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Distributed multi-robot sweep coverage for a region with unknown workload distribution

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Autonomous Intelligent Systems 2021年第1期1卷 192-201页

作者： muqing cao Kun cao Xiuxian Li Shenghai Yuan Yang Lyu Thien-Minh Nguyen Lihua Xie School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore 639798Singapore Department of Control Science and Engineering and Institute for Advanced Study Tongji UniversityShanghai 200092China

This paper considers the scenario where multiple robots collaboratively cover a region in which the exact distribution of workload is unknown prior to the *** workload distribution is not uniform in the region,meaning that the time required to cover a unit area varies at different locations of the *** our approach,we divide the target region into multiple horizontal stripes,and the robots sweep the current stripe while partitioning the next stripe *** propose a distributed workload partition algorithm and prove that the operation time on each stripe converges to the minimum under the discrete-time update *** conduct comprehensive simulation studies and compare our method with the existing methods to verify the theoretical results and the advantage of the proposed *** experiments on mini drones are also conducted to demonstrate the practicality of the proposed algorithm.

关键词： Multi-robot systems Coverage control Distributed control

AV-FDTI:Audio-visual fusion for drone threat identification

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Journal of Automation and Intelligence 2024年第3期3卷 144-151页

作者： Yizhuo Yang Shenghai Yuan Jianfei Yang Thien Hoang Nguyen muqing cao Thien-Minh Nguyen Han Wang Lihua Xie School of Electrical and Electronic Engineering Nanyang Technological UniversityNanyang Avenue639798Singapore

In response to the evolving challenges posed by small unmanned aerial vehicles(UAVs),which have the potential to transport harmful payloads or cause significant damage,we present AV-FDTI,an innovative Audio-Visual Fusion system designed for Drone Threat ***-FDTI leverages the fusion of audio and omnidirectional camera feature inputs,providing a comprehensive solution to enhance the precision and resilience of drone classification and 3D ***,AV-FDTI employs a CRNN network to capture vital temporal dynamics within the audio domain and utilizes a pretrained ResNet50 model for image feature ***,we adopt a visual information entropy and cross-attention-based mechanism to enhance the fusion of visual and audio ***,our system is trained based on automated Leica tracking annotations,offering accurate ground truth data with millimeter-level *** comparative evaluations demonstrate the superiority of our solution over the existing *** our commitment to advancing this field,we will release this work as open-source code and wearable AV-FDTI design,contributing valuable resources to the research community.

关键词： Audio-visual fusion Anti-UAV Multi-modal fusion Classification 3D localization Self-attention

The association between sleep duration and obesity among urban children in China

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The association between sleep duration and obesity among urb...

孤独症谱系障碍患儿重复刻板行为及其干预的研究进展

第十二届全国营养科学大会

作者： He Baoting cao muqing Zhu Yanna Jing Jin 中山大学

ObjectivesT here is limited information on sleep duration and obesity among Chinese *** aim to crosssectionally examine the relationship between sleep duration and obesity in Chinese children aged 6-18 *** tudents aged 6-18,from urban area of Guangzhou,were randomly examined and surveyed in *** and weight of all students were *** status was estimated using body mass index(BMI)

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中华儿科杂志 2020年第3期58卷 245-248页

作者：石碧君曹牧青静进中山大学公共卫生学院妇幼卫生系广州510080

重复刻板行为(RRB)是孤独症谱系障碍(ASD)的核心症状之一,严重影响患儿社交、沟通、适应等技能发展和预后。目前RRB可通过药物和行为进行干预,但仍需要更多的循证医学证据。由此,针对ASD患儿RRB的研究现状和干预应用进行综述。

关键词：孤独症谱系障碍循证医学证据核心症状 ASD 重复刻板行为研究现状研究进展干预

Selection and Identification of Chlamydomonas Flagella Mutants

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Selection and Identification of Chlamydomonas Flagella Mutan...

