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Autonomous multi-drone racing method based on deep reinforcement learning

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Science China(Information Sciences) 2024年第8期67卷 35-48页

作者： Yu kang jian DI Ming LI Yunbo ZHAO Yuhui WANG Department of Automation University of Science and Technology of China Institute of Advanced Technology University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center College of Automation Engineering Nanjing University of Aeronautics and Astronautics

Racing drones have attracted increasing attention due to their remarkable high speed and excellent maneuverability. However, autonomous multi-drone racing is quite difficult since it requires quick and agile flight in intricate surroundings and rich drone interaction. To address these issues, we propose a novel autonomous multi-drone racing method based on deep reinforcement learning. A new set of reward functions is proposed to make racing drones learn the racing skills of human experts. Unlike previous methods that required global information about tracks and track boundary constraints, the proposed method requires only limited localized track information within the range of its own onboard sensors. Further, the dynamic response characteristics of racing drones are incorporated into the training environment, so that the proposed method is more in line with the requirements of real drone racing scenarios. In addition, our method has a low computational cost and can meet the requirements of real-time racing. Finally, the effectiveness and superiority of the proposed method are verified by extensive comparison with the state-of-the-art methods in a series of simulations and real-world experiments.

关键词： racing drone autonomous multi-drone racing sim-to-real deep reinforcement learning Markov game

Parameters Optimization and Performance Evaluation of the Tuned Inerter Damper for the Seismic Protection of Adjacent Building Structures

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工程与科学中的计算机建模(英文) 2024年第1期138卷 551-593页

作者： Xiaofang kang jian Wu Xinqi Wang Shancheng Lei Key Laboratory of Intelligent Underground Detection Technology School of Civil EngineeringAnhui Jianzhu UniversityHefei230601China Chengnan College Changsha University of Science and TechnologyChangsha410015China

In order to improve the seismic performance of adjacent buildings,two types of tuned inerter damper(TID)damping systems for adjacent buildings are proposed,which are composed of springs,inerter devices and dampers in serial or in *** dynamic equations of TID adjacent building damping systems were derived,and the H2.norm criterion was used to optimize and adjust them,so that the system had the optimum damping performance under white noise random *** TID frequency ratio and damping ratio as optimization parameters,the optimum analytical solutions of the displacement frequency response of the undamped structure under white noise excitation were *** results showed that compared with the classic TMD,TID could obtain a better damping effect in the adjacent *** the TIDs composed of serial or parallel,it was found that the parallel TIDs had more significant advantages in controlling the peak displacement frequency response,while the H2.norm of the displacement frequency response of the damping system under the coupling of serial TID was *** the adjacent building composed of two ten-story frame structures as an example,the displacement and energy collection time history analysis of the adjacent building coupled with the optimum design parameter TIDs were carried *** was found that TID had a better damping effect in the full-time range compared with the classic *** paper also studied the potential power of TID in adjacent buildings,which can be converted into available power resources during earthquakes.

关键词： Adjacent buildings tuned inerter damper(TID) H2.norm optimization vibration control energy harvesting

African Bison Optimization Algorithm: A New Bio-Inspired Optimizer with Engineering Applications

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Computers, Materials and Continua 2024年第1期81卷 603-623页

作者： Zhao, jian Wang, kang Wang, Jiacun Guo, Xiwang Qi, Liang School of Science University of Science and Technology Liaoning Anshan 114051 China Team of Artificial Intelligence Theory and Application University of Science and Technology Liaoning Anshan 114051 China Department of Computer Science and Software Engineering Monmouth University West Long Branch NJ 07764 United States Information and Control Engineering College Liaoning Petrochemical University Fushun 113000 China Department of Computer Science and Technology Shandong University of Science and Technology Qingdao 266590 China

