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Soft-HGRNs:soft hierarchical graph recurrent networks for multi-agent partially observable environments

Frontiers of Information Technology & Electronic Engineering 2023年第1期24卷 117-130页

作者： Yixiang REN Zhenhui YE Yining CHEN Xiaohong JIANG guanghua song School of Aeronautics and Astronautics Zhejiang UniversityHangzhou 310027China College of Computer Science and Technology Zhejiang UniversityHangzhou 310027China

The recent progress in multi-agent deep reinforcement learning(MADRL)makes it more practical in real-world tasks,but its relatively poor scalability and the partially observable constraint raise more challenges for its performance and deployment.Based on our intuitive observation that human society could be regarded as a large-scale partially observable environment,where everyone has the functions of communicating with neighbors and remembering his/her own experience,we propose a novel network structure called the hierarchical graph recurrent network(HGRN)for multi-agent cooperation under partial observability.Specifically,we construct the multiagent system as a graph,use a novel graph convolution structure to achieve communication between heterogeneous neighboring agents,and adopt a recurrent unit to enable agents to record historical information.To encourage exploration and improve robustness,we design a maximum-entropy learning method that can learn stochastic policies of a configurable target action entropy.Based on the above technologies,we propose a value-based MADRL algorithm called Soft-HGRN and its actor-critic variant called SAC-HGRN.Experimental results based on three homogeneous tasks and one heterogeneous environment not only show that our approach achieves clear improvements compared with four MADRL baselines,but also demonstrate the interpretability,scalability,and transferability of the proposed model.

关键词： Deep reinforcement learning Graph-based communication Maximum-entropy learning Partial observability Heterogeneous settings

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Dynamic value iteration networks for the planning of rapidly changing UAV swarms

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Frontiers of Information Technology & Electronic Engineering 2021年第5期22卷 687-696页

作者： Wei LI Bowei YANG guanghua song Xiaohong JIANG School of Aeronautics and Astronautics Zhejiang UniversityHangzhou 310027China School of Computer Science and Technology Zhejiang UniversityHangzhou 310027China

In an unmanned aerial vehicle ad-hoc network(UANET),sparse and rapidly mobile unmanned aerial vehicles(UAVs)/nodes can dynamically change the UANET topology.This may lead to UANET service performance issues.In this study,for planning rapidly changing UAV swarms,we propose a dynamic value iteration network(DVIN)model trained using the episodic Q-learning method with the connection information of UANETs to generate a state value spread function,which enables UAVs/nodes to adapt to novel physical locations.We then evaluate the performance of the DVIN model and compare it with the non-dominated sorting genetic algorithm II and the exhaustive method.Simulation results demonstrate that the proposed model significantly reduces the decisionmaking time for UAV/node path planning with a high average success rate.

关键词： Dynamic value iteration networks Episodic Q-learning Unmanned aerial vehicle(UAV)ad-hoc network Non-dominated sorting genetic algorithm II(NSGA-II) Path planning

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Erratum to: Soft-HGRNs: soft hierarchical graph recurrent networks for multi-agent partially observable environments

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Frontiers of Information Technology & Electronic Engineering 2023年第3期24卷 480-480页

Erratum to:Front Inform Technol Electron Eng,2023,24(1):117-130 https://***/10.1631/FITEE.2200073 Unfortunately the funding information was in-correct.It should be the National Key R&D Program of China(No.2018AAA01023... 详细信息

关键词： networks hierarchical agent

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Stability of flow between rotating cylinders with axial buoyancy effect

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Science China(Physics,Mechanics & Astronomy) 2006年第5期49卷 564-575页

作者： CHEN Jianguo CHEN Haixin ZHANG guanghua FU song Department of Engineering Mechanics School of AerospaceTsinghua UniversityBeijing 100084China Department of Engineering MechanicsSchool of AerospaceTsinghua UniversityBeijing 100084China Department of Engineering MechanicsSchool of AerospaceTsinghua UniversityBeijing 100084China Department of Engineering MechanicsSchool of AerospaceTsinghua UniversityBeijing 100084China

The linear stability of a fluid confined between two coaxial cylinders rotating independently with axial buoyancy induced flow is examined. Buoyancy is included through the Boussinesq approximation. The numerical investigation is restricted to radius ratio 0.5 at Prandtl number 0.709 with co-rotation situation. The outer rotating cylinder’s Couette flow Reynolds number is restricted to 200. Zeroth-order discontinuities are found in the critical surface, which are explained as the result of the competition between the centrifugal and axial buoyancy induced shear instability mechanisms. Due to the competition, the neutral stability curves develop islands of instability, which considerably lower the instability threshold. Specific and robust numerical methods to handle these geometrical complexities are developed.

关键词： island of instability cylinder rotation buoyancy flow

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Games Used in the English classroom

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德阳教育学院学报 2000年第4期 40-43页

作者： Deyang Middle School song guanghua

T here are several ways to use games effecfively in the English classroom. Now, I would like to focus on some very practical,tangible ways in which language teachers can effectively use games as a part of their classr... 详细信息

关键词： Games Used in the English classroom

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R2P:A Peer-to-Peer Transfer System Based on Role and Reputation

R2P:A Peer-to-Peer Transfer System Based on Role and Reputat...

