Deep Neural Network Based Subspace Learning of Robotic Manipulator Workspace Mapping

The manipulator workspace mapping is an important problem in robotics and has attracted significant attention in the community. However, most of the pre-existing algorithms have expensive time complexity due to the reliance on sophisticated kinematic equations. To solve this problem, this paper introduces subspace learning (SL), a variant of subspace embedding, where a set of robot and scope parameters is mapped to the corresponding workspace by a deep neural network (DNN). Trained on a large dataset of around $\mathbf{6\times 10^4}$ samples obtained from a MATLAB$^\circledR$ implementation of a classical method and sampling of designed uniform distributions, the experiments demonstrate that the embedding significantly reduces run-time from $\mathbf{5.23 \times 10^3}$ s of traditional discretization method to $\mathbf{0.224}$ s, with high accuracies (average F-measure is $\mathbf{0.9665}$ with batch gradient descent and resilient backpropagation).Comment: 12 pages, 12 figures, accepted for presentation at ICCAIRO 201

Densifying Hydration Products of Alite by a Bio-Inspired Admixture

A bio-inspired, plant-derived polyphenol, tannic acid (TA) was identified as a renewable admixture to improve the compressive strength of concretes. Aiming to understand the underlying mechanism responsible for this strength improvement, this study examines how TA mediates the hydration of tricalcium silicate (alite). Experimental study shows that TA can form complex with calcium ions through chelating, retarding the hydration of the alite and changing of the hydration products. Particularly, X-ray diffraction analysis shows that TA makes calcium hydroxide preferentially grow on the [0 0 1] face. Fourier-transform infrared spectroscopy and 29Si MAS NMR results reveal that the mean chain length of calcium silicate hydrate (C[sbnd]S[sbnd]H) is reduced by TA. More importantly, mercury intrusion porosimetry testing reveals that pores with size near 30 nm was almost eliminated by adding TA, leading to higher elastic modulus of the produced C[sbnd]S[sbnd]H and higher compressive strength of the produced concrete

Actividad antioxidante, fenoles totales y flavonoides totales en extractos de tallos de Jasminum nervosum Lour

Guangxi traditional Chinese Medical University Universidad de Medicina Tradicional China de Guangxi This study evaluated the antioxidant activities of the extracts of Jasminum nervosum Lour. stems along with the effects of different extract solvents on total phenolics (TP), total flavonoids (TF), and antioxidant potential. The antioxidant activity of the extracts was assessed using the following methods: DPPH, ABTS+ both free radicals scavenging assays, and reducing assays. TP and TF were detected by spectrophotometric and HPLC methods. In former methods, the highest amount of TP content was ethy lacetate extract (EAE), expressed as gallic acid equivalents. The greatest TF content was in the n-butanol extract (BE), expressed as lutin equivalents. No significant difference was observed in the TP/TF content between these two extracts. The antioxidant activity and TP/TF content of three extracts seemed to follow the same trend. This implied that there is a good correlation between antioxidant activities and TP/TF content. But in HPLC methods, EAE contained the highest content of lutin and gallic acid, which decreased in the same order of EAE > BE > PE, the rank order of TP/TF content of EAE and BE were different according to antioxidant ability. The overall results showed that the EAE and BE were richer in phenolics and flavonoids than petroleum ether extract (PE), and may represent a good source of antioxidants.Este estudio evaluó las actividades antioxidantes de extractos de tallos de Jasminum nervosum Lour., y el efecto de diferentes disolventes de extracción en los fenoles totales (TP) y flavonoides totales (TF), y su potencial antioxidante. La actividad antioxidante de los extractos fue evaluada usando los siguientes métodos: DPPH, ABTS+ y ensayos reductores. TP y TF fueron detectados por métodos espectroscópicos y por HPLC. Con el primer método, el contenido más alto de TP se obtuvo en el extracto con acetato de etilo (EAE), expresado como equivalentes de ácido gálico. Por su parte, el mayor contenido de TF se obtuvo en el extracto con n-butanol (BE), expresado como equivalentes de luteína. No se observaron diferencias significativas en la relación TP/TF entre los dos extractos. La actividad antioxidante y la relación TP/TF de los tres extractos parecen seguir el mismo comportamiento. Esto implica que hay una buena correlación entre las actividades antioxidantes y la relación TP/TF. Con el método de HPLC, el extracto EAE contenía los más altos contenidos de luteína y ácido gálico, que decrecieron en el mismo orden de EAE > BE > PE, el orden de la relación TP/TF de EAE y BE fueron diferentes de acuerdo a su capacidad antioxidante. En conjunto, los resultados muestran que los extractos de EAE y de BE fueron más ricos en compuestos fenólicos y flavonoides que el extracto de éter (PE), y pueden representar una buena fuente de antioxidantes

