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A Novel Prescribed-Performance Path-Following Problem for Non-Holonomic Vehicles

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1476-1484页

作者： Zirui Chen Jingchuan Tang Zongyu zuo Seventh Research Division Beihang University(BUAA)Beijing 100191China IEEE

The issue of achieving prescribed-performance path following in robotics is addressed in this paper,where the aim is to ensure that a desired path within a specified region is accu-rately converged to by the controlled vehicle.In this context,a novel form of the prescribed performance guiding vector field is introduced,accompanied by a prescribed-time sliding mode con-trol approach.Furthermore,the interdependence among the pre-scribed parameters is discussed.To validate the effectiveness of the proposed method,numerical simulations are presented to demonstrate the efficacy of the approach.

关键词： Guiding vector field non-holonomic vehicle path following prescribed performance sliding mode control

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Mitigating gut immune adverse effects in CTLA-4 blockade for antitumor efficacy

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Science China(Life Sciences) 2024年第7期67卷 1539-1541页

作者： Shijun He Jianping zuo Zemin Lin Laboratory of Immunopharmacology State Key Laboratory of Drug ResearchShanghai Institute of Materia MedicaChinese Academy of SciencesShanghai 201203China Innovation Research Institute of Traditional Chinese Medicine Shanghai University of Traditional Chinese MedicineShanghai 201203China School of Pharmacy University of Chinese Academy of SciencesBeijing 100049China

By creating an immune checkpoint blockade-induced colitis model,Lo et al.(2024)have suggested a strategy for alleviating gastrointestinal immune-related adverse events while preserving the antitumor stimulatory effect... 详细信息

关键词： al. immune gastrointestinal

A combined evaluation of the characteristics and antibiotic resistance induction potential of antibiotic wastewater during the treatment process

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Journal of Environmental Sciences 2024年第4期138卷 626-636页

作者： Sun Miao Yanyan Zhang Cong Men Yiou Mao Jiane zuo State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing 100084China School of Energy and Environmental Engineering Beijing Key Laboratory of Resource-Oriented Treatment of Industrial PollutantsUniversity of Science and Technology BeijingBeijing 100083China High School Affiliated to Renmin University of China Beijing 100080China Tsinghua Shenzhen International Graduate School Shenzhen