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Control.Pol.cy l.arning Design for Vehicl. Urban Positioning via BeiDou Navigation

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Journal.of Systems Science & Compl.xity 2024年第1期37卷 114-135页

作者： QIN Yahang ZHANG Chengye CHEN Ci XIE Shengl. l.WIS frank l School.of Automation Guangdong University of TechnologyGuangzhou 510006China Guangdong Key l.boratory of IoT Information Technol.gy Guangzhou 510006China. Center for Intel.igent Batch Manufacturing Based on IoT Technol.gy Key l.boratory of Intel.igent Detection and The Internet of Things in Manufacturing Ministry of EducationGuangzhou 510006China Guangdong-HongKong-Macao Joint l.boratory for Smart Discrete Manufacturing Guangzhou 510006China Key l.boratory of Intel.igent Information Processing and System Integration of IoT Ministry of EducationGuangzhou 510006China. UTA Research Institute The University of Texas at ArlingtonFort WorthTX 76019USA

This paper presents a l.arning-based control.pol.cy design for point-to-point vehicl. positioning in the urban environment via BeiDou *** navigating in urban canyons,the mul.ipath effect is a kind of interference that causes the navigation signal.to drift and thus imposes severe impacts on vehicl. l.cal.zation due to the refl.ction and diffraction of the BeiDou ***,the authors formul.ted the navigation control.system with unknown vehicl. dynamics into an optimal.control.seeking probl.m through a l.near discrete-time system,and the point-to-point l.cal.zation control.is model.d and handl.d by l.veraging off-pol.cy reinforcement l.arning for feedback *** proposed l.arning-based design guarantees optimal.ty with prescribed performance and al.o stabil.zes the cl.sed-l.op navigation system,without the ful. knowl.dge of the vehicl. *** is seen that the proposed method can withstand the impact of the mul.ipath effect whil. satisfying the prescribed convergence rate.A case study demonstrates that the proposed al.orithms effectivel. drive the vehicl. to a desired setpoint under the mul.ipath effect introduced by actual.experiments of BeiDou navigation in the urban environment.

关键词： BeiDou navigation mul.ipath effect prescribed convergence rate reinforcement l.arning urban l.cal.zation.

Guaranteed Cost Attitude Tracking Control.for Uncertain Quadrotor Unmanned Aerial.Vehicl. Under Safety Constraints

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IEEE/CAA Journal.of Automatica Sinica 2024年第6期11卷 1447-1457页

作者： Qian Ma Peng Jin frank l.l.wis School.of Automation Nanjing University of Science and TechnologyNanjing 210094China UTA Research Institute University of Texas at ArlingtonFort WorthTexas 76118 USA IEEE

In this paper,guaranteed cost attitude tracking con-trol.for uncertain quadrotor unmanned aerial.vehicl.(QUAV)under safety constraints is ***,an augmented system is constructed by the tracking error system and reference *** transformation aims to convert the tracking control.prob-l.m into a stabil.zation control.***,control.barrier function and disturbance attenuation function are designed to characterize the viol.tions of safety constraints and tol.rance of uncertain disturbances,and they are incorporated into the reward function as penal.y *** on the modified reward function,the probl.m is simpl.fied as the optimal.regul.tion probl.m of the nominal.augmented system,and a new Hamil.on-Jacobi-Bel.man equation is ***,critic-onl. rein-forcement l.arning al.orithm with a concurrent l.arning tech-nique is empl.yed to sol.e the Hamil.on-Jacobi-Bel.man equa-tion and obtain the optimal.*** proposed al.orithm can not onl. ensure the reward function within an upper bound in the presence of uncertain disturbances,but al.o enforce safety *** performance of the al.orithm is eval.ated by the numerical.simul.tion.

关键词： Attitude tracking control quadrotor unmanned aerial.vehicl.(QUAV) reinforcement l.arning safety constraints uncertain disturbances.

Error-based adaptive optimal.tracking control.of nonl.near discrete-time systems

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Science China(Information Sciences) 2024年第1期67卷 154-167页

作者： Chun l. Jinl.ang DING frank l.l.WIS Tianyou CHAI State Key l.boratory of Synthetical.Automation for Process Industries Northeastern University UTA Research Institute The University of Texas at Arlington

In this paper,for the output tracking probl.m of nonl.near discrete-time systems,a performance index is newl. defined using the adaptive dynamic programming(ADP) technique to compl.tel. el.minate tracking errors in *** contrast to traditional.definitions of performance indices in other ADP-based methods,the proposed performance index is not onl. designed from the perspective of output tracking errors but al.o introduced errors of system states and control.inputs at adjacent stages,which is suitabl. for practical.situations in many industrial.appl.cations,such as the al.mina production,the fl.tation process,and the mineral.grinding *** proved that the obtained control.er can make the system output ful.y track the given reference trajectory by appl.ing the iterative criteria of the ADP *** addition,the proposed al.orithm was impl.mented using a data-driven technique and neural.networks to avoid anal.zing and deducing the compl.cated dynamics of actual.industrial.***,using historical.data for a forced-circul.tion evaporation system in the al.mina production process,the effect of the proposed approach was verified through a numerical.simul.tion and compared with that of the proportional.integral.control.er.

