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Cognitive Navigation for Intelligent Mobile Robots:A Learning-Based Approach With Topological Memory Configuration

IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 1933-1943页

作者： Qiming Liu Xinru cui Zhe Liu Hesheng Wang Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China MoE Key Laboratory of Artificial Intelligence AI InstituteShanghai Jiao Tong UniversityShanghai 200240China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong UniversityShanghai 200240China

Autonomous navigation for intelligent mobile robots has gained significant attention,with a focus on enabling robots to generate reliable policies based on maintenance of spatial *** this paper,we propose a learning-based visual navigation pipeline that uses topological maps as memory *** introduce a unique online topology construction approach that fuses odometry pose estimation and perceptual similarity *** tackles the issues of topological node redundancy and incorrect edge connections,which stem from the distribution gap between the spatial and perceptual ***,we propose a differentiable graph extraction structure,the topology multi-factor transformer(TMFT).This structure utilizes graph neural networks to integrate global memory and incorporates a multi-factor attention mechanism to underscore elements closely related to relevant target cues for policy *** from photorealistic simulations on image-goal navigation tasks highlight the superior navigation performance of our proposed pipeline compared to existing memory *** validation through behavior visualization,interpretability tests,and real-world deployment further underscore the adapt-ability and efficacy of our method.

关键词： Graph neural networks(GNNs) spatial memory topological map visual navigation

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Significantly enhanced superconductivity in monolayer FeSe films on SrTiO3（001） via metallic δ-doping

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National Science Review 2024年第3期11卷 119-127页

作者： Xiaotong Jiao Wenfeng dong Mingxia Shi Heng Wang cui Ding Zhongxu Wei Guanming Gong Yanan Li Yuanzhao Li Binjie Zuo Jian Wang Ding Zhang Minghu Pan Lili Wang Qi-Kun Xue State Key Laboratory of Low-Dimensional Quantum Physics Department of Physics Tsinghua University School of Physics&Information Technology Shaanxi Normal University Beijing Academy of Quantum Information Sciences Department of Physics Southern University of Science and Technology International Center for Quantum Materials School of Physics Peking University Department of Physics The Pennsylvania State University Collaborative Innovation Center of Quantum Matter Hefei National Laboratory

Superconductivity transition temperature（Tc） marks the inception of a macroscopic quantum phase-coherent paired state in fermionic systems. For 2D superconductivity, the paired electrons condense into a coherent superfluid state at Tc, which is usually lower than the pairing temperature, between which intrinsic physics including Berezinskii–Kosterlitz–Thouless transition and pseudogap state are hotly debated. In the case of monolayer FeSe superconducting films on SrTiO3（001）, although the pairing temperature（Tp） is revealed to be 65–83 K by using spectroscopy characterization, the measured zero-resistance temperature（Tc0） is limited to 20 K. Here, we report significantly enhanced superconductivity in monolayer FeSe films by δ-doping of Eu or Al on SrTiO3（001） surface, in which Tc0is enhanced by 12 K with a narrowed transition width ΔTc～8 K, compared with non-doped samples. Using scanning tunneling microscopy/spectroscopy measurements, we demonstrate lowered work function of the δ-doped SrTiO3（001） surface and enlarged superconducting gaps in the monolayer FeSe with improved morphology/electronic homogeneity. Our work provides a practical route to enhance 2D superconductivity by using interface engineering.

关键词： monolayer FeSe interface superconductivity δ-doping zero-resistance temperature superconductivity transition temperature

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RESTlogic: Detecting Logic Vulnerabilities in Cloud REST APIs

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Computers, Materials & Continua 2024年第2期78卷 1797-1820页

作者： Ziqi Wang Weihan Tian Baojiang cui School of Cyberspace Security Beijing University of Posts and TelecommunicationsBeijing100876China

logical testing model and resource lifecycle information,generate test cases and complete parameters,and alleviate inconsistency issues through parameter *** again,we propose a method of analyzing test results using joint state codes and call stack information,which compensates for the shortcomings of traditional analysis *** will apply our method to testing REST services,including OpenStack,an open source cloud operating platform for experimental *** have found a series of inconsistencies,known vulnerabilities,and new unknown logical defects.

