A novel integrated method of detection-grasping for specific object based on the box coordinate matching

To better care for the elderly and disabled, it is essential for service robots to have an effective fusion method of object detection and grasp estimation. However, limited research has been observed on the combination of object detection and grasp estimation. To overcome this technical difficulty, a novel integrated method of detection-grasping for specific object based on the box coordinate matching is proposed in this paper. Firstly, the SOLOv2 instance segmentation model is improved by adding channel attention module (CAM) and spatial attention module (SAM). Then, the atrous spatial pyramid pooling (ASPP) and CAM are added to the generative residual convolutional neural network (GR-CNN) model to optimize grasp estimation. Furthermore, a detection-grasping integrated algorithm based on box coordinate matching (DG-BCM) is proposed to obtain the fusion model of object detection and grasp estimation. For verification, experiments on object detection and grasp estimation are conducted separately to verify the superiority of improved models. Additionally, grasping tasks for several specific objects are implemented on a simulation platform, demonstrating the feasibility and effectiveness of DG-BCM algorithm proposed in this paper

Diagnosis and functional prediction of microbial markers in tumor tissues of sporadic colorectal cancer patients associated with the MLH1 protein phenotype

ObjectiveMost patients with sporadic colorectal cancer (SCRC) develop microsatellite instability because of defects in mismatch repair (MMR). Moreover, the gut microbiome plays a vital role in the pathogenesis of SCRC. In this study, we assessed the microbial composition and diversity of SCRC tumors with varying MutL protein homolog 1 (MLH1) status, and the effects of functional genes related to bacterial markers and clinical diagnostic prediction.MethodsThe tumor microbial diversity and composition were profiled using high-throughput sequencing of the 16S ribosomal RNA (rRNA) gene V4 region. Phylogenetic Investigation of Communities by Reconstruction of Unobserved States (PICRUSt2) software and BugBase tool were used to predict the functional roles of the microbiome. We aimed to construct a high-accuracy model to detect and evaluate the area under the receiver operating characteristic curve with candidate biomarkers.ResultsThe study included 23 patients with negative/defective MLH1 (DM group) and 22 patients with positive/intact MLH1 (IM group). Estimation of alpha diversity indices showed that the Shannon index (p = 0.049) was significantly higher in the DM group than in the controls, while the Simpson index (p = 0.025) was significantly lower. At the genus level, we observed a significant difference in beta diversity in the DM group versus the IM group. Moreover, the abundance of Lachnoclostridium spp. and Coprococcus spp. was significantly more enriched in the DM group than in the IM group (q < 0.01 vs. q < 0.001). When predicting metagenomes, there were 18 Kyoto Encyclopedia of Genes and Genomes pathways and one BugBase function difference in both groups (all q < 0.05). On the basis of the model of diagnostic prediction, we built a simplified optimal model through stepwise selection, consisting of the top two bacterial candidate markers (area under the curve = 0.93).ConclusionIn conclusion, the genera Lachnoclostridium and Coprococcus as key species may be crucial biomarkers for non-invasive diagnostic prediction of DM in patients with SCRC in the future

Toughening and Hardening Limited Zone of High-Strength Steel through Geometrically Necessary Dislocation When Exposed to Electropulsing

The enhancement of both low-temperature impact toughness and the hardness of a high strength steel heat-affected zone (HAZ) is investigated by using high-density electropulsing (EP). The athermal and thermal effects of EP on HAZ microstructure and resultant mechanical properties were examined based on physical metallurgy by electron backscattered diffraction and on tests of hardness and impact toughness at −60 °C, respectively. EP parameters were carefully determined to avoid electro-contraction and excessive pollution of the base metal by using numerical simulation. The EP results show that the mean impact toughness and hardness of HAZ are 2.1 times and 1.4 times improved, respectively. In addition to the contribution of microstructure evolution, geometrically necessary dislocation (GND) is also a contributor with an increase of 1.5 times, against the slight decrease in dislocation line density and dislocation density. The mechanisms behind this selective evolution of dislocation components were correlated with the localized thermal cycle EP, i.e., the competition among thermo- and electro-plasticity, and work-hardening due to local thermal expansion. The selective evolution enables the local thermal cycle EP tailor the martensitic substructure that is most favorable for toughness and less for hardness. This selective span was limited within 4 mm for a 5 mm thick sample. The local thermal cycle EP is confirmed to be capable of enhancing in both toughness and hardness within a millimeter-scale region