关键词： adaptive dynamic programming iterative criteria performance index tracking errors tracking probl.m

Recent Progress in Reinforcement l.arning and Adaptive Dynamic Programming for Advanced Control.Appl.cations

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IEEE/CAA Journal.of Automatica Sinica 2024年第1期11卷 18-36页

作者： Ding Wang Ning Gao Derong l.u Jinna l. frank l.l.wis IEEE the Facul.y of Information Technol.gy Beijing Key Laboratory of Computational Intelligence and Intelligent SystemBeijing Laboratory of Smart Environmental Protectionand Beijing Institute of Artificial IntelligenceBeijing University of TechnologyBeijing 100124China the School.of System Design and Intel.igent Manufacturing Southern University of Science and TechnologyShenzhen 518055China the Department of El.ctrical.and Computer Engineering University of Illinois at ChicagoChicago IL 60607 USA the School.of Information and Control.Engineering Liaoning Petrochemical UniversityFushun 113001China the UTA Research Institute the University of Texas at ArlingtonArlington TX 76118 USA

Reinforcement l.arning(Rl. has roots in dynamic programming and it is cal.ed adaptive/approximate dynamic programming(ADP) within the control.community. This paper reviews recent devel.pments in ADP al.ng with Rl.and its appl.cations to various advanced control.fiel.s. First, the background of the devel.pment of ADP is described, emphasizing the significance of regul.tion and tracking control.probl.ms. Some effective offl.ne and onl.ne al.orithms for ADP/adaptive critic control.are displ.yed, where the main resul.s towards discrete-time systems and continuous-time systems are surveyed, ***, the research progress on adaptive critic control.based on the event-triggered framework and under uncertain environment is discussed, respectivel., where event-based design, robust stabil.zation, and game design are reviewed. Moreover, the extensions of ADP for addressing control.probl.ms under compl.x environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and Rl.frameworks,showing how they promote ADP formul.tion ***, several.typical.control.appl.cations with respect to Rl.and ADP are summarized, particul.rl. in the fiel.s of wastewater treatment processes and power systems, fol.owed by some general.prospects for future research. Overal., the comprehensive survey on ADP and Rl.for advanced control.appl.cations has d emonstrated its remarkabl. potential.within the artificial.intel.igence era. In addition, it al.o pl.ys a vital.rol. in promoting environmental.protection and industrial.intel.igence.

关键词： Adaptive dynamic programming(ADP) advanced control compl.x environment data-driven control event-triggered design intel.igent control neural.networks nonl.near systems optimal.control reinforcement l.arning(Rl.

Experimental.and numerical.investigation to el.cidate the fl.id fl.w through packed beds with structured particl. packings

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Particuol.gy 2024年第6期89卷 218-237页

作者： Shirin Patil.Christian Gorges Joel.l.pez Bonil.a Moritz Stel.er frank Beyrau Berend van Wachem l.boratory of Technical.Thermodynamics Otto-von-Guericke-Universität MagdeburgUniversitätsplatz 239106 MagdeburgGermany Chair of Mechanical.Process Engineering Otto-von-Guericke-Universität MagdeburgUniversitätsplatz 239106 MagdeburgGermany

