Microstructure Control and Performance Evolution of Aluminum Alloy 7075 by Nano-Treating.

Nano-treating is a novel concept wherein a low percentage of nanoparticles is used for microstructural control and property tuning in metals and alloys. The nano-treating of AA7075 was investigated to control its microstructure and improve its structural stability for high performance. After treatment with TiC nanoparticles, the grains were significantly refined from coarse dendrites of hundreds of micrometers to fine equiaxial ones smaller than 20 μm. After T6 heat treatment, the grains, with an average size of 18.5 μm, remained almost unchanged, demonstrating an excellent thermal stability. It was found that besides of growth restriction factor by pinning behavior on grain boundries, TiC nanoparticles served as both an effective nucleation agent for primary grains and an effective secondary phase modifier in AA7075. Furthermore, the mechanical properties of nano-treated AA7075 were improved over those of the pure alloy. Thus, nano-treating provides a new method to enhance the performance of aluminum alloys for numerous applications

DDRF: Denoising Diffusion Model for Remote Sensing Image Fusion

Denosing diffusion model, as a generative model, has received a lot of attention in the field of image generation recently, thanks to its powerful generation capability. However, diffusion models have not yet received sufficient research in the field of image fusion. In this article, we introduce diffusion model to the image fusion field, treating the image fusion task as image-to-image translation and designing two different conditional injection modulation modules (i.e., style transfer modulation and wavelet modulation) to inject coarse-grained style information and fine-grained high-frequency and low-frequency information into the diffusion UNet, thereby generating fused images. In addition, we also discussed the residual learning and the selection of training objectives of the diffusion model in the image fusion task. Extensive experimental results based on quantitative and qualitative assessments compared with benchmarks demonstrates state-of-the-art results and good generalization performance in image fusion tasks. Finally, it is hoped that our method can inspire other works and gain insight into this field to better apply the diffusion model to image fusion tasks. Code shall be released for better reproducibility

Robot Task Planning and Situation Handling in Open Worlds

Automated task planning algorithms have been developed to help robots complete complex tasks that require multiple actions. Most of those algorithms have been developed for "closed worlds" assuming complete world knowledge is provided. However, the real world is generally open, and the robots frequently encounter unforeseen situations that can potentially break the planner's completeness. This paper introduces a novel algorithm (COWP) for open-world task planning and situation handling that dynamically augments the robot's action knowledge with task-oriented common sense. In particular, common sense is extracted from Large Language Models based on the current task at hand and robot skills. For systematic evaluations, we collected a dataset that includes 561 execution-time situations in a dining domain, where each situation corresponds to a state instance of a robot being potentially unable to complete a task using a solution that normally works. Experimental results show that our approach significantly outperforms competitive baselines from the literature in the success rate of service tasks. Additionally, we have demonstrated COWP using a mobile manipulator. Supplementary materials are available at: https://cowplanning.github.io

Integrating Action Knowledge and LLMs for Task Planning and Situation Handling in Open Worlds

Task planning systems have been developed to help robots use human knowledge (about actions) to complete long-horizon tasks. Most of them have been developed for "closed worlds" while assuming the robot is provided with complete world knowledge. However, the real world is generally open, and the robots frequently encounter unforeseen situations that can potentially break the planner's completeness. Could we leverage the recent advances on pre-trained Large Language Models (LLMs) to enable classical planning systems to deal with novel situations? This paper introduces a novel framework, called COWP, for open-world task planning and situation handling. COWP dynamically augments the robot's action knowledge, including the preconditions and effects of actions, with task-oriented commonsense knowledge. COWP embraces the openness from LLMs, and is grounded to specific domains via action knowledge. For systematic evaluations, we collected a dataset that includes 1,085 execution-time situations. Each situation corresponds to a state instance wherein a robot is potentially unable to complete a task using a solution that normally works. Experimental results show that our approach outperforms competitive baselines from the literature in the success rate of service tasks. Additionally, we have demonstrated COWP using a mobile manipulator. Supplementary materials are available at: https://cowplanning.github.io/Comment: arXiv admin note: substantial text overlap with arXiv:2210.0128

Accelerating In-Browser Deep Learning Inference on Diverse Edge Clients through Just-in-Time Kernel Optimizations

Web applications are increasingly becoming the primary platform for AI service delivery, making in-browser deep learning (DL) inference more prominent. However, current in-browser inference systems fail to effectively utilize advanced web programming techniques and customize kernels for various client devices, leading to suboptimal performance. To address the issues, this paper presents the first in-browser inference system, nn-JIT.web, which enables just-in-time (JIT) auto-generation of optimized kernels for both CPUs and GPUs during inference. The system achieves this by using two novel web programming techniques that can significantly reduce kernel generation time, compared to other tensor compilers such as TVM, while maintaining or even improving performance. The first technique, Tensor-Web Compiling Co-Design, lowers compiling costs by unifying tensor and web compiling and eliminating redundant and ineffective compiling passes. The second technique, Web-Specific Lite Kernel Optimization Space Design, reduces kernel tuning costs by focusing on web programming requirements and efficient hardware resource utilization, limiting the optimization space to only dozens. nn-JIT.web is evaluated for modern transformer models on a range of client devices, including the mainstream CPUs and GPUs from ARM, Intel, AMD and Nvidia. Results show that nn-JIT.web can achieve up to 8.2x faster within 30 seconds compared to the baselines across various models