关键词： Cloud services RESTful API logic defects inconsistency issues

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Asymmetric Hydrogenation of Phenanthridines with Chiral Boranes

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Chinese Journal of Chemistry 2024年第6期42卷 631-635页

作者： Guangyu cui Xiangqing Feng Haifeng Du Beijing National Laboratory for Molecular Sciences CAS Key Laboratory of Molecular Recognition and FunctionInstitute of ChemistryChinese Academy of SciencesBeijing100190 China University of Chinese Academy of Sciences Beijing100049 China

The asymmetric hydrogenation of N-heteroarenes provides an efficient method for the synthesis of optically active cyclic secondary *** this paper,we described an asymmetric hydrogenation of phenanthridines using a chiral mono-alkene-derived borane.A variety of dihydrophenanthridines were furnished in high yields with up to 93%*** current catalytic system was very sensitive for the steric hindrance of *** substituents at one phenyl group of phenanthridines were required to obtain the high *** large substituents on the carbon of the C=N bonds would diminish the reactivity sharply.

关键词： Asymmetric catalysis Hydrogenation Nitrogen heterocycles Phenanthridines Frustrated Lewis pairs Chiral boranes

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Overlooked uneven progress across sustainable development goals at the global scale: Challenges and opportunities

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The Innovation 2024年第2期5卷 42-50页

作者： Yali Liu Jianqing Du Yanfen Wang Xiaoyong cui Jichang dong Pan Gu Yanbin Hao Kai Xue Hongbo Duan Anquan Xia Yi Hu Zhi dong Bingfang Wu Jüurgen P.Kropp Bojie Fu School of Grassland Science Beijing Forestry UniversityBeijing 100083China Beijing Yanshan Earth Critical Zone National Research Station University of Chinese Academy of SciencesBeijing 101408China College of Resources and Environment University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory of Tibetan Plateau Earth System Environment and ResourcesChinese Academy of SciencesBeijing 100101China College of Life Sciences University of Chinese Academy of SciencesBeijing 100049China School of Economics and Management University of Chinese Academy of SciencesBeijing 100190China School of Humanities University of Chinese Academy of SciencesBeijing 100049China Key Laboratory of Adaptation and Evolution of Plateau Biota Northwest Institute of Plateau BiologyChinese Academy of SciencesXining 810001China School of Innovation and Entrepreneurship University of Chinese Academy of SciencesBeijing 100190China State Key Laboratory of Remote Sensing Science Aerospace Information Research InstituteChinese Academy of SciencesBeijing 100101China Potsdam Institute for Climate Impact Research 14412 PotsdamGermany Institute for Environmental Science and Geography University of Potsdam14412 PotsdamGermany State Key Laboratory of Urban and Regional Ecology Research Center for Eco-Environmental SciencesChinese Academy of SciencesBeijing 100085China

Differences in progress across sustainable development goals(SDGs)are widespread globally;meanwhile,the rising call for prioritizing specific SDGs may exacerbate such ***,how these progress differences would influence global sustainable development has been long ***,we present the first quantitative assessment of SDGs’progress differences globally by adopting the SDGs progress evenness *** results highlight that the uneven progress across SDGs has been a hindrance to sustainable development because(1)it is strongly associated with many public health risks(e.g.,air pollution),social inequalities(e.g.,gender inequality,modern slavery,wealth gap),and a reduction in life expectancy;(2)it is also associated with deforestation and habitat loss in terrestrial and marine ecosystems,increasing the challenges related to biodiversity conservation;(3)most countries with low average SDGs performance show lower progress evenness,which further hinders their fulfillment of SDGs;and(4)many countries with high average SDGs performance also showcase stagnation or even retrogression in progress evenness,which is partly ascribed to the antagonism between climate actions and other *** findings highlight that while setting SDGs priorities may be more realistic under the constraints of multiple global stressors,caution must be exercised to avoid new problems from intensifying uneven progress across ***,our study reveals that the urgent needs regarding SDGs of different regions seem complementary,emphasizing that regional collaborations(e.g.,demand-oriented carbon trading between SDGs poorly performed and well-performed countries)may promote sustainable development achievements at the global scale.

