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Bag manipulation through robots is complex and challenging due to the deformability of the bag. Based on dynamic manipulation strategy, we propose a new framework, ShakingBot, for the bagging tasks. ShakingBot utilizes a perception module to identify the key region of the plastic bag from arbitrary initial configurations. According to the segmentation, ShakingBot iteratively executes a novel set of actions, including Bag Adjustment, Dual-arm Shaking, and One-arm Holding, to open the bag. The dynamic action, Dual-arm Shaking, can effectively open the bag without the need to account for the crumpled configuration.Then, we insert the items and lift the bag for transport. We perform our method on a dual-arm robot and achieve a success rate of 21/33 for inserting at least one item across various initial bag configurations. In this work, we demonstrate the performance of dynamic shaking actions compared to the quasi-static manipulation in the bagging task. We also show that our method generalizes to variations despite the bag's size, pattern, and color., Comment: Manipulating bag through robots to bagging

Supplemental material, sj-docx-1-eso-10.1177_23969873231164728 for Genetic liability to migraine and functional outcome after ischemic stroke by Mengmeng Wang, Iyas Daghlas, Zhizhong Zhang, Dan Ye, Shun Li and Dandan Liu in European Stroke Journal

Supplemental material, sj-docx-1-eso-10.1177_23969873231164728 for Genetic liability to migraine and functional outcome after ischemic stroke by Mengmeng Wang, Iyas Daghlas, Zhizhong Zhang, Dan Ye, Shun Li and Dandan Liu in European Stroke Journal

The last decades are marked by massive and diverse image data, which shows increasingly high resolution and quality. However, some images we obtained may be corrupted, affecting the perception and the application of downstream tasks. A generic method for generating a high-quality image from the degraded one is in demand. In this paper, we present a novel GAN inversion framework that utilizes the powerful generative ability of StyleGAN-XL for this problem. To ease the inversion challenge with StyleGAN-XL, Clustering \& Regularize Inversion (CRI) is proposed. Specifically, the latent space is firstly divided into finer-grained sub-spaces by clustering. Instead of initializing the inversion with the average latent vector, we approximate a centroid latent vector from the clusters, which generates an image close to the input image. Then, an offset with a regularization term is introduced to keep the inverted latent vector within a certain range. We validate our CRI scheme on multiple restoration tasks (i.e., inpainting, colorization, and super-resolution) of complex natural images, and show preferable quantitative and qualitative results. We further demonstrate our technique is robust in terms of data and different GAN models. To our best knowledge, we are the first to adopt StyleGAN-XL for generating high-quality natural images from diverse degraded inputs. Code is available at https://github.com/Booooooooooo/CRI., Accepted by AAAI2023

Clarifying the relationship between salt-affected soils and their adjacent river systems is critical to address the challenges posed by soil salinization on agricultural production. Among the various biophysical and land management factors linked to soil salinization, few studies have investigated the importance of the distance along the river. Based on the Hetao Irrigation District of the Yellow River Basin, we collected 5314 soil samples and analyzed 17 soil parameters to explore the relationship between salt-affected soils and their distance along the river. Soil salinization was reinforced by the distance along the river, as a trade-off between soil ion accumulation and nutrient regulation. Soil total water-soluble salt content increased by 16.4 mg kg−1 every kilometer, likely due to ions leaching from the soils upstream and partially accumulating in the soils downstream, especially for Cl-, SO42-, and Na+. Greater input and less solubility of Ca2+ based soil amendments, phosphorus fertilizers, and organic materials on the less salt-affected soils upstream may explain the declines in soil Ca2+, available phosphorus, and soil organic matter with distance along the river. With every kilometer along the river, soil exchangeable sodium and cation exchange capacity increased by 8.89 × 10−4 and 1.26 × 10−2 cmol kg−1, respectively, which led to an increase in soil exchangeable sodium percentage by 9.59 × 10−5. The increase in soil exchangeable sodium along the river was mainly due to Na+ accumulation, while soil cation exchange capacity was regulated by soil organic matter and total nitrogen. Soil pH increased by 1.21 × 10−3 per kilometer along the river, associated with the decrease of soil organic matter. Future saline soil amelioration and reutilization initiatives at regional scales may be improved by accounting for the changes in soil physicochemical properties resulting from the distance along the river.