MUI-TARE: Multi-Agent Cooperative Exploration with Unknown Initial Position

Multi-agent exploration of a bounded 3D environment with unknown initial positions of agents is a challenging problem. It requires quickly exploring the environments as well as robustly merging the sub-maps built by the agents. We take the view that the existing approaches are either aggressive or conservative: Aggressive strategies merge two sub-maps built by different agents together when overlap is detected, which can lead to incorrect merging due to the false-positive detection of the overlap and is thus not robust. Conservative strategies direct one agent to revisit an excessive amount of the historical trajectory of another agent for verification before merging, which can lower the exploration efficiency due to the repeated exploration of the same space. To intelligently balance the robustness of sub-map merging and exploration efficiency, we develop a new approach for lidar-based multi-agent exploration, which can direct one agent to repeat another agent's trajectory in an \emph{adaptive} manner based on the quality indicator of the sub-map merging process. Additionally, our approach extends the recent single-agent hierarchical exploration strategy to multiple agents in a \emph{cooperative} manner by planning for agents with merged sub-maps together to further improve exploration efficiency. Our experiments show that our approach is up to 50\% more efficient than the baselines on average while merging sub-maps robustly.Comment: 8 pages, 8 figures, Submitted to IEEE RA

What Went Wrong? Closing the Sim-to-Real Gap via Differentiable Causal Discovery

Training control policies in simulation is more appealing than on real robots directly, as it allows for exploring diverse states in a safe and efficient manner. Yet, robot simulators inevitably exhibit disparities from the real world, yielding inaccuracies that manifest as the simulation-to-real gap. Existing literature has proposed to close this gap by actively modifying specific simulator parameters to align the simulated data with real-world observations. However, the set of tunable parameters is usually manually selected to reduce the search space in a case-by-case manner, which is hard to scale up for complex systems and requires extensive domain knowledge. To address the scalability issue and automate the parameter-tuning process, we introduce an approach that aligns the simulator with the real world by discovering the causal relationship between the environment parameters and the sim-to-real gap. Concretely, our method learns a differentiable mapping from the environment parameters to the differences between simulated and real-world robot-object trajectories. This mapping is governed by a simultaneously-learned causal graph to help prune the search space of parameters, provide better interpretability, and improve generalization. We perform experiments to achieve both sim-to-sim and sim-to-real transfer, and show that our method has significant improvements in trajectory alignment and task success rate over strong baselines in a challenging manipulation task

An improved model using convolutional sliding window-attention network for motor imagery EEG classification

IntroductionThe classification model of motor imagery-based electroencephalogram (MI-EEG) is a new human-computer interface pattern and a new neural rehabilitation assessment method for diseases such as Parkinson's and stroke. However, existing MI-EEG models often suffer from insufficient richness of spatiotemporal feature extraction, learning ability, and dynamic selection ability.MethodsTo solve these problems, this work proposed a convolutional sliding window-attention network (CSANet) model composed of novel spatiotemporal convolution, sliding window, and two-stage attention blocks.ResultsThe model outperformed existing state-of-the-art (SOTA) models in within- and between-individual classification tasks on commonly used MI-EEG datasets BCI-2a and Physionet MI-EEG, with classification accuracies improved by 4.22 and 2.02%, respectively.DiscussionThe experimental results also demonstrated that the proposed type token, sliding window, and local and global multi-head self-attention mechanisms can significantly improve the model's ability to construct, learn, and adaptively select multi-scale spatiotemporal features in MI-EEG signals, and accurately identify electroencephalogram signals in the unilateral motor area. This work provided a novel and accurate classification model for MI-EEG brain-computer interface tasks and proposed a feasible neural rehabilitation assessment scheme based on the model, which could promote the further development and application of MI-EEG methods in neural rehabilitation

Food preference strategy of four sympatric rodents in a temperate forest in northeast China

Rodents are well known as both seed predators and dispersers of various plant species in forest ecosystems, and they play an important role in the regeneration of vegetation. Thus, the research on seed selection and vegetation regeneration by sympatric rodents is an interesting topic. To understand the characteristics of preferences of rodents for different seeds, a semi-natural enclosure experiment was performed with four rodent species (Apodemus peninsulae, Apodemus agrarius, Tscherskia triton, and Clethrionomys rufocanus) and the seeds of seven plant species (Pinus koraiensis, Corylus mandshurica, Quercus mongolica, Juglans mandshurica, Armeniaca sibirica, Prunus salicina, and Cerasus tomentosa) to investigate the differentiation in niches and patterns of resource utilization of sympatric rodents. The results showed that all the rodents had consumed many seeds of Pi. koraiensis, Co. mandshurica, and Q. mongolica but differed significantly in how they selected the different seeds. The rate of utilization (Ri) of Pi. koraiensis, Co. mandshurica, and Q. mongolica exhibited the highest values. The Ei values indicated that the rodents tested exhibited differences in their priorities used to select the seeds from different plant species. All four species of rodents exhibited obvious preferences for certain seeds. Korean field mice preferentially consumed the seeds of Q. mongolica, Co. mandshurica, and Pi. koraiensis. Striped field mice favor the seeds of Co. mandshurica, Q. mongolica, P. koraiensis, and Nanking cherry. Greater long-tailed hamsters prefer to consume the seeds of Pi. koraiensis, Co. mandshurica, Q. mongolica, Pr. salicina, and Ce. tomentosa. Clethrionomys rufocanus likes to eat the seeds of Pi. koraiensis, Q. mongolica, Co. mandshurica, and Ce. tomentosa. The results supported our hypothesis that sympatric rodents overlap in food selection. However, each rodent species has a marked preference for food selection, and different rodent species differ in their food preferences. This reflects the role of distinct food niche differentiation in their coexistence