“细胞活动生命活力”——中国细胞生物学学会全体会员代表大会暨第十二次学术大会

作者： Sun Juan,cao muqing,Pan Junmin Tsinghua University of China,School of Life Science,Beijing,China,100084,

Chlamydomonas is a kind of unicellular eukaryotic green algae,which is used as a model organism to study cilia/*** has two 12μm microtubule-based *** two flagella grow in the front of the cell and finger out to the cell *** in cilia/flagella will lead to a series of *** using insertional mutagenesis method,we can get Chlamydomonas flagella assembly and disassembly defect *** study will show theoretical guidance on treating disease caused by flagellum/cilia *** this study,we utilizing electro-transformation to transformed exogenous gene AphⅧharboring paromomycin resistance to wild type Chlamydomonas genomic DNA,by screening,we get two assembly defects mutants:SJ-12,***-12 is a long flagella mutant whose flagella shrink into a ball until drop off the cell,and its mobility disappears ***-13-24 is an immobility mutant. Microscope observation shows the cells have adhesion *** next step,we will use genetic analysis and southern blot to determine the number of the insert DNA and whether the phenotype of the mutant has codominance with the *** addition,the insert position of the mutant genomic DNA with resistance to paromomycin will be estimated by RESDA-PCR techniques,which lead us know more information of the mutant from molecular level.

关键词： Chlamydomonas Cilia/Flagella Insertion mutation Assembly defects

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孤独症谱系障碍患儿睡眠问题研究进展

中华儿科杂志 2018年第10期56卷 790-793页

作者：孙帆曹牧青静进中山大学公共卫生学院儿少与妇幼保健学系广州510080

幼年特发性关节炎（juvenile idiopathic arthritis，JIA）是儿童时期常见的结缔组织病，以慢性关节炎为主要特征，并伴有全身多系统受累，是造成小儿残疾的首要原因。JIA最常见的关节外表现为葡萄膜炎，尤其是前葡萄膜炎（也称为虹膜... 详细信息

幼年特发性关节炎（juvenile idiopathic arthritis，JIA）是儿童时期常见的结缔组织病，以慢性关节炎为主要特征，并伴有全身多系统受累，是造成小儿残疾的首要原因。JIA最常见的关节外表现为葡萄膜炎，尤其是前葡萄膜炎（也称为虹膜炎或虹膜睫状体炎），即JIA相关性葡萄膜炎（juvenile idiopathic arthritis-associated uveitis，JIA-U）。JIA-U是一种前葡萄膜、非肉芽肿性、慢性炎症性眼病，表现隐匿，可以无任何症状。

关键词：孤独症谱系障碍睡眠问题幼年特发性关节炎前葡萄膜炎相关性葡萄膜炎慢性关节炎患儿虹膜睫状体炎

The Phosphorylation State of an Aurora-Like Kinase Marks the Length of Growing Flagella in Chlamydomonas

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The Phosphorylation State of an Aurora-Like Kinase Marks the...

教育机构类型对孤独症谱系障碍儿童社会交往功能影响的观察性研究

“细胞活动生命活力”——中国细胞生物学学会全体会员代表大会暨第十二次学术大会

作者： Minna Luo,muqing cao,Yinan Kan,Guihua Li,William Snell,Junmin Pan School of Life Sciences,Tsinghua University,Beijing,100084

Flagella and cilia are structurally polarized organelles whose lengths are precisely defined,and alterations in length are related to several human *** transport(IFT) and protein signaling molecules are implicated in specifying flagellar/ciliary length,but evidence has been lacking for a flagellum/cilium length sensor that could participate in active length control or establishment of structural ***,we showed that the phosphorylation state of the aurora-like protein kinase CALK in Chlamydomonas is a marker of the absence of ***,we show that CALK phosphorylation state also is a marker for flagellar *** is phosphorylated in cells without flagella,and during flagellar assembly it becomes *** is not simply a consequence of initiation of flagellar assembly or of time after experimentally-induced flagellar loss,but requires flagellar assembly to a threshold *** of cells with flagella of varying lengths shows that the threshold length for CALK dephosphorylation is～6μm(half-length).Studies with short and long flagellar mutants indicate that cells detect absolute rather than relative flagellar *** results demonstrate that cells possess a mechanism for translating flagellar length into a posttranslational modification of a known flagellar regulatory protein.