Information Bottleneck (IB) based multi-view learning provides an information theoretic principle for seeking shared information contained in heterogeneous data descriptions. However, its great success is generally attributed to estimate the multivariate mutual information which is intractable when the network becomes complicated. Moreover, the representation learning tradeoff, {\it i.e.}, prediction-compression and sufficiency-consistency tradeoff, makes the IB hard to satisfy both requirements simultaneously. In this paper, we design several variational information bottlenecks to exploit two key characteristics ({\it i.e.}, sufficiency and consistency) for multi-view representation learning. Specifically, we propose a Multi-View Variational Distillation (MV$^2$D) strategy to provide a scalable, flexible and analytical solution to fitting MI by giving arbitrary input of viewpoints but without explicitly estimating it. Under rigorously theoretical guarantee, our approach enables IB to grasp the intrinsic correlation between observations and semantic labels, producing predictive and compact representations naturally. Also, our information-theoretic constraint can effectively neutralize the sensitivity to heterogeneous data by eliminating both task-irrelevant and view-specific information, preventing both tradeoffs in multiple view cases. To verify our theoretically grounded strategies, we apply our approaches to various benchmarks under three different applications. Extensive experiments to quantitatively and qualitatively demonstrate the effectiveness of our approach against state-of-the-art methods.

Novel triazine-based covalent organic polycalix[4]arenes, CalCOPs, were synthesized via the copolymerization of calix[4]arene derivatives and 2,4,6-trichloro-1,3,5-triazine (TCT) or 2,4-dichloro-1,3,5-triazine (DCT). The resulting CalCOPs have permanent pores that can be regulated by the variation of the alkyl chain lengths of the calixarene backbones and the reaction sites. With the alkyl chain length at the low rim in calixarene units increasing from ethyl to butyl during the reaction, the Brunauer–Emmett–Teller surface areas decrease with surface areas of 280, 31.5, 18.4 and 1.6 m2 g−1 obtained for CalCOP1, CalCOP2, CalCOP3 and CalCOP4, respectively. Among these CalCOPs, CalCOP1 shows ultrahigh absorption for iodine capture in a water solution with an uptake of up to 232 wt%. Furthermore, the adsorption and release efficiency of iodine were obtained by using the UV–Vis spectroscopy. In addition, these polymers can be recycled at least five times while maintaining high removal capacity, suggesting that CalCOPs are ideal absorbent materials for reversible iodine capture in the mitigation of environmental issues.

With the rapid development of mobile devices, limited licensed spectrum resources can no longer meet the explosive growth of data traffic demand. Therefore, the industry and academia have set their sights on utilizing the unlicensed spectrum in the cellular network which is mainly used by the Wi-Fi network. As a result, it is crucial for the cellular network to harmoniously coexist with the Wi-Fi networks. Recently, the new radio in unlicensed spectrum (NR-U) network has been proposed to address the coexistence between the cellular and Wi-Fi networks from the perspective of beam or space. However, the spatial resource in cellular base stations (BSs), especially in the small-cell BSs, may be insufficient. In this work, we propose a novel joint spatial-temporal domain based scheme to address this. The joint resource allocation problem is formulated to maximize the total throughput of the coexisting NR-U and Wi-Fi networks. By using the mixed integer quadratic programming (MIQP), a joint spatial-temporal resource allocation scheme is obtained. Simulation results show that the joint spatial-temporal domain coexistence scheme can achieve a maximum of 30% and 58.3% gain in terms of the total throughput performance as compared with the sole carrier sense adaptive transmission (CSAT) and interference nulling scheme, respectively, under insufficient spatial resources.

A single-feed broadband circularly polarized microstrip antenna operating in millimeter-wave band is proposed. An Archimedean spiral radiator is used to realize circular polarization. By adding a special-shaped ring-slot structure with two stubs connecting the inner patch to the outer ground, the radiating direction, bandwidth, and axial ratio (AR) of the proposed antenna can be significantly improved. The antenna prototype is fabricated, and its performance is evaluated. Measured results show that its impedance bandwidth is 13 GHz from 21.1 to 34.1 GHz (46.43% referring to 28 GHz). The axial-ratio bandwidth is 8.35 GHz from 23.85 to 32.2 GHz (29.82% referring to 28 GHz). The gain at 28 GHz is 6.49 dBi.

