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148 results on '"Ge, Wenqi"'

1. Commonsense Scene Graph-based Target Localization for Object Search

Author

Ge, Wenqi, Tang, Chao, and Zhang, Hong

Subjects
Computer Science - Robotics
Abstract

Object search is a fundamental skill for household robots, yet the core problem lies in the robot's ability to locate the target object accurately. The dynamic nature of household environments, characterized by the arbitrary placement of daily objects by users, makes it challenging to perform target localization. To efficiently locate the target object, the robot needs to be equipped with knowledge at both the object and room level. However, existing approaches rely solely on one type of knowledge, leading to unsatisfactory object localization performance and, consequently, inefficient object search processes. To address this problem, we propose a commonsense scene graph-based target localization, CSG-TL, to enhance target object search in the household environment. Given the pre-built map with stationary items, the robot models the room-level knowledge with object-level commonsense knowledge generated by a large language model (LLM) to a commonsense scene graph (CSG), supporting both types of knowledge for CSG-TL. To demonstrate the superiority of CSG-TL on target localization, extensive experiments are performed on the real-world ScanNet dataset and the AI2THOR simulator. Moreover, we have extended CSG-TL to an object search framework, CSG-OS, validated in both simulated and real-world environments. Code and videos are available at https://sites.google.com/view/csg-os.

Published
2024

2. GraspGPT: Leveraging Semantic Knowledge from a Large Language Model for Task-Oriented Grasping

Author

Tang, Chao, Huang, Dehao, Ge, Wenqi, Liu, Weiyu, and Zhang, Hong

Subjects
Computer Science - Robotics
Abstract

Task-oriented grasping (TOG) refers to the problem of predicting grasps on an object that enable subsequent manipulation tasks. To model the complex relationships between objects, tasks, and grasps, existing methods incorporate semantic knowledge as priors into TOG pipelines. However, the existing semantic knowledge is typically constructed based on closed-world concept sets, restraining the generalization to novel concepts out of the pre-defined sets. To address this issue, we propose GraspGPT, a large language model (LLM) based TOG framework that leverages the open-end semantic knowledge from an LLM to achieve zero-shot generalization to novel concepts. We conduct experiments on Language Augmented TaskGrasp (LA-TaskGrasp) dataset and demonstrate that GraspGPT outperforms existing TOG methods on different held-out settings when generalizing to novel concepts out of the training set. The effectiveness of GraspGPT is further validated in real-robot experiments. Our code, data, appendix, and video are publicly available at https://sites.google.com/view/graspgpt/., Comment: 15 pages, 8 figures

Published
2023

19. LED-side-pumped passively Q-switched Nd:GdVO4 laser without active temperature control.

Author

Xiao, Hong, Zhao, Tianzhuo, Ge, Wenqi, Li, Mingshan, Nie, Shuzhen, Zhong, Fanghui, Li, Fei, Huang, Ke, and Kuang, Cuifang

Subjects
Q-switched lasers, ABSORPTION cross sections, THERMAL expansion, OPTICAL pumping, TEMPERATURE control
Abstract

Nd:GdVO4 has the advantages of a small thermal expansion coefficient, a large absorption bandwidth, and a large absorption and emission cross section, making it a good gain material for LED-pumping without active temperature control. In this paper, the LED-pumped Nd:GdVO4 laser was first generated in the quasi-continuous-wave and the passively Q-switched regime. With the incident pump energy of 8.0 mJ, the Nd:GdVO4 laser demonstrated energy of 195 μJ at 1063 nm in the quasi-continuous-wave regime, the slope efficiency was 4.7%, and the optical conversion efficiency was 2.4%. In the passively Q-switched regime, Cr:YAG was used as a saturable absorber and the energy obtained was 6.53 μJ with a pulse duration of 806.8 ns. These experimental results indicated the application prospect of LED-pumped lasers. [ABSTRACT FROM AUTHOR]

Published
2023
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22. A heuristic configuration solving process planning method for mechanical product configuration by imitating the crystal crystallization process

Author

Qiu Le-miao, Zhou Huifang, Zhang Shuyou, Wang Zili, and Ge Wenqi

Subjects
0209 industrial biotechnology, Heuristic (computer science), Computer science, Mechanical Engineering, Process (computing), 02 engineering and technology, Industrial and Manufacturing Engineering, Computer Science Applications, Crystal (programming language), Set (abstract data type), Configurator, 020901 industrial engineering & automation, Control and Systems Engineering, Product (mathematics), Component (UML), Algorithm, Software, Configuration design
Abstract