This paper introduces the African Bison Optimization (ABO) algorithm, which is based on biological population. ABO is inspired by the survival behaviors of the African bison, including foraging, bathing, jousting, mating, and eliminating. The foraging behavior prompts the bison to seek a richer food source for *** bison find a food source, they stick around for a while by bathing behavior. The jousting behavior makes bison stand out in the population, then the winner gets the chance to produce offspring in the mating behavior. The eliminating behavior causes the old or injured bison to be weeded out from the herd, thusmaintaining the excellent individuals. The above behaviors are translated into ABO by mathematical modeling. To assess the reliability and performance of ABO, it is evaluated on a diverse set of 2. benchmark functions and applied to solve five practical engineering problems with constraints. The findings from the simulation demonstrate that ABO exhibits superior and more competitive performance by effectively managing the trade-off between exploration and exploitation when compared with the other nine popular metaheuristics algorithms. © 2.2. The Authors.

关键词： Livestock

CO_(2.flooding in shale oil reservoir with radial borehole fracturing for CO_(2.storage and enhanced oil recovery

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Petroleum Science 2024年第1期21卷 519-534页

作者： Jia-Cheng Dai Tian-Yu Wang Jin-Tao Weng kang-jian Tian Li-Ying Zhu Gen-Sheng Li State Key Laboratory of Petroleum Resources and Prospecting China University of PetroleumBeijing102249China China National Oil and Gas Exploration and Development Company Limited Beijing100034China

This study introduces a novel method integrating CO_(2.flooding with radial borehole fracturing for enhanced oil recovery and CO_(2.underground storage,a solution to the limited vertical stimulation reservoir volume in horizontal well fracturing.A numerical model is established to investigate the production rate,reservoir pressure field,and CO_(2.saturation distribution corresponding to changing time of CO_(2.flooding with radial borehole fracturing.A sensitivity analysis on the influence of CO_(2.injection location,layer spacing,pressure difference,borehole number,and hydraulic fractures on oil production and CO_(2.storage is *** CO_(2.flooding process is divided into four *** in layer spacing will significantly improve oil production rate and gas storage ***,serious gas channeling can occur when the spacing is lower than 2. *** the pressure difference between the producer and injector,the borehole number,the hydraulic fracture height,and the fracture width can also increase the oil production rate and gas storage *** analysis shows that layer spacing and fracture height greatly influence gas storage and oil *** outcomes are expected to provide a theoretical basis for the efficient development of shale oil reservoirs in the vertical direction.

关键词： Shale oil Radial borehole fracturing Embedded discrete fracture model Enhanced oil recovery Carbon storage

Regulatory RNAs in Bacillus subtilis:A review on regulatory mechanism and applications in synthetic biology

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Synthetic and Systems Biotechnology 2024年第2期9卷 223-233页

作者： Anqi Peng Guobin Yin Wenjie Zuo Luyao Zhang Guocheng Du jian Chen Yang Wang Zhen kang The Science Center for Future Foods Jiangnan UniversityWuxi214122China The Key Laboratory of Carbohydrate Chemistry and Biotechnology Ministry of EducationSchool of BiotechnologyJiangnan UniversityWuxi214122China The Key Laboratory of Industrial Biotechnology Ministry of EducationSchool of BiotechnologyJiangnan UniversityWuxi214122China

Bacteria exhibit a rich repertoire of RNA molecules that intricately regulate gene expression at multiple hierarchical levels,including small RNAs(sRNAs),riboswitches,and antisense ***,the majority of these regulatory RNAs lack or have limited protein-coding capacity but play pivotal roles in orchestrating gene expression by modulating transcription,post-transcription or translation *** and redesigning these regulatory RNA elements have emerged as pivotal strategies in the domains of metabolic engineering and synthetic *** previous investigations predominantly focused on delineating the roles of regulatory RNA in Gram-negative bacterial models such as Escherichia coli and Salmonella enterica,this review aims to summarize the mechanisms and functionalities of endogenous regulatory RNAs inherent to typical Gram-positive bacteria,notably Bacillus ***,we explore the engineering and practical applications of these regulatory RNA elements in the arena of synthetic biology,employing *** as a foundational chassis.