关键词： globally priori inequality

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Exponential Synchronization of Delayed Stochastic Complex Dynamical Networks via Hybrid Impulsive Control

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 785-787页

作者： Yao cui Pei Cheng Xiaohua Ge the School of Mathematic Science Anhui UniversityHefei 230601China IEEE the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia

Dear Editor,This letter addresses the synchronization problem of a class of delayed stochastic complex dynamical networks consisting of multiple drive and response *** aim is to achieve mean square exponential synchronization for the drive-response nodes despite the simultaneous presence of time delays and stochastic noises in node dynamics.

关键词： dynamics stochastic letter

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Computed tomography radiomic features and clinical factors predicting the response to first transarterial chemoembolization in intermediate-stage hepatocellular carcinoma

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Hepatobiliary & Pancreatic Diseases International 2024年第4期23卷 361-369页

作者： Zhong-Xing Shi Chang-Fu Li Li-Feng Zhao Zhong-Qi Sun Li-Ming cui Yan-Jie Xin dong-Qing Wang Tan-Rong Kang Hui-Jie Jiang Department of Interventional Radiology the Second Affiliated Hospital of Harbin Medical UniversityHarbin 150086China Department of Digestive Medicine Daqing Longnan HospitalDaqing 163453China Department of Radiology Daqing Longnan HospitalDaqing 163453China Department of Radiology the Second Affiliated Hospital of Harbin Medical UniversityHarbin 150086China

Background:According to clinical practice guidelines,transarterial chemoembolization(TACE)is the standard treatment modality for patients with intermediate-stage hepatocellular carcinoma(HCC).Early prediction of treatment response can help patients choose a reasonable treatment *** study aimed to investigate the value of the radiomic-clinical model in predicting the efficacy of the first TACE treatment for HCC to prolong patient ***:A total of 164 patients with HCC who underwent the first TACE from January 2017 to September 2021 were *** tumor response was assessed by modified response evaluation criteria in solid tumors(mRECIST),and the response of the first TACE to each session and its correlation with overall survival were *** radiomic signatures associated with the treatment response were identified by the least absolute shrinkage and selection operator(LASSO),and four machine learning models were built with different types of regions of interest(ROIs)(tumor and corresponding tissues)and the model with the best performance was *** predictive performance was assessed with receiver operating characteristic(ROC)curves and calibration ***:Of all the models,the random forest(RF)model with peritumor(+10 mm)radiomic signatures had the best performance[area under ROC curve(AUC)=0.964 in the training cohort,AUC=0.949 in the validation cohort].The RF model was used to calculate the radiomic score(Rad-score),and the optimal cutoff value(0.34)was calculated according to the Youden’s *** were then divided into a high-risk group(Rad-score>0.34)and a low-risk group(Rad-score≤0.34),and a nomogram model was successfully established to predict treatment *** predicted treatment response also allowed for significant discrimination of Kaplan-Meier *** Cox regression identified six independent prognostic factors for overall survival,including male[hazard ratio(HR)=0.500,95%confidence interva

关键词： Hepatocellular carcinoma Transarterial chemoembolization Radiomics Treatment response Prediction

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Data driving design of high-entropy alloys for lightweight and dynamic applications

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Science China(Physics,Mechanics & Astronomy) 2024年第2期67卷 10-24页

作者： Kaixuan cui Junwei Qiao Peter KLiaw Yong Zhang State Key Laboratory for Advanced Metals and Materials University of Science and Technology BeijingBeijing 100083China College of Materials Science and Engineering Taiyuan University of TechnologyTaiyuan 030024China Department of Materials Science and Engineering University of TennesseeKnoxville TN 37996USA

The topic of high-entropy alloys is one of the focus for both physics and materials ***-entropy alloys were usually defined as solid solution alloys,while the solid solution is different from the traditional terminal solid solution,because the solid solution without solvent element is the dominant *** discovery of high-entropy alloys greatly extended the composition space and the possibility of creating unique micro-and nano-level structures,which can meet the demands of lightweight and dynamic *** relationship between the phases and the parameters for the high-entropy alloys is rather *** data driving design can screen the specific high-entropy *** correlation between the composition and properties of highentropy alloys can be discovered by material genetic engineering and data science.

