SLAM research for port AGV based on 2D LIDAR

With the increase in international trade, the transshipment of goods at international container ports is very busy. The AGV (Automated Guided Vehicle) has been used as a new generation of automated container horizontal transport equipment. The AGV is an automated unmanned vehicle that can work 24 hours a day, increasing productivity and reducing labor costs compared to using container trucks. The ability to obtain information about the surrounding environment is a prerequisite for the AGV to automatically complete tasks in the port area. At present, the method of AGV based on RFID tag positioning and navigation has a problem of excessive cost. This dissertation has carried out a research on applying light detection and ranging (LIDAR) simultaneous localization and mapping (SLAM) technology to port AGV. In this master's thesis, a mobile test platform based on a laser range finder is developed to scan 360-degree environmental information (distance and angle) centered on the LIDAR and upload the information to a real-time database to generate surrounding environmental maps, and the obstacle avoidance strategy was developed based on the acquired information. The effectiveness of the platform was verified by the experiments from multiple scenarios. Then based on the first platform, another experimental platform with encoder and IMU sensor was developed. In this platform, the functionality of SLAM is enabled by the GMapping algorithm and the installation of the encoder and IMU sensor. Based on the established environment SLAM map, the path planning and obstacle avoidance functions of the platform were realized.Com o aumento do comércio internacional, o transbordo de mercadorias em portos internacionais de contentores é muito movimentado. O AGV (“Automated Guided Vehicle”) foi usado como uma nova geração de equipamentos para transporte horizontal de contentores de forma automatizada. O AGV é um veículo não tripulado automatizado que pode funcionar 24 horas por dia, aumentando a produtividade e reduzindo os custos de mão-de-obra em comparação com o uso de camiões porta-contentores. A capacidade de obter informações sobre o ambiente circundante é um pré-requisito para o AGV concluir automaticamente tarefas na área portuária. Atualmente, o método de AGV baseado no posicionamento e navegação de etiquetas RFID apresenta um problema de custo excessivo. Nesta dissertação foi realizada uma pesquisa sobre a aplicação da tecnologia LIDAR de localização e mapeamento simultâneo (SLAM) num AGV. Uma plataforma de teste móvel baseada num telémetro a laser é desenvolvida para examinar o ambiente em redor em 360 graus (distância e ângulo), centrado no LIDAR, e fazer upload da informação para uma base de dados em tempo real para gerar um mapa do ambiente em redor. Uma estratégia de prevenção de obstáculos foi também desenvolvida com base nas informações adquiridas. A eficácia da plataforma foi verificada através da realização de testes com vários cenários e obstáculos. Por fim, com base na primeira plataforma, uma outra plataforma experimental com codificador e sensor IMU foi também desenvolvida. Nesta plataforma, a funcionalidade do SLAM é ativada pelo algoritmo GMapping e pela instalação do codificador e do sensor IMU. Com base no estabelecimento do ambiente circundante SLAM, foram realizadas as funções de planeamento de trajetória e prevenção de obstáculos pela plataforma

Corn Yield Prediction based on Remotely Sensed Variables Using Variational Autoencoder and Multiple Instance Regression

In the U.S., corn is the most produced crop and has been an essential part of the American diet. To meet the demand for supply chain management and regional food security, accurate and timely large-scale corn yield prediction is attracting more attention in precision agriculture. Recently, remote sensing technology and machine learning methods have been widely explored for crop yield prediction. Currently, most county-level yield prediction models use county-level mean variables for prediction, ignoring much detailed information. Moreover, inconsistent spatial resolution between crop area and satellite sensors results in mixed pixels, which may decrease the prediction accuracy. Only a few works have addressed the mixed pixels problem in large-scale crop yield prediction. To address the information loss and mixed pixels problem, we developed a variational autoencoder (VAE) based multiple instance regression (MIR) model for large-scaled corn yield prediction. We use all unlabeled data to train a VAE and the well-trained VAE for anomaly detection. As a preprocess method, anomaly detection can help MIR find a better representation of every bag than traditional MIR methods, thus better performing in large-scale corn yield prediction. Our experiments showed that variational autoencoder based multiple instance regression (VAEMIR) outperformed all baseline methods in large-scale corn yield prediction. Though a suitable meta parameter is required, VAEMIR shows excellent potential in feature learning and extraction for large-scale corn yield prediction

Multiplexed highly sensitive detections of cancer biomarkers in thermal space using encapsulated phase change nanoparticles

We describe a multiplexed highly sensitive method to detect cancer biomarkers using silica encapsulated phase change nanoparticles as thermal barcodes. During phase changes, nanoparticles absorb heat energy without much temperature rise and show sharp melting peaks (0.6 degrees C). A series of phase change nanoparticles of metals or alloys can be synthesized in such a way that they melt between 100 and 700 degrees C, thus the multiplicity could reach 1000. The method has high sensitivity (8 nM) that can be enhanced using materials with large latent heat, nanoparticles with large diameter, or reducing the grafting density of biomolecules on nanoparticles

Design of Magnesium Phosphate Cement Based Composite for High Performance Bipolar Plate of Fuel Cells