关键词： Regulatory RNA devices Small RNAs Riboswitches Synthetic biology Bacillus subtilis

Simple method for transformation and gene editing in medicinal plants

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Journal of Integrative Plant Biology 2024年第1期66卷 17-19页

作者： Xuesong Cao Hongtao Xie Minglei Song Lianghui Zhao Hailiang Liu Guofu Li jian‐kang Zhu Institute of Advanced Biotechnology and School of Life Sciences Southern University of Science and TechnologyShenzhen 518055China Bellagen Biotechnology Co.Ltd. Jinan 250000China Institute for Regenerative Medicine Shanghai East HospitalTongji University School of MedicineShanghai 200123China Ministry of Agriculture and Rural Affairs Key Laboratory of Gene Editing Technologies Nanfan Research InstituteChinese Academy of Agricultural SciencesSanya 572024China

Gene-editing technologies have ushered in a significant advancement in plant genetics research and molecular ***,a critical challenge hindering the widespread adoption of these technologies is the efficient delivery of gene-editing *** predominant methods for introducing these tools into plants typically involve Agrobacterium tumefaciens-mediated transformation or particle bombardment(Mao et al.,2.19).Unfortunately,these traditional gene delivery methods require delicate and timeconsuming tissue culture procedures and show limited success,especially in medicinal and other less studied plants.A recent breakthrough is the development of the Cut-Dip-Budding(CDB)gene delivery *** CDB system is highly effective for plants with root-suckering *** allows the delivery of transgenes and gene-editing tools into plants through hairy root induction followed by shoot regeneration from transformed hairy roots,bypassing the need for tissue culture processes(Cao et al.,2.2.).

关键词： transformation culture breakthrough

In situ regulating intimately connected heterostructure by decomposition of solid solution oxides toward high-efficient water oxidation

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Rare Metals 2024年第4期43卷 1557-1569页

作者： Shao-Fei Zhang Xiao-Lu Yin Jin Wang jian-Li kang Tian-Tian Li Jin-Feng Sun Yong-Qiang Meng jian-jiang Wang Dian-Long Wang Kai-Qiang Qin Hebei Key Laboratory of Flexible Functional Materials/Hebei Key Laboratory of Material Near-Net Forming Technology School of Materials Science and EngineeringHebei University of Science and TechnologyShijiazhuang050018China Key Laboratory of Advanced Ceramics and Machining Technology/Ministry of Education School of Materials Science and EngineeringTianjin UniversityTianjin300072China Electrochemical Engine Center Department of Mechanical EngineeringPennsylvania State UniversityUniversity ParkPA16802USA

Heterogeneous interfaces produced by interdomain interactions on a nanoscale performs a crucial role in boosting the properties of an electrocatalyst toward oxygen evolution reaction(OER)***,a series of dual-phase electrodes with intimately connected heterointerfaces are prepared by in situ decomposing solid solution oxide of Ni_(x)Co_(y)Fe_(100-x-y)O,which grew on Ni foam massively via an ultrafast combustion ***,with high-reaction kinetics caused by the reduction treatment at 450℃,the less electronegative Fe and Co are more oxyphilic than Ni,which facilitated their co-exsolution and formation of CoFe_2._4/NiO oxide with enriched oxygen *** from the nanoporous framework,heterojunction structure,and oxygen defects,the self-supporting electrodes present rapid charge/mass transmission and provide abundant active sites for *** optimized sample(R-SNCF4.5)shows low overpotentials of 2.6 and 32. mV at 10 and100 mA·cm^(-2.,a small Tafel slope(46.7 mV·dec^(-1)),and excellent *** assembled R-SNCF4.5//Pt/C/NF electrolyzer demonstrates continuous electrolysis over 50 h at a current density of 10 mA·cm^(-2.,under 1.51 *** functional theory(DFT)calculations verify that the strong electronic modulation plays a critical part in the CoFe_2._4/NiO hybrid by lowering the energy barriers for the ratedetermining steps,and Fe sites are the most active OER sites.