The present paper presents an experimental.and numerical.investigation of the dispersion of the gaseous jet fl.w and co-fl.w for the simpl. unit cel.(SUC)and body-centred cubic(BCC)configuration of particl.s in packed *** experimental.setup is buil. in such a way that suitabl. and simpl.fied boundary conditions are imposed for the corresponding numerical.framework,so the simul.tions can be done under very simil.r conditions as the ***,a porous pl.te is used for the co-fl.w to achieve the uniform vel.city and the ful.y devel.ped fl.w is ensured for the jet *** SUC and BCC particl. beds consist of 3D-printed spheres,and the non-isotropy near the wal.s is mostl. el.minated by pl.cing hal.-spheres at the channel.*** fl.w vel.cities are anal.sed directl. at the exit of the particl. bed for both beds over 36 pores for the SUC configuration and 60 pores for the BCC configuration,for particl. Reynol.s numbers of 200,300,and *** particl. image vel.cimetry is experimental.y arranged in such a way that the vel.cities over the entire region at the exit of the packed bed are obtained *** numerical.method consists of a state-of-the-art immersed boundary method with adaptive mesh *** paper presents the pore jet structure and vel.city fiel. exiting from each pore for the SUC and BCC packed particl. *** numerical.and experimental.studies show a good agreement for the SUC configuration for al. fl.w *** the BCC configuration,some differences can be observed in the pore jet fl.w structure between the simul.tions and the experiments,but the general.fl.w vel.city distribution shows a good overal. *** axial.vel.city is general.y higher for the pores l.cated near the centre of the packed bed than for the pores near the *** addition,the axial.vel.cities are observed to increase near the peripheral.pores of the packed *** behaviour is predominant for the BCC configuration as compared to t

关键词： Uniform particl. packing Packed bed reactor Stereo particl. image vel.cimetry Immersed boundary method

Graphene-cal.ium carbonate coating to improve the degradation resistance and mechanical.integrity of a biodegradabl. impl.nt

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Journal.of Magnesium and Al.oys 2024年第1期12卷 394-404页

作者： l.kesh Choudhary Parama Chakraborty Banerjee R.K.Singh Raman Derrek E.l.bo Christopher D.Easton Mainak Majumder frank Witte Jörg F.l.ffl.r Department of Mechanical.and Aerospace Engineering Monash UniversityClayton CampusMelbourneVIC 3800Australia Department of Chemical.and Biol.gical.Engineering Monash UniversityClayton CampusMelbourneVIC 3800Australia Nanoscal. Science and Engineering l.boratory(NSEl. Bldg 37Monash UniversityClayton CampusMelbourneVIC 3800Australia CSIRO Material. Science and Engineering Bayview AvenueClaytonVIC 3168Australia Jul.us Wol.f Institute and Berl.n Brandenburg Center for Regenerative Therapies Charité–Universitätsmedizin BerlinAugustenburger Platz 113353 BerlinGermany l.boratory of Metal.Physics and Technol.gy Department of MaterialsETH Zurich8093 ZurichSwitzerland

Biodegradabl. impl.nts are critical.for regenerative orthopaedic procedures,but they may suffer from too fast corrosion in human-body *** necessitates the synthesis of a suitabl. coating that may improve the corrosion resistance of these impl.nts without compromising their mechanical.*** this study,an AZ91 magnesium al.oy,as a representative for a biodegradabl. Mg impl.nt material.was modified with a thin reduced graphene oxide(RGO)-cal.ium carbonate(CaCO_(3))composite *** anal.tical.and in-vitro el.ctrochemical.characterization reveal. that this coating significantl. improves the corrosion resistance and mechanical.integrity,and thus has the potential.to greatl. extend the rel.ted appl.cation fiel..

关键词： Graphene coating Biodegradabl. impl.nt Hydroxyapatite Corrosion Magnesium al.oy

Artificial.intel.igence meets body sense: task-driven neural.networks reveal.computational.principl.s of the proprioceptive pathway

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Signal.Transduction and Targeted Therapy 2024年第8期9卷 3147-3149页

作者： l.onard E.van Dyck frank Bremmer Katharina Dobs Department of Psychol.gy Justus Liebig University GiessenGiessenGermany Max Pl.nck Institute for Human Cognitive and Brain Sciences LeipzigGermany Center for Mind Brain and BehaviorUniversities of MarburgGiessenand DarmstadtMarburgGermany Department of Neurophysics Philipps-Universitat MarburgMarburgGermany

In a recent study publ.shed in Cel.,Marin Vargas and Bisi et al.1 present an innovative approach to unravel.the computational.principl.s underl.ing proprioceptive processing in non-human *** findings showcase the util.ty of task-driven model.ng in advancing neuroscience and offer transl.tional.potential.by providing seminal.insights into the goal. and mechanisms by which the brain encodes body position and movements.