Antioxidant activity, total phenolic, and total flavonoid of extracts from stems of <i>Jasminum nervosum</i> Lour

Guangxi traditional Chinese Medical University Universidad de Medicina Tradicional China de Guangxi This study evaluated the antioxidant activities of the extracts of <i>Jasminum nervosum</i> Lour. stems along with the effects of different extract solvents on total phenolics (TP), total flavonoids (TF), and antioxidant potential. The antioxidant activity of the extracts was assessed using the following methods: DPPH, ABTS+ both free radicals scavenging assays, and reducing assays. TP and TF were detected by spectrophotometric and HPLC methods. In former methods, the highest amount of TP content was ethy lacetate extract (EAE), expressed as gallic acid equivalents. The greatest TF content was in the n-butanol extract (BE), expressed as lutin equivalents. No significant difference was observed in the TP/TF content between these two extracts. The antioxidant activity and TP/TF content of three extracts seemed to follow the same trend. This implied that there is a good correlation between antioxidant activities and TP/TF content. But in HPLC methods, EAE contained the highest content of lutin and gallic acid, which decreased in the same order of EAE > BE > PE, the rank order of TP/TF content of EAE and BE were different according to antioxidant ability. The overall results showed that the EAE and BE were richer in phenolics and flavonoids than petroleum ether extract (PE), and may represent a good source of antioxidants.<br><br>Este estudio evaluó las actividades antioxidantes de extractos de tallos de <i>Jasminum nervosum</i> Lour., y el efecto de diferentes disolventes de extracción en los fenoles totales (TP) y flavonoides totales (TF), y su potencial antioxidante. La actividad antioxidante de los extractos fue evaluada usando los siguientes métodos: DPPH, ABTS+ y ensayos reductores. TP y TF fueron detectados por métodos espectroscópicos y por HPLC. Con el primer método, el contenido más alto de TP se obtuvo en el extracto con acetato de etilo (EAE), expresado como equivalentes de ácido gálico. Por su parte, el mayor contenido de TF se obtuvo en el extracto con n-butanol (BE), expresado como equivalentes de luteína. No se observaron diferencias significativas en la relación TP/TF entre los dos extractos. La actividad antioxidante y la relación TP/TF de los tres extractos parecen seguir el mismo comportamiento. Esto implica que hay una buena correlación entre las actividades antioxidantes y la relación TP/TF. Con el método de HPLC, el extracto EAE contenía los más altos contenidos de luteína y ácido gálico, que decrecieron en el mismo orden de EAE > BE > PE, el orden de la relación TP/TF de EAE y BE fueron diferentes de acuerdo a su capacidad antioxidante. En conjunto, los resultados muestran que los extractos de EAE y de BE fueron más ricos en compuestos fenólicos y flavonoides que el extracto de éter (PE), y pueden representar una buena fuente de antioxidantes

Ernie-Gram BiGRU Attention: An Improved Multi-Intention Recognition Model for Air Traffic Control

In recent years, the emergence of large-scale pre-trained language models has made transfer learning possible in natural language processing, which overturns the traditional model architecture based on recurrent neural networks (RNN). In this study, we constructed a multi-intention recognition model, Ernie-Gram_Bidirectional Gate Recurrent Unit (BiGRU)_Attention (EBA), for air traffic control (ATC). Firstly, the Ernie-Gram pre-training model is used as the bottom layer of the overall architecture to implement the encoding of text information. The BiGRU module that follows is used for further feature extraction of the encoded information. Secondly, as keyword information is very important in Chinese radiotelephony communications, the attention layer after the BiGRU module is added to realize the extraction of keyword information. Finally, two fully connected layers (FC) are used for feature vector fusion and outputting intention classification vector, respectively. We experimentally compare the effects of two different tokenizer tools, the BERT tokenizer tool and Jieba tokenizer tool, on the final performance of the Bert model. The experimental results reveal that although the Jieba tokenizer tool has considered word information, the effect of the Jieba tokenizer tool is not as good as that of the BERT tokenizer tool. The final model’s accuracy is 98.2% in the intention recognition dataset of the ATC instructions, which is 2.7% higher than the Bert benchmark model and 0.7–3.1% higher than other improved models based on BERT