关键词： phase-formation rules materials genetic engineering lightweight high-entropy alloys dynamic properties

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Transient features of graphitization and nitrogen-vacancy color centers in a diamond fabricated by localization femtosecond laser direct writing

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Science China(Technological Sciences) 2024年第8期67卷 2530-2536页

作者： cui Lin YIN SiYu HU ZiFan WANG Lei State Key Laboratory of Integrated Optoelectronics College of Electronic Science and EngineeringJilin UniversityChangchun 130012China

Femtosecond laser direct writing provides an efficient approach to fabricating single nitrogen vacancy(NV) color centers with a relatively high yield. Different from previously reported NV color centers with a random distribution in a bulk diamond or nanocrystals, this gives an opportunity to study the photophysical properties of single NV color centers with precise numbers and positions. However, ultrafast studies on single NV color centers prepared by localization femtosecond laser direct writing are still rare, especially for the graphitization inside a diamond and its relationship with single NV color centers. Here, we report the broadband transient absorption(TA) spectroscopic features of the graphitization and NV color centers in a diamond fabricated by localization femtosecond laser direct writing at room temperature under 400 nm excitation. In comparison with the graphene oxide film, the bleaching features of the graphitization point array in a diamond are similar to reduced graphene oxide,accompanied by excited state absorption signals from local carbon atom vacancy defects in graphene-like structures induced by laser writing. On the other hand, transient features of laser processing array containing single NV color centers with a yield of~50% are different from those of the graphitization point array. Our findings suggest that for ultrashort pulse processing of diamonds, broadband TA spectral signals are sensitive to the surrounding atomic environment of processing sites, which could be applied to laser writing point defects in other materials used as solid-state single photon sources.

关键词： nitrogen-vacancy color center graphitization diamond femtosecond laser direct writing ultrafast spectroscopy

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All-inorganic ultrathin high-sensitivity transparent temperature sensor based on a Mn-Co-Ni-O nanofilm

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Microsystems & nanoengineering 2024年第3期10卷 195-205页

作者： Yuanyuan cui Mengwei Sun Changbo Liu Yuan Deng Research Institute for Frontier Science Beihang UniversityBeijing 100191China School of Materials Science and Engineering Beihang UniversityBeijing 100191China Key Laboratory of Intelligent Sensing Materials and Chip Integration Technology of Zhejiang Province Hangzhou Innovation Institute of Beihang UniversityHangzhou 310051China

The demand for optically transparent temperature sensors in intelligent devices is ***,the performance of these sensors,particularly in terms of their sensitivity and resolution,must be further *** study introduces a novel transparent and highly sensitive temperature sensor characterized by its ultrathin,freestanding design based on a Mn-Co-Ni-O *** Mn-Co-Ni-O-based sensor exhibits remarkable sensitivity,with a temperature coefficient of resistance of−4%℃^(−1),and can detect minuscule temperature fluctuations as small as 0.03℃.Additionally,the freestanding sensor can be transferred onto any substrate for versatile application while maintaining robust structural stability and excellent resistance to interference,indicating its suitability for operation in challenging *** practical utility in monitoring the surface temperature of optical devices is demonstrated through vertical integration of the sensor and a micro light-emitting diode on a polyimide ***,an experiment in which the sensor is implanted in rats confirms its favorable biocompatibility,highlighting the promising applications of the sensor in the biomedical domain.

关键词： transparent sensor versatile

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