关键词： cilia length control CALK length marker

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中国学校卫生 2023年第2期44卷 181-185页

作者：顾廷锋曹牧青金诚开王馨静进中山大学公共卫生学院妇幼卫生系广东广州510080

目的探索就读于普通学校及特殊教育机构的学龄期孤独症谱系障碍(ASD)儿童在1年观察期内的社会交往功能的变化,为开展针对性的教育提供参考。方法对象来自于2017—2018年中山大学公共卫生学院儿童与青少年心理与行为发展研究中心招募的... 详细信息

目的探索就读于普通学校及特殊教育机构的学龄期孤独症谱系障碍(ASD)儿童在1年观察期内的社会交往功能的变化,为开展针对性的教育提供参考。方法对象来自于2017—2018年中山大学公共卫生学院儿童与青少年心理与行为发展研究中心招募的ASD儿童,共获得两个时点有完整数据的44名儿童。在基线及随访期间对家长进行问卷调查,调查内容包括儿童的基本情况、社交反应量表(SRS)、长处与困难问卷(SDQ)、社交沟通量表(SCQ)、儿童焦虑情绪筛查量表(SCARED)、注意缺陷多动障碍评定量表(SNAP-IV)。结果相较于普通学校就读的患儿,基线水平上SRS总分(114.56±6.02, 93.63±3.82)及其亚量表得分(社交知觉:13.54±0.71, 11.02±0.45;社交认知:22.73±1.16, 18.19±0.73;社交沟通:37.47±2.12, 30.40±1.35;孤独症行为方式:23.11±1.70, 19.02±1.08)、SCQ总得分(20.37±1.60, 12.92±1.02)及其亚量表得分(社会互动领域:8.77±0.92, 4.23±0.58;沟通领域:6.07±0.55, 4.19±0.35)在特殊教育机构的患儿中更高(P值均0.05)。结论相较于特殊教育机构,就读于普通学校的学龄期ASD患儿社交障碍程度更低;在1年观察期内,教育环境与儿童的症状变化不存在关联。家长应根据患儿自身能力选择教育环境,学校应加强特殊教育的资源建设和教师技能培训。

关键词：教育组织机构孤独性障碍信息交流儿童

Experimental Observing Damage Evolution in Cement Pastes Exposed to External Sulfate Attack by in situ X-ray Computed Tomography

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Journal of Wuhan University of Technology(Materials Science) 2025年第1期40卷 164-170页

作者： WU Min cao Kailei XIAO Weirong YU Zetai cao Jierong DING Qingjun LI Jinhui China Railway Construction Corporation Harbour and Channel Engineering Bureau Group Co. LTDZhuhai 519000China Con-struction Headquarters of Zhoushan Liuheng Bridge Phase II Project Zhoushan 316000China China Railway Construction Bridge En-gineering Bureau Group Co. LTDTianjin 300000China State Key Laboratory of Silicate Material for Architecture(Wuhan University of Technology) Wuhan 430070China College of Materials Science and Engineering Wuhan Textile UniversityWuhan 430200China

The paper presents experimental investigation results of crack pattern change in cement pastes caused by external sulfate attack(ESA).To visualize the formation and development of cracks in cement pastes under ESA,an X-ray computed tomography(X-ray CT)was used,i e,the tomography system of Zeiss Xradia 510 *** results indicate that X-CT can monitor the development process and distribution characteristics of the internal cracks of cement pastes under ESA with attack *** addition,the C3A content in the cement significantly affects the damage mode of cement paste specimens during sulfate *** damage of ordinary Portland cement(OPC)pastes subjected to sulfate attack with high C3A content are severe,while the damage of sulfate resistant Portland cement(SRPC)pastes is much smaller than that of OPC ***,a quadratic function describes the correlation between the crack volume fraction and development depth for two cement pastes immermed in sulfate solution.

关键词： concrete external sulfate attack damage evolution situ X-ray computed tomography