Comparative Study of Different Methods in Vibration-Based Terrain Classification for Wheeled Robots with Shock Absorbers

open access articleAutonomous robots that operate in the field can enhance their security and efficiency by accurate terrain classification, which can be realized by means of robot-terrain interaction-generated vibration signals. In this paper, we explore the vibration-based terrain classification (VTC), in particular for a wheeled robot with shock absorbers. Because the vibration sensors are usually mounted on the main body of the robot, the vibration signals are dampened significantly, which results in the vibration signals collected on different terrains being more difficult to discriminate. Hence, the existing VTC methods applied to a robot with shock absorbers may degrade. The contributions are two-fold: (1) Several experiments are conducted to exhibit the performance of the existing feature-engineering and feature-learning classification methods; and (2) According to the long short-term memory (LSTM) network, we propose a one-dimensional convolutional LSTM (1DCL)-based VTC method to learn both spatial and temporal characteristics of the dampened vibration signals. The experiment results demonstrate that: (1) The feature-engineering methods, which are efficient in VTC of the robot without shock absorbers, are not so accurate in our project; meanwhile, the feature-learning methods are better choices; and (2) The 1DCL-based VTC method outperforms the conventional methods with an accuracy of 80.18%, which exceeds the second method (LSTM) by 8.23%

A quasinonlocal coupling method for nonlocal and local diffusion models

In this paper, we extend the idea of "geometric reconstruction" to couple a nonlocal diffusion model directly with the classical local diffusion in one dimensional space. This new coupling framework removes interfacial inconsistency, ensures the flux balance, and satisfies energy conservation as well as the maximum principle, whereas none of existing coupling methods for nonlocal-to-local coupling satisfies all of these properties. We establish the well-posedness and provide the stability analysis of the coupling method. We investigate the difference to the local limiting problem in terms of the nonlocal interaction range. Furthermore, we propose a first order finite difference numerical discretization and perform several numerical tests to confirm the theoretical findings. In particular, we show that the resulting numerical result is free of artifacts near the boundary of the domain where a classical local boundary condition is used, together with a coupled fully nonlocal model in the interior of the domain

MQENet: A Mesh Quality Evaluation Neural Network Based on Dynamic Graph Attention

With the development of computational fluid dynamics, the requirements for the fluid simulation accuracy in industrial applications have also increased. The quality of the generated mesh directly affects the simulation accuracy. However, previous mesh quality metrics and models cannot evaluate meshes comprehensively and objectively. To this end, we propose MQENet, a structured mesh quality evaluation neural network based on dynamic graph attention. MQENet treats the mesh evaluation task as a graph classification task for classifying the quality of the input structured mesh. To make graphs generated from structured meshes more informative, MQENet introduces two novel structured mesh preprocessing algorithms. These two algorithms can also improve the conversion efficiency of structured mesh data. Experimental results on the benchmark structured mesh dataset NACA-Market show the effectiveness of MQENet in the mesh quality evaluation task

A Targeted Quantitative Proteomic Method Revealed a Substantial Reprogramming of Kinome during Melanoma Metastasis.

Kinases are involved in numerous critical cell signaling processes, and dysregulation in kinase signaling is implicated in many types of human cancers. In this study, we applied a parallel-reaction monitoring (PRM)-based targeted proteomic method to assess kinome reprogramming during melanoma metastasis in three pairs of matched primary/metastatic human melanoma cell lines. Around 300 kinases were detected in each pair of cell lines, and the results showed that Janus kinase 3 (JAK3) was with reduced expression in the metastatic lines of all three pairs of melanoma cells. Interrogation of The Cancer Genome Atlas (TCGA) data showed that reduced expression of JAK3 is correlated with poorer prognosis in melanoma patients. Additionally, metastatic human melanoma cells/tissues exhibited diminished levels of JAK3 mRNA relative to primary melanoma cells/tissues. Moreover, JAK3 suppresses the migration and invasion of cultured melanoma cells by modulating the activities of matrix metalloproteinases 2 and 9 (MMP-2 and MMP-9). In summary, our targeted kinome profiling method provided by far the most comprehensive dataset for kinome reprogramming associated with melanoma progression, which builds a solid foundation for examining the functions of other kinases in melanoma metastasis. Moreover, our results reveal a role of JAK3 as a potential suppressor for melanoma metastasis

Extremely cold and hot temperatures increase the risk of ischaemic heart disease mortality: epidemiological evidence from China.

OBJECTIVE: To examine the effects of extremely cold and hot temperatures on ischaemic heart disease (IHD) mortality in five cities (Beijing, Tianjin, Shanghai, Wuhan and Guangzhou) in China; and to examine the time relationships between cold and hot temperatures and IHD mortality for each city. DESIGN: A negative binomial regression model combined with a distributed lag non-linear model was used to examine city-specific temperature effects on IHD mortality up to 20 lag days. A meta-analysis was used to pool the cold effects and hot effects across the five cities. PATIENTS: 16 559 IHD deaths were monitored by a sentinel surveillance system in five cities during 2004-2008. RESULTS: The relationships between temperature and IHD mortality were non-linear in all five cities. The minimum-mortality temperatures in northern cities were lower than in southern cities. In Beijing, Tianjin and Guangzhou, the effects of extremely cold temperatures were delayed, while Shanghai and Wuhan had immediate cold effects. The effects of extremely hot temperatures appeared immediately in all the cities except Wuhan. Meta-analysis showed that IHD mortality increased 48% at the 1st percentile of temperature (extremely cold temperature) compared with the 10th percentile, while IHD mortality increased 18% at the 99th percentile of temperature (extremely hot temperature) compared with the 90th percentile. CONCLUSIONS: Results indicate that both extremely cold and hot temperatures increase IHD mortality in China. Each city has its characteristics of heat effects on IHD mortality. The policy for response to climate change should consider local climate-IHD mortality relationships

Study on NO Heterogeneous Reduction Mechanism under Gasification Condition

Chemisorption of NO and successive heterogeneous reduction mechanisms on the well-defined char models under carbon/char-CO2 gasification condition were investigated using density functional theory at the B3LYP/6-31G (d) level of theory. The characteristics of gasification process were concluded and incorporated into the theoretical calculations by establishing three gasification char models and taking into account the presence of CO in ambient gas pool. The results indicate that both the configuration of char model and adsorption mode have significant influence on the NO adsorption energy. Intensive gasification surface is likely to be thermally unfavorable and the O-down mode is regarded as the most inactive approach for NO’s adsorbing. Finally, NO heterogeneous reduction mechanisms on the three char models under gasification are proposed based on detailed analysis on thermodynamic data and atomic bond populations