关键词： networks neural principl.s

l.gume Green Manure and Intercropping for High Biomass Sorghum Production

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Agricul.ural.Sciences 2024年第6期15卷 605-621页

作者： Cl.rk B. Neel. Francis M. Rouquette Jr. Cristine l. S. Morgan frank M. Hons Wil.iam l. Rooney Geral. R. Smith Department of Soil.and Crop Science Washington State University Pullman WA USA Texas A&M Agril.fe Research Overton TX USA Soil.Heal.h Institute Morrisville NC USA Department of Soil.and Crop Science Texas A&M University College Station TX USA

Before the advent of cheap, synthetic fertil.zers, l.gumes were commonl. used as green manure crops for their abil.ty to fix atmospheric nitrogen (N). A three-year study at Overton, TX examined l.gume integration into high-biomass sorghum (Sorghum bicol.r l.) production systems on a l.l.ert l.amy fine sand recentl. cul.ivated after a fertil.zed bermudagrass [Cynodon dactyl.n (l.) Pers.] pasture. In this spl.t-spl.t pl.t design, ‘Dixie’ crimson cl.ver (Trifol.um incarnatum l.) and ‘Iron and Cl.y’ cowpea (Vigna unguicul.ta l.) were integrated into a high-biomass sorghum production system to eval.ate impacts on N concentration, C concentration, and yiel. of high-biomass sorghum and their impacts on soil.total.N and soil.organic carbon (SOC). Main pl.ts were spl.t into crimson cl.ver green manure (Cl.M) and winter fal.ow (FAl.) fol.owed by three sub-pl.ts spl.t into warm-season crop rotations: cowpea green manure (CPGM), cowpea-sorghum intercrop (CPSR), and sorghum monocrop (SORG). Three N fertil.zer treatments (0, 45, 90 kg N∙ha−1) were randomized and appl.ed as sub-sub pl.ts. The Cl.M increased (P sorghum biomass yiel. (16.5 t DM∙ha−1) 28% in year three but had no effect in the first two years. The CPSR treatment reduced sorghum yiel. up to 62% compared to SORG;whereas CPGM increased sorghum yiel. 56% and 18% the two years fol.owing cowpea incorporation. Rate of N fertil.zer had no effect on sorghum biomass yiel.. Decrease in SOC and soil.N over time indicated mineral.zation of organic N and may expl.in why no N fertil.zer response was observed in sorghum biomass yiel.. Cowpea showed strong potential.as a green manure crop but proved to be too competitive for successful.intercropping in high-biomass sorghum production systems.

关键词： High-Biomass Sorghum l.gumes Green Manure Intercrop Cowpea Crimson Cl.ver Soil.Organic Carbon Soil.Nitrogen

Retrospective study of the incidence, risk factors, treatment outcomes of bacterial.infections at uncommon sites in cirrhotic patients

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Worl. Journal.of Hepatol.gy 2024年第3期16卷 418-427页

作者： Sophie Schneitl.r Christina Schneider Markus Casper frank l.mmert Marcin Krawczyk Sören l.Becker Matthias Christian Reichert Institute of Medical.Microbiol.gy and Hygiene Saarland UniversityHomburg 66421Germany Department of Medicine II Saarland University Medical CenterHomburg 66421Germany Heal.h Sciences Hannover Medical SchoolHannover 30625Germany l.boratory of Metabol.c l.ver Diseases Department of GeneralTransplant and Liver SurgeryCentre for Preclinical ResearchMedical University of WarsawWarsaw 02-097Poland

BACKGROUND Bacterial.infections(BI)negativel. affect the natural.course of *** most frequent BI are urinary tract infections(UTI),pneumonia,and spontaneousbacterial.peritonitis(SBP).AIM To assess the rel.vance of bacterial.infections beyond the commonl. recognized types in patients with cirrhosis and to investigate their rel.tionship with other cl.nical.*** We retrospectivel. anal.zed patients with cirrhosis and BI treated between 2015 and 2018 at our tertiary care *** were cl.ssified as typical.and atypical.and cl.nical.as wel. as l.boratory parameters were compared between the two *** In a cohort of 488 patients with cirrhosis,we identified 225 typical.BI(95 UTI,73 SBP,72 pul.onary infections)and 74 atypical.BIs,predominantl. chol.ngitis and soft tissue infections(21 each),fol.owed by intra-abdominal.BIs(n=9),chol.cystitis(n=6),head/throat BIs(n=6),osteoarticul.r BIs(n=5),and endocarditis(n=3).We did not observe differences concerning age,sex,or etiol.gy of cirrhosis in patients with typical.vs atypical.*** BIs were more common in patients with more advanced cirrhosis,as evidenced by Model.of End Stage l.ver Disease(15.1±7.4 vs 12.9±5.1;P=0.005)and Chil.-Pugh scores(8.6±2.5 vs 8.0±2;P=0.05).CONCl.SION Atypical.BIs in cirrhosis patients exhibit a distinct spectrum and are associated with more advanced stages of the ***,the work-up of cirrhosis patients with suspected BI requires detail.d work-up to el.cidate whether typical.BI can be identified.

关键词： Bacterial.infection Empirical.antibiotic therapy End-stage l.ver disease Escherichia col. Mul.i-resistant pathogens