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First International Workshop on Knowledge Discovery and Data Mining

作者： Yingjie Xia guanghua song Yao Zheng Mingzhe Zhu College of Computer Science and Center for Engineering and Scientific Computation Zhejiang University Hangzhou 310027 P.R.China

＜正＞This paper introduces R2P,a Peer-to-Peer（P2P） transfer system with role based and reputation based access control policies.With the combination of user authentication,organization authorization and scoring system,we solve the problem of resource piracy,user privacy and network jam,which exist in traditional P2P systems.The R2P system takes advantage of the X509 certificate to implement the role based access control policy.By assembling the artificial scoring and the automatic scoring components,the system evaluates the quantity and quality of the transfer resources,putting forward the reputation based access control policy.Upon the two policies and the adaptive P2P transfer model,the R2P system provides a secure, controllable and efficient resource transfer community.

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Diabetes Insipidus in Association with Post-partum Hypopituitarism

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大连医科大学学报 1985年第4期 65-69页

作者： Zhu Yanqing,song guanghua Department of Internal Medicine

A case of post-partum hypopituitarism with diabetes insipidus is described. This condition is extremely rare and not many cases have been reported in the literature. The insufficiency of the posterior lobe of the pituitary is proved by the absence of normal physiologic response to intravenously administered hypertonic saline solution and the nice efficient response to the administration of exogenous vasopressin. The pitfalls in diagnosis and the masking of symptoms caused by concomitant glucocorticoid and thyroid hormone insufficiency are briefly discussed.

关键词： In Diabetes Insipidus in Association with Post-partum Hypopituitarism

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绿色低碳节能建筑的发展趋势及影响研究

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建设科技 2023年第22期 21-23页

作者：宋光华济南城市建设集团济南250000

基于“3060”双碳战略实施背景,建筑领域发展面临新形势和新挑战,需加强相关技术的研究,提高建筑绿色节能减碳的水平,实现高质量发展目标。建筑是能源消耗和碳排放的重要领域。建筑全生命周期的每一个阶段,包括建材生产运输、建筑施工... 详细信息

基于“3060”双碳战略实施背景,建筑领域发展面临新形势和新挑战,需加强相关技术的研究,提高建筑绿色节能减碳的水平,实现高质量发展目标。建筑是能源消耗和碳排放的重要领域。建筑全生命周期的每一个阶段,包括建材生产运输、建筑施工、建筑运行与拆除处置,都会产生大量的能源消耗。从消耗的能源分析,主要是煤、油、天然气等化石能源。现针对绿色低碳节能建筑发展相关问题,展开具体的论述,提出促进建筑发展的策略。

关键词：绿色低碳节能建筑发展趋势

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扑翼飞行器的多机协同飞行设计与实践

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计算机工程与应用 2022年第2期58卷 259-264页

作者：张泽坤韩建福宋广华杨波威浙江大学航空航天学院杭州310027

扑翼飞行器(flapping-wing aerial vehicle,FAV)是一种模仿动物飞行方式的新型飞行器,其具有仿生性且飞行声音小等特点,具有广泛的军事和民用前景。由于扑翼飞行器动力学模型复杂且容易受到风等环境因素的影响,目前尚无成熟稳定的控制... 详细信息

扑翼飞行器(flapping-wing aerial vehicle,FAV)是一种模仿动物飞行方式的新型飞行器,其具有仿生性且飞行声音小等特点,具有广泛的军事和民用前景。由于扑翼飞行器动力学模型复杂且容易受到风等环境因素的影响,目前尚无成熟稳定的控制算法可以用来控制扑翼飞行器。目前对扑翼飞行器的控制大多仍以手动控制为主,然而手动控制扑翼飞行器的方式会受到飞手操作水平的限制,难以大范围推广。通过对PX4固件和QGC地面站进行定制化改造以满足在一定应用背景下扑翼飞行器的有效控制,实现了扑翼飞行器的自动控制和协同飞行。同时还将扑翼飞行器多机协同飞行设计与实践引入到了"嵌入式计算技术"课程教学中,激发了学生的学习热情,提高了学生的创新实践能力。

关键词：扑翼飞行器飞行控制地面站多机控制

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基于校园网格的多学科计算及协同可视化

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华中科技大学学报（自然科学版） 2007年第S2期35卷 109-112页

作者：夏莹杰宋广华郑耀浙江大学计算机学院浙江杭州310027

针对浙江大学各高性能计算资源过于分散、无法充分利用的问题,提出一种校园网格的架构.通过使用Globus Toolkit和Sun Grid Engine两种网格中间件,部署层次化结构的校园网格,并在此基础上提供科学计算、生物信息、流体力学等服务.通过在... 详细信息

针对浙江大学各高性能计算资源过于分散、无法充分利用的问题,提出一种校园网格的架构.通过使用Globus Toolkit和Sun Grid Engine两种网格中间件,部署层次化结构的校园网格,并在此基础上提供科学计算、生物信息、流体力学等服务.通过在不同节点数的网格中的应用程序运行情况的测试,表明校园网格能够提供高效、稳定的计算能力.提供了在校园网格环境下本地绘制和服务器绘制两种可视化服务,用户可以针对不同的数据和计算环境,选择不同的可视化方法;用户可对可视化结果进行协同操作,便于联合研究和分析.

关键词：校园网格中间件科学计算协同可视化

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