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Deep convolution neural networks have proven their powerful ability in comparing many tasks of computer vision due to their strong data learning capacity. In this paper, we propose a novel end-to-end denoising network, termed Fourier embedded U-shaped network (FEUSNet). By analyzing the amplitude spectrum and phase spectrum of Fourier coefficients, we find that low-frequency features of an image are in the former while noise features are in the latter. To make full use of this characteristic, Fourier features are learned and are concatenated as a prior module that is embedded into a U-shaped network to reduce noise while preserving multi-scale fine details. In the experiments, we first present ablation studies on the Fourier coefficients' learning networks and loss function. Then, we compare the proposed FEUSNet with the state-of-the-art denoising methods in quantization and qualification. The experimental results show that our FEUSNet performs well in noise suppression and preserves multi-scale enjoyable structures, even outperforming advanced denoising approaches. [ABSTRACT FROM AUTHOR]

In this article, we propose an effective grasp detection network based on an improved deformable convolution and spatial feature center mechanism (DCSFC-Grasp) to precisely grasp unidentified objects. DCSFC-Grasp includes three key procedures as follows. First, improved deformable convolution is introduced to adaptively adjust receptive fields for multiscale feature information extraction. Then, an efficient spatial feature center (SFC) layer is explored to capture the global remote dependencies through a lightweight multilayer perceptron (MLP) architecture. Furthermore, a learnable feature center (LFC) mechanism is reported to gather local regional features and preserve the local corner region. Finally, a lightweight CARAFE operator is developed to upsample the features. Experimental results show that DCSFC-Grasp achieves a high accuracy (99.3% and 96.1% for the Cornell and Jacquard grasp datasets, respectively) and even outperforms the existing state-of-the-art grasp detection models. The results of real-world experiments on the six-DoF Realman RM65 robotic arm further demonstrate that our DCSFC-Grasp is effective and robust for the grasping of unknown targets. [ABSTRACT FROM AUTHOR]

Determining the quality of Ti-6Al-4V parts fabricated by selective laser melting (SLM) remains a challenge due to the high cost of SLM and the need for expertise in processes and materials. In order to understand the correspondence of the relative density of SLMed Ti-6Al-4V parts with process parameters, an optimized extreme gradient boosting (XGBoost) decision tree model was developed in the present paper using hyperparameter optimization with the GridsearchCV method. In particular, the effect of the size of the dataset for model training and testing on model prediction accuracy was examined. The results show that with the reduction in dataset size, the prediction accuracy of the proposed model decreases, but the overall accuracy can be maintained within a relatively high accuracy range, showing good agreement with the experimental results. Based on a small dataset, the prediction accuracy of the optimized XGBoost model was also compared with that of artificial neural network (ANN) and support vector regression (SVR) models, and it was found that the optimized XGBoost model has better evaluation indicators such as mean absolute error, root mean square error, and the coefficient of determination. In addition, the optimized XGBoost model can be easily extended to the prediction of mechanical properties of more metal materials manufactured by SLM processes. [ABSTRACT FROM AUTHOR]