The purpose of restoration strategy is to repair the combat system in time after the node is attacked so as to reduce the impact of functional failure. The combat system is modeled into a heterogeneous combat network, and its combat capability is measured by functional reliability based on the functional chain structure. This chapter proposes an edge increasing strategy with the goal of maximizing functional reliability and combines optional edges and connection costs as constraints. The artificial colony algorithm was used to solve the repair model. Simulation experiments were carried out under four node attack strategies. The results verify the effectiveness of the repair model and prove that the proposed method is superior to other repair algorithms.

With the formal commercial use of the fifth generation mobile communication technology (5G) in China, the Internet of Things (IoT) industry has entered a period of innovation and development. The Internet of Things provides an open sharing platform for a large number of terminal devices. However, these devices will generate a large number of semi-structured log, it is urgent to automatic parsing. Parsing unstructured logs in different formats into structural templates is the first for later parsing. An online log parsing method based on prefix tree is proposed in this paper. Firstly, we extract the first character of the log template to form a string. Secondly, we structure the parse tree to obtain the string of the new log message. Thirdly, we compare with the string in the log template to dynamical update the similarity threshold. Finally, we update the parse tree in real time.

Minimum mean square error (MMSE) detection algorithm is near-optimal for uplink massive MIMO systems, but it involves matrix inversion with high complexity. Thus, the conventional Gauss-Seidel (GS) method has been applied for obtain a low-complexity MMSE detector without employing the computationally intensive matrix inversion. In this paper, we propose an improving GS method for the conventional GS method based on block matrix in order to reduce complexity and accelerate the convergence rate. Simulation results show that the proposed algorithm can closely match the performance of the MMSE algorithm with few numbers of iterations. It also outperforms GS method in terms of bit error rate (BER) performance with same number of iterations.

The design of the baseband board for many types of instrumentation developed is limited to verify its feasibility by implementation. On this basis we propose a detailed feasibility analysis method before the design of the baseband board to prevent the waste of the manpower and time resources because of the shortage of chip resources, which provided a reference for the design of the baseband board. Firstly we determine the model of core processor based on LTE-A characteristics and baseband board requirements; then we focus on the storage capacity and bus capacity of the baseband board to ensure that the selected components have sufficient capacity and margin; finally we prove the correctness of the feasibility analysis through the test on the baseband board, and it also provides the reference for other hardware chip selection.

With the development of society, human living space and scientific and technological equipment continue to extend to the third dimension, that is, high space. Long time, high precision, flexible and interactive measurement methods for vertical height are widely demanded. In this paper, a differential barometric altimetry algorithm based on storage calibration and inertial sensor fusion is proposed. The main technical idea is to introduce dynamic barometric reference point on the basis of traditional differential barometric altimetry, and provide reference barometric pressure dynamically for measuring points by wireless way. Meanwhile, measuring points are checked by historical data stored in inertial sensor fusion, to realize a set of motion state reliability judgment mechanism, through which, the filter parameters before final output can be adjusted dynamically. In addition, the original sensor data is filtered with median filter fused recursive average filter to reduce the noise before the operation and improve the measurement stability. This method can be applied to the fields of indoor positioning, four axis aircraft, hoisting operation and engineering rough survey.

Limestone-gypsum WFGD is the most widely used to control SO2 emission of coal-fired power plants in China. Although SO2 and a variety of pollutants can be efficiently removed by WFGD. The WFGD has great potential in controlling SO2 emissions and saving energy and reducing consumption due to the influence of operating conditions of coal-fired power plants after ultra-low emissions. In order to explore and analyse the feasibility of e-CPSs in operation optimizing of WFGD. The concept of e-CPSs is introduced systematically. Then the main building blocks of e-CPSs applied to WFGD are described in detail. The existing problems of WFGD are analysed. The operation optimizing method of WFGD based on e-CPSs is introduced. E-CPSs as a new more efficient and reliable intelligent control system. The prospect and benefit of its application in WFGD of coal-fired power plant are discussed in this paper.

A series of amino-bridged covalent organic polycalix [4]arenes (CaCOPs) were prepared by copolymerization of a modified calix [4]arene intermediate with different P-aryl diamines, and the CaCOPs can be used for iodine uptake in water. Because they possess many effective sorption sites, including triazine groups and macrocyclic π-rich cavities in the skeleton, as well as permanent pores. Among these polymers, CaCOP3 exhibit ultrahigh iodine solution uptake up to 310 wt %. Furthermore, the detailed analyses of iodine-loaded CaCOPs indicated the coexistence of physical and chemical interactions between CaCOPs and iodine. In addition, these polymers can be recycled 5 times while maintaining high removal capacity, demonstrating that CaCOPs are an ideal absorbent material as a class of promising porous materials for environmental remediation.

