arXiv subjects

Changan Chen

Publications and source records attributed to Changan Chen.

39 records · Page 3Linked to original sources

arXiv2019

Effect of gallium doping on bubbling and helium retention in aluminum exposed to low-energy helium plasma

Surface bubbling and helium retention of pure aluminum and a solid solution of aluminum-gallium(Ga) alloy exposed to low-energy He plasma has been investigated with the fluence of 1.8E24 He/m2 at room temperature . Surface morphology observations show that after irradiation, the average size of He bubbles on Al-1.8 at.% Ga alloy is around 1.8 micro metre, smaller than that on pure Al. Ga doping noticeably increases the area density of the bubble. The thermal desorption spectroscopyshows that the release amount of He in Al-1.8 at.% Ga alloy is 1.77E21 He/m2, nearly three orders of magnitude higher than that in pure Al, whlie the He desorption peak of Al-1.8 at.% Ga alloy is 480 K, much lower than 580 K of pure Al. The results of slow positron annihilation spectroscopy (SPAS) indicate that the vacancy type defects were introduced by He plasma irradiation; and lattice distortion caused by Ga doping plays an important role in determining surface bubbling and He retention characteristics of Al-1.8 at.% Ga.

cond-mat.mtrl-sci↗

arXiv2019

Comparison of deuterium retention in tungsten exposed to deuterium plasma and gas

Deuterium(D) retention behavior in tungsten(W) exposed to deuterium plasma and gas was studied by means of thermal desorption spectroscopy (TDS): deuterium plasma exposure in which W was exposed to D plamsa with 35 eV/D at 393 K to the fluence of 3.8E24 D/m2; D2 gas charging in which W was exposed to D2 gas of 500 kPa at 773 K for 4 hours. TDS shows that the total D retention in plasma exposure W is 1.00E22 D/m2, one order of magnitude higher than that of gas charging W; however, the D2 desorption peak of gas charging W is 952 K, much higher than 691 K of plasma exposure W. The detrapping energies of deuterium were determined experimentally from the measured peak temperatures at different heating rates and were found to be 2.17 eV for gas charging W and 1.04 eV for plasma exposure W, respectively.

cond-mat.mtrl-sci↗

arXiv2019

Crowd-Robot Interaction: Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learning

Mobility in an effective and socially-compliant manner is an essential yet challenging task for robots operating in crowded spaces. Recent works have shown the power of deep reinforcement learning techniques to learn socially cooperative policies. However, their cooperation ability deteriorates as the crowd grows since they typically relax the problem as a one-way Human-Robot interaction problem. In this work, we want to go beyond first-order Human-Robot interaction and more explicitly model Crowd-Robot Interaction (CRI). We propose to (i) rethink pairwise interactions with a self-attention mechanism, and (ii) jointly model Human-Robot as well as Human-Human interactions in the deep reinforcement learning framework. Our model captures the Human-Human interactions occurring in dense crowds that indirectly affects the robot's anticipation capability. Our proposed attentive pooling mechanism learns the collective importance of neighboring humans with respect to their future states. Various experiments demonstrate that our model can anticipate human dynamics and navigate in crowds with time efficiency, outperforming state-of-the-art methods.

cs.RO↗