In this work, we report a comprehensive study on a magnesium phosphate cement (MPC) based composite as the construction material for high performance bipolar plates of fuel cells. MPC with partial replacement of fly ash was employed as the binding matrix. Some carbon-based materials, such as graphite, carbon black, carbon fiber, and multi-walled carbon nanotubes were used to construct the conductive phase. A simple hot-press process was applied to produce the composite. The formula and the structure of the composite was modified and adjusted to optimize the properties of the composite to meet the US DOE 2015 technical targets, including the introducing of a reinforcement support. Finally, all the technical targets such as electrical conductivity (\u3e100 S cm-1), the flexural strength (\u3e25 MPa), the corrosion resistance ( \u3c 1 μA cm-2), and gas permeability ( \u3c 10-5 cm3 (s cm2)-1) were achieved as well as low cost ( \u3c 5 $ per kW). The optimized formula and the detailed procedures to fabricate the MPC based composite were concluded

Minimalistic Unsupervised Learning with the Sparse Manifold Transform

We describe a minimalistic and interpretable method for unsupervised learning, without resorting to data augmentation, hyperparameter tuning, or other engineering designs, that achieves performance close to the SOTA SSL methods. Our approach leverages the sparse manifold transform, which unifies sparse coding, manifold learning, and slow feature analysis. With a one-layer deterministic sparse manifold transform, one can achieve 99.3% KNN top-1 accuracy on MNIST, 81.1% KNN top-1 accuracy on CIFAR-10 and 53.2% on CIFAR-100. With a simple gray-scale augmentation, the model gets 83.2% KNN top-1 accuracy on CIFAR-10 and 57% on CIFAR-100. These results significantly close the gap between simplistic ``white-box'' methods and the SOTA methods. Additionally, we provide visualization to explain how an unsupervised representation transform is formed. The proposed method is closely connected to latent-embedding self-supervised methods and can be treated as the simplest form of VICReg. Though there remains a small performance gap between our simple constructive model and SOTA methods, the evidence points to this as a promising direction for achieving a principled and white-box approach to unsupervised learning

Semantic Enhanced Knowledge Graph for Large-Scale Zero-Shot Learning

Zero-Shot Learning has been a highlighted research topic in both vision and language areas. Recently, most existing methods adopt structured knowledge information to model explicit correlations among categories and use deep graph convolutional network to propagate information between different categories. However, it is difficult to add new categories to existing structured knowledge graph, and deep graph convolutional network suffers from over-smoothing problem. In this paper, we provide a new semantic enhanced knowledge graph that contains both expert knowledge and categories semantic correlation. Our semantic enhanced knowledge graph can further enhance the correlations among categories and make it easy to absorb new categories. To propagate information on the knowledge graph, we propose a novel Residual Graph Convolutional Network (ResGCN), which can effectively alleviate the problem of over-smoothing. Experiments conducted on the widely used large-scale ImageNet-21K dataset and AWA2 dataset show the effectiveness of our method, and establish a new state-of-the-art on zero-shot learning. Moreover, our results on the large-scale ImageNet-21K with various feature extraction networks show that our method has better generalization and robustness

Multi-scale analysis of schizophrenia risk genes, brain structure, and clinical symptoms reveals integrative clues for subtyping schizophrenia patients

Analysis linking directly genomics, neuroimaging phenotypes and clinical measurements is crucial for understanding psychiatric disorders, but remains rare. Here, we describe a multi-scale analysis using genome-wide SNPs, gene-expression, grey matter volume (GMV) and the Positive and Negative Syndrome Scale scores (PANSS) to explore the etiology of schizophrenia. With 72 drug-naive schizophrenic first episode patients (FEPs) and 73 matched heathy controls, we identified 108 genes, from schizophrenia risk genes, that correlated significantly with GMV, which are highly co-expressed in the brain during development. Among these 108 candidates, 19 distinct genes were found associated with 16 brain regions referred to as hot clusters (HCs), primarily in the frontal cortex, sensory-motor regions and temporal and parietal regions. The patients were subtyped into three groups with distinguishable PANSS scores by the GMV of the identified HCs. Furthermore, we found that HCs with common GMV among patient groups are related to genes that mostly mapped to pathways relevant to neural signaling, which are associated with the risk for schizophrenia. Our results provide an integrated view of how genetic variants may affect brain structures that lead to distinct disease phenotypes. The method of multi-scale analysis that was described in this research, may help to advance the understanding of the etiology of schizophrenia

Ultrafast spin polarization in a multiferroic manganite BiFe0.5Mn0.5O3 thin film

In this work, we present observations of ultrafast carrier dynamics and spin polarization in a multiferroic manganite BiFe0.5Mn0.5O3 film excited by linearly and circularly polarized femtosecond pulses, respectively. The d-band charge transfer transition is reasonably assigned to Γ3 → Γ5. The transient reflectivity decay on a time scale as fast as only 0.3 ps is consistent with the picture of ultrafast electron-phonon coupling. The ultrafast switching of polarization ellipticity (\u3c 150 fs) originates from a transient coherent spin polarization by optical orientation. The ultrafast spin polarization switching is assigned to the Raman coherence process