关键词： Rapid combustion Decomposition of solid solution oxide Dual-phase heterostructure Oxygen evolution reaction Theoretical calculation

Automated federated learning‐based adversarial attack and defence in industrial control systems

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IET Cyber-Systems and Robotics 2024年第2期6卷 109-127页

作者： Guo-Qiang Zeng Jun-Min Shao kang-Di Lu Guang-Gang Geng jian Weng College of Cyber Security Jinan UniversityGuangzhouChina National Joint Engineering Research Center of Network Security Detection and Protection Technology Jinan UniversityGuangzhouChina College of Information Science and Technology Donghua UniversityShanghaiChina

With the development of deep learning and federated learning(FL),federated intrusion detection systems(IDSs)based on deep learning have played a significant role in securing industrial control systems(ICSs).However,adversarial attacks on ICSs may compromise the ability of deep learning-based IDSs to accurately detect cyberattacks,leading to serious ***,in the process of generating adversarial samples,the selection of replacement models lacks an effective method,which may not fully expose the vulnerabilities of the *** authors first propose an automated FL-based method to generate adversarial samples in ICSs,called AFL-GAS,which uses the prin-ciple of transfer attack and fully considers the importance of replacement models during the process of adversarial sample *** the proposed AFL-GAS method,a lightweight neural architecture search method is developed to find the optimised replacement model composed of a combination of four lightweight basic ***,to enhance the adversarial robustness,the authors propose a multi-objective neural archi-tecture search-based IDS method against adversarial attacks in ICSs,called MoNAS-IDSAA,by considering both classification performance on regular samples and adver-sarial robustness *** experimental results on three widely used intrusion detection datasets in ICSs,such as secure water treatment(SWaT),Water Distribution,and Power System Attack,demonstrate that the proposed AFL-GAS method has obvious advantages in evasion rate and lightweight compared with other four ***,the proposed MoNAS-IDSAA method not only has a better classification performance,but also has obvious advantages in model adversarial robustness compared with one manually designed federated adversarial learning-based IDS method.

关键词： adversarial attacks adversarial robustness automated federated learning Industrial control system intrusion

3-Epi-betulinic acid 3-O-β-D-glucopyranoside(eBAG)induces autophagy by activation of AMP-activated protein kinase in hepatocellular carcinoma

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Food Science and Human Wellness 2024年第3期13卷 1453-1464页

作者： Mengjie Liu Xuqiang Liu Kaiyue He Yongping jian Yujia Li Jinrong Guo Jingyu Yang Zhixiang Xu Wenyi kang School of Life Sciences Henan UniversityKaifeng 475004China National R&D Center for Edible Fungus Processing Technology Henan UniversityKaifeng 475004China Joint International Research Laboratory of Food&Medicine Resource Function Kaifeng 475004China Shenzhen Research Institute of Henan University Shenzhen 518000China

3-Epi-betulinic acid 3-O-β-D-glucopyranoside(eBAG)is a pentacyclic triterpene mainly distributed in food and medicinal plants,which exhibits various pharmacological ***,whether these functions are attributed to eBAG or additional components in these plants remain ***,we report that eBAG exerted an inhibitory activity against hepatocellular carcinoma and esophageal cancer *** induced non-apoptotic cell death in hepatocellular carcinoma *** eBAG-induced cell death was inhibited by knock-down of autophagy related gene(ATG)5 and ATG7,by administration of 3-methyladenine,a selective autophagy inhibitor that suppresses phosphoinositide 3-kinase(PI3K),and by chloroquine,a classic autophagy flux *** demonstrated that eBAG induced an autophagy-mediated cell *** of eBAG mimicked cellular bioenergetics depletion leading to the reduction of intracellular ATP,activation of AMP-activated protein kinase(AMPK),and inhibition of ***-treatment with compound C,an AMPK inhibitor,abrogated cell death induced by *** further validated the anti-tumor effect of eBAG in the murine xenograft model of hepatocellular carcinoma and found that eBAG treatment promoted the induction of autophagy and reduction of tumor growth in *** a functional food ingredient,eBAG is a potential therapeutic agent for the treatment of hepatocellular carcinoma and esophageal cancer.

关键词： eBAG Autophagy ATP AMPK Hepatocellular carcinoma