Configuration design is a process of composing customized product from a set of predefined component types with a set of well-defined rules which decide how items can be selected and combined. The configuration solving process is to instantiate all component types into instances. However, the configurator faces the problem of how to determine the instantiation order of component types in the configuration solving process. An unreasonable instantiation order may reduce the accuracy of the configuration result and extend the time required to finish the configuration. In response to the above problem, a heuristic configuration solving process planning method by imitating the crystal crystallization process (CCP) was proposed. According to the product configuration rules, the frequent itemset mining algorithm was used to mine the correlation between the attribute parameters of the product configuration unit. By imitating the CCP and utilizing the calculated coupling strength, the configurator will determine a suitable instantiation sequence for component types. This method has been applied in the GB10 elevator produced by Canny Elevator. It is found that the configuration accuracy has been improved and the consumption of time has been reduced.

Published
2021

23. Thymine as a Biocompatible Surface Passivator for a Highly Efficient and Stable Planar Perovskite Solar Cell

Author

Liu Qiuju, Ge Wenqi, Chen Jiapo, Tian Qingyong, Yanan Zhao, Sun Jianxia, Hua Bai, Jinmeng Zhang, Qiang Zhou, and Fan Bin

Subjects
Materials science, integumentary system, Passivation, Energy Engineering and Power Technology, Perovskite solar cell, Thymine, Nucleobase, chemistry.chemical_compound, Planar, chemistry, Chemical engineering, Materials Chemistry, Electrochemistry, Chemical Engineering (miscellaneous), Electrical and Electronic Engineering, Layer (electronics), DNA, Perovskite (structure)
Abstract

The inevitable defects on the surface of the perovskite layer seriously reduce the efficiency and stability of perovskite solar cells. In this work, thymine, one of the four nucleobases in DNA, is ...

Published
2021

30. A mixed solvent for rapid fabrication of large-area methylammonium lead iodide layers by one-step coating at room temperature

Author

Liu Qiuju, Sun Xuan, Tian Qingyong, Yinxing Ma, Hua Bai, Fang Zhuliang, Ge Wenqi, Tong-Yi Zhang, Fan Bin, and Yanan Zhao

Subjects
chemistry.chemical_classification, Materials science, Renewable Energy, Sustainability and the Environment, Methylamine, Iodide, 02 engineering and technology, General Chemistry, 021001 nanoscience & nanotechnology, Evaporation (deposition), law.invention, Solvent, chemistry.chemical_compound, chemistry, Chemical engineering, law, General Materials Science, Crystallization, 0210 nano-technology, Mesoporous material, Tetrahydrofuran, Perovskite (structure)
Abstract

A simple and reliable method of preparing high-quality perovskite layers is essential for the high photovoltaic performance of perovskite solar cells. Here, a new low-boiling-point solvent system composed of methylamine solution in ethanol and tetrahydrofuran is designed for methylammonium lead iodide precursor solutions. Concentrated methylammonium lead iodide precursor solutions with a concentration of 2.1 M are obtained, and smooth and compact methylammonium lead iodide films with an area of up to 600 cm2 are prepared directly by one-step spin-coating or blade-coating the precursor solution at room temperature. The rapid evaporation of the solvent and strong interaction between methylamine and methylammonium lead iodide lead to a high crystal nucleus density and intermediate-free crystallization path, and consequently result in a compact and smooth film. The high-quality methylammonium lead iodide films show excellent photovoltaic performance in conventional mesoporous solar cells with efficiencies of 20.0% (0.1 cm2) and 15.6% (10 cm2). Because of the low cost and ease of operation, the solvent system developed in this work is promising both in the laboratory and for future industrialization.

Published
2019

33. 侧面折返泵浦多边形Nd∶YAG薄片的热效应研究

Author

陈巧 Chen Qiao, 葛文琦 Ge Wenqi, 边圣伟 Bian Shengwei, 王天齐 Wang Tianqi, and 邱基斯 Qiu Jisi

Subjects
Electrical and Electronic Engineering, Atomic and Molecular Physics, and Optics, Electronic, Optical and Magnetic Materials
Published
2022

37. Floc formation and growth mechanism during magnesium hydroxide and polyacrylamide coagulation process for reactive orange removal.

Author

Zhao, Jianhai, Li, Bo, Wang, Anmin, Ge, Wenqi, and Li, Wenpu

Subjects
COAGULANTS, COAGULATION, MAGNESIUM hydroxide, ZETA potential, FOURIER transform infrared spectroscopy, POLYACRYLAMIDE, MAGNESIUM ions
Abstract

Magnesium hydroxide is commonly used as a coagulant for treating reactive dyes wastewater. However, the flocs are relatively small and coagulation process needs longer sedimentation time. Large flocs and short operation time are important for good coagulation performance. Coagulation floc formation and growth processes using magnesium hydroxide and polyacrylamide (PAM) dual-coagulant were investigated with controlled experiments through flocculation index (FI), floc size distribution, zeta potential, scanning electron microscopy and Fourier transform infrared spectroscopy. The final average floc size reached 58.5 and 4.96 μm with and absence of PAM addition during slow mixing periods. PAM feeding time and magnesium hydroxide formation time can affect the floc formation and growth processes. The results showed that floc formed rapidly during magnesium hydroxide generation within 90 s and flocs aggregated together by PAM bridging function. Reactive orange removal efficiency reached 99.3% with rapid mixing 250 rpm at 90 s during 100 mg/L magnesium ion addition, then adding 6 mg/L PAM at the beginning of slow mixing period in dual-coagulant system. [ABSTRACT FROM AUTHOR]

Published
2022
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40. Study on hydrodynamic effects in longitudinal forced convection for high power laser amplifier

Author

Liu Hao, Yong Liu, He Jianguo, Lianwen Fan, Hao Li, Jin Yu, Yanzhong Chen, Ge Wenqi, Mo Zeqiang, and Wang Jinduo

Subjects
Physics::Fluid Dynamics, Materials science, Convective heat transfer, Heat transfer, Flow conditioning, Thermal, Surface roughness, Heat transfer coefficient, Mechanics, Forced convection, Volumetric flow rate
Abstract

Thermal effect becomes more prominent in the laser gain medium, to overcome this problem, the forced convective heat transfer with reliability and durability is widely used. The hydro-structures of dimensions of the flow channel affect the thermal performance immediately and efficiently. In this paper, with proposed cooling configuration based on longitudinal forced convective heat transfer, the factors of flow rate, state of flow field and surface roughness are investigated. The results reveal that fully developed flow state, higher flow rate and rougher surface lead to a better cooling capability. In the simulation results with 30 L/min flow rate, the calculated averaged convective heat transfer coefficient is as high as 104 W/m2 ·K, and with slightly fluctuations in fully developed flow period.

Published
2019

41. Development and test of a 300 kW superconducting homopolar generator

Author

Ge, Wenqi, Tang, Shaodong, Yan, Luguang, Yi, Changlian, and Qin, Jie

Subjects
Superconducting generators -- Design and construction, Superconducting magnets -- Usage, Business, Electronics, Electronics and electrical industries
Abstract

A 300 kW superconducting homopolar generator has been jointly developed and tested by Wuhan Marine Electrical Propulsion Research Institute and Institute of Electrical Engineering, Academia Sinica. It is a drum-type machine with superconducting excitation and solid brush current collection, 1300 rpm rotating speed, 230-330 V output voltage. The armature rotor diameter is 620 mm, effective length is 600 mm, the average radial magnetic field in the armature region is 0.75 T. During test it reached 300 kW nominal output power and worked stably. The design and development of the machine and its main components, together with its test results are presented.

Published
1996

48. A homogeneous cooling scheme investigation for high power slab laser

Author

Lianwen Fan, Liu Hao, Zhongwei Fan, Yanzhong Chen, Ge Wenqi, He Jianguo, Mo Zeqiang, Lin Weiran, Dan Jia, and Jin Yu

Subjects
Physics::Fluid Dynamics, Temperature gradient, Active laser medium, Materials science, Convective heat transfer, Hydrostatic pressure, Homogeneity (physics), Heat transfer, Mechanics, Forced convection, Volumetric flow rate
Abstract

The forced convective heat transfer with the advantages of reliability and durability is widely used in cooling the laser gain medium. However, a flow direction induced temperature gradient always appears. In this paper, a novel cooling configuration based on longitudinal forced convective heat transfer is presented. In comparison with two different types of configurations, it shows a more efficient heat transfer and more homogeneous temperature distribution. The investigation of the flow rate reveals that the higher flow rate the better cooling performance. Furthermore, the simulation results with 20 L/min flow rate shows an adequate temperature level and temperature homogeneity which keeps a lower hydrostatic pressure in the flow path.

Published
2017

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