arXiv subjects

Xiaoman Wang

Publications and source records attributed to Xiaoman Wang.

23 records · Page 2Linked to original sources

arXiv2019

Efficient Fully Convolution Neural Network for Generating Pixel Wise Robotic Grasps With High Resolution Images

This paper presents an efficient neural network model to generate robotic grasps with high resolution images. The proposed model uses fully convolution neural network to generate robotic grasps for each pixel using 400 $\times$ 400 high resolution RGB-D images. It first down-sample the images to get features and then up-sample those features to the original size of the input as well as combines local and global features from different feature maps. Compared to other regression or classification methods for detecting robotic grasps, our method looks more like the segmentation methods which solves the problem through pixel-wise ways. We use Cornell Grasp Dataset to train and evaluate the model and get high accuracy about 94.42% for image-wise and 91.02% for object-wise and fast prediction time about 8ms. We also demonstrate that without training on the multiple objects dataset, our model can directly output robotic grasps candidates for different objects because of the pixel wise implementation.

cs.RO↗

arXiv2019

Doping-induced superconductivity in the van der Waals superatomic crystal Re$_6$Se$_8$Cl$_2$

Superatomic crystals are composed of discrete modular clusters that emulate the role of atoms in traditional atomic solids$^{1-4}$. Owing to their unique hierarchical structures, these materials are promising candidates to host exotic phenomena, such as superconductivity and magnetism that can be revealed through doping$^{5-10}$. Low-dimensional superatomic crystals hold great promise as electronic components$^{11,12}$, enabling these properties to be applied to nanocircuits, but the impact of doping in such compounds remains unexplored. Here we report the electrical transport properties of Re$_6$Se$_8$Cl$_2$, a two-dimensional superatomic semiconductor$^{13,14}$. Using an in situ current annealing technique, we find that this compound can be n-doped through Cl dissociation, drastically altering the transport behaviour from semiconducting to metallic and giving rise to superconductivity below $\sim$ 9 K. This work is the first example of superconductivity in a van der Waals (vdW) superatomic crystal; more broadly, it establishes a new chemical strategy to manipulate the electronic properties of vdW materials with labile ligands.

cond-mat.mtrl-sci↗

arXiv2019

Thermal characterization of convective heat transfer in microwires based on modified steady state "hot wire" method

The convection plays a very important role in heat transfer when MEMS work under air environment. However, traditional measurements of convection heat transfer coefficient require the knowledge of thermal conductivity, which makes measurements complex. In this work, a modified steady state "hot wire" (MSSHW) method is proposed, which can measure the heat transfer coefficient of microwires' convection without the knowledge of thermal conductivity. To verify MSSHW method, the convection heat transfer coefficient of platinum microwires was measured in the atmosphere, whose value is in good agreement with values by both traditional measurement methods and empirical equations. Then, the convection heat transfer coefficient of microwires with different materials and diameters were measured by MSSHW. It is found that the convection heat transfer coefficient of microwire is not sensitive on materials, while it increases from 86 W/(m$^2$K) to 427 W/(m$^2$K) with the diameter of microwires decreasing from 120 $μ$m to 20 $μ$m. Without knowing thermal conductivity of microwires, the MSSHW method provides a more convenient way to measure the convective effect.

physics.app-ph↗

arXiv2019

Vision Based Picking System for Automatic Express Package Dispatching

This paper presents a vision based robotic system to handle the picking problem involved in automatic express package dispatching. By utilizing two RealSense RGB-D cameras and one UR10 industrial robot, package dispatching task which is usually done by human can be completed automatically. In order to determine grasp point for overlapped deformable objects, we improved the sampling algorithm proposed by the group in Berkeley to directly generate grasp candidate from depth images. For the purpose of package recognition, the deep network framework YOLO is integrated. We also designed a multi-modal robot hand composed of a two-fingered gripper and a vacuum suction cup to deal with different kinds of packages. All the technologies have been integrated in a work cell which simulates the practical conditions of an express package dispatching scenario. The proposed system is verified by experiments conducted for two typical express items.

cs.RO↗

arXiv2016

The unexpected thermal conductivity from graphene disk, carbon nanocone to carbon nanotube

Graphene and single-wall carbon nanotube (SWCNT) have attracted great attention because of their ultra-high thermal conductivity. However, there are few works exploring the relations of their thermal conductivity quantitatively. The carbon nanocone (CNC) is a graded structure fall in between graphene disk (GD) and SWCNT. We perform non-equilibrium molecular dynamics (NEMD) simulation to study the thermal conductivity of CNC with different apex angles, and then compare them with that of GD and SWCNT. Our results show that, different from the homogeneous thermal conductivity in SWCNT, the CNC also has a natural graded thermal conductivity which is similar to the GD. Unexpectedly, the graded rate keeps almost the same when the apex angle decreases from 180° (GD) to 19°, but then suddenly declines to zero when the apex angle decreases from 19° to 0° (SWCNT). What is more interesting, the graded effect is not diminished when the interatomic force constant is weakened and mean free path is shorten. That is, besides nanoscale, the graded effect can be observed in macroscale graphene or CNC structures.

cond-mat.mes-hall↗