mode. The axial force has a great influence on the modal frequency of the micromachined gyroscopes suspended with a C-C beam, especially for the flexure mode. The quality factors of the operated modes decreased with increasing temperature, and changed drastically when the micromachined gyroscopes worked at higher temperatures

Distribution of the Switzerland main investment industries and regions in Kazakhstan, 2024.

Distribution of the Switzerland main investment industries and regions in Kazakhstan, 2024.</p

Distribution of the Russia main investment industries and regions in Kazakhstan, 2024.

Distribution of the Russia main investment industries and regions in Kazakhstan, 2024.</p

Main investment industries and regional distribution of Chinese multinational companies in Kazakhstan，2024.

Main investment industries and regional distribution of Chinese multinational companies in Kazakhstan，2024.</p

Distribution of the U.S. main investment industries and regions in Kazakhstan, 2024.

Distribution of the U.S. main investment industries and regions in Kazakhstan, 2024.</p

Distribution of the Netherlands’ main investment industries and regions in Kazakhstan，2024

Distribution of the Netherlands’ main investment industries and regions in Kazakhstan，2024</p