[18F]ML-10 is a novel apoptosis radiotracer for positron emission tomography (PET). We assess the apoptosis response of intracranial tumor early after CyberKnife (CK) treatment by [18F]ML-10 PET imaging. 29 human subjects (30 lesions), diagnosed with intracranial tumors, underwent CK treatment at 14-24 Gy in 1-3 fractions, had [18F]ML-10 positron emission tomography/computed tomography (PET/CT) before (pre-CK) and 48 hours after (post-CK) CK treatment. Magnetic resonance imaging (MRI) scans were taken before and 8 weeks after CK treatment. Voxel-based analysis was used for the imaging analysis. Heterogeneous changes of apoptosis in tumors before and after treatment were observed on voxel-based analysis of PET images. A positive correlation was observed between the change in radioactivity (

Melon is an important horticultural crop worldwide.In recent years,melon cultivation has been significantly affected by increasingly serious continuous cropping problems.Allelopathy is an important factor in the continuous cropping problems of melon.Organic acids are allelochemicals that are commonly found in Cucurbitaceae crops.However,there have been no reports on the isolation and characterization of allelochemicals from melon.In this research,we analyzed the effects of seven organic acid allelochemicals on the melon germplasm 'New Silverlit'.We evaluated the allelopathic effects of malic acid,citric acid,hydroxybenzoic acid,cinnamic acid,ferulic acid,salicylic acid,and coumaric acid.Seeds and seedlings were treated with different concentrations of the seven organic acids and seed germination percentages,morphological indexes,and changes in protective enzyme systems of melon seedlings were determined.The results showed that the selected organic acids in the experiment affected seed germination and seedling growth to varying degrees.Different concentrations of the same organic acids had different effects.In general,lower concentrations of organic acids showed promoting effects,whereas higher concentrations inhibited seed germination and seedling growth.In some cases,the same concentration of different organic acids had different effects on the various germination and growth parameters.Malic acid and citric acid increased the seed germination percentage and germination index.Hydroxybenzoic acid resulted in decreased seed germination percentage and germination index,while ferulic acid and coumaric acid showed a promoting effect on these parameters at low concentrations and an inhibitory effect at high concentrations.Cinnamic acid inhibited seed germination.Salicylic acid promoted seed germination at low concentrations and inhibited it at high concentrations.Seedlings treated with malic acid,ferulic acid,salicylic acid,and coumaric acid showed significantly lower fresh weight compared with the control.Seedlings treated with low concentrations of citric acid,hydroxybenzoic acid,and cinnamic acid showed increased fresh weight compared with the control,but showed lower fresh weight than the control when treated with high concentrations of these organic acids.Malic acid promoted radicle growth but inhibited hypocotyl growth.Hydroxybenzoic acid,citric acid,cinnamic acid,and salicylic acid inhibited radicle growth at low concentrations and inhibited hypocotyl growth at high concentrations.Coumaric acid and ferulic acid inhibited radicle growth and hypocotyl growth.At high concentrations,cinnamic acid showed the strongest inhibitory effect on seed germination and hypocotyl growth among the tested organic acids,suggesting that it may be one of the main allelochemicals of melon.The changes in the protective enzyme system were relatively complex.The activity of superoxide dismutase(SOD) decreased with increasing concentrations of hydroxybenzoic acid and salicylic acid.SOD activity increased in response to low concentrations of citric acid,ferulic acid,and coumaric acid,but decreased in response to higher concentrations of these acids.Cinnamic acid and malic acid treatments tended to cause a decrease in SOD activity.All of the tested organic acids significantly enhanced catalase activity,but the trends in catalase activity differed among the various organic acids.Peroxidase activity did not show a particular trend in response to organic acids.The malondialdehyde contents in melon seedlings treated with the seven organic acids were lower than that in control seedlings.These experimental results partly reveal the allelopathic effect of seven organic acid allelochemicals on melon and the mechanisms involved in the response to these compounds.

A new approach for the design of an optoelectronic oscillator (OEO) based on an injection-locked (IL) technique is introduced. In the IL OEO, a highly stable microwave reference resource can be used as external frequency reference in IL for side mode suppression and phase noise reduction at low offset frequencies relative to a free running oscillator. With the proposed method, we obtained a highly stable 9.5 GHz microwave signal with the phase noise level of −125 dB/Hz at 1 kHz offset frequency, −143 dBc/Hz at 10 kHz offset frequency, the side mode suppression ratio (SMSR) is larger than 40 dB.

Aiming at the network architecture ossification and the diversity of access technologies issues, this paper researches the cross-domain virtual network embedding algorithm. By analysing the topological attribute from the local and global perspective of nodes in the virtual network and the physical network, combined with the local network resource property, we rank the embedding priority of the nodes with PCA and TOPSIS methods. Besides, the link load distribution is considered. Above all, We proposed an cross-domain virtual network embedding algorithm based on topology and resource attributes. The simulation results depicts that our algorithm increases the acceptance rate of multi-domain virtual network requests, compared with the existing virtual network embedding algorithm.

The composition and the emphasis of environmental protection investment in the 10th Five-Year Plan period have been studied, and the result shows that the connotation of environmental investment, the incompatibility between investment direction and investment demand, and unreasonable investment composition were the most important influencing factors. If the investment in sewage treatment and solid waste disposal facilities is defined as investment in urban environmental infrastructure, environmental protection investment will decrease by about 50 percent. The deficiency of investment was concealed by the superficial increase of urban environmental infrastructure construction investment and the inappropriate extension of the connotation of environmental investment. The distortion of environmental protection investment is very serious. It is suggested that the concept of environmental protection investment should be redefined, the statistical methods of environmental protection investment be modified, and at the same time, the environmental protection investment be strengthened and the efficiency be promoted in order to enhance the efficiency of pollution abatement.

We propose a new scheme of an optoelectronic oscillator (OEO) based on injection locking (IL) technique. The side mode suppression ratio is more than 40dB and the phase noise at low offset frequencies is reduced.

Two tetrafunctional poly-isocyanate energetic curing agents with different molecular weight (EO03-1 and EO03-3) were synthesized via reaction of azido polyether polyol with hexamethylene diisocyanate (HDI). The reaction conditions and post processing steps were investigated. There was an exothermic peak at 252.89 °C referring to the thermal decomposition of azido group in differential scanning calorimetry (DSC) plot of EO03-3 and the glass transition temperature (Tg) was found at -47.13 °C. Thermal decomposition peak of GAP/EO03-3 elastomer was found to be at 254.56 °C and the Tg was found at -45.78 °C. To estimate the potential utility of EO03 in solid rocket propellants, an nitric acid ester, triethylene glycol dinitrate (TEGDN), was added to GAP/EO03-3 system as an energetic plasticizer. It was homogeneous even as the amount of TEGDN was equal to GAP/EO03-3 system and Tg of GAP/EO03-3/50%TEGDN was found at -69.08 °C. Mechanical properties of GAP/EO03 and GAP/EO03-3/chain extender were also studied.

Base on the study and analysis of existing ordinary nozzle and their atomization mechanism, the New-type of water mist fire extinguishing nozzle is developed and experimentally studied with Laser Doppler Velocimetry (LDV) and Phase Doppler Particle Analyzer (PDPA). The characteristics of flow coefficient K, atomizing angle θ, Sauter Mean Diameter (SMD) and the distribution of axial velocity in different test pressure are investigated. We draw the conclusion that the best range of working pressure is 1.5 MPa to 3.0 MPa, SMD is similar to "V" shape, axial velocity is similar to normal distribution, the average of flow coefficient K is 1955.575 and the range of atomizing angle is 60o to 62.8o. Keywords-water mist; SMD; axial velocity; atomizing angle

The paper investigates the integrated routing (IR) algorithm in IP/MPLS over WDM networks, and presents a simple dynamic IR scheme, bandwidth defragmenting method (BDM). It makes use of the statistical information of link-state and resource availability to determine whether to route an arriving label switched path (LSP) request over the existing topology or to open new wavelength paths. The IR algorithm based on BDM can reduce the number of bandwidth fragments and increase the utility of network resource. Simulation results show that the scheme can improve the performance of the network significantly.

Puts forward a method of adding compensative components into the input signal to eliminate the ripple torque of inverter-fed PM synchronous motors. Based on the fact that when sinusoidal input of certain frequency is added into the signal input, there will be produced a compensative torque component in the output torque of the PMSM, a multilayer feedforward neural network is constructed to produce the compensative inputs needed. Experimental results indicate that the proposed compensation strategy can effectively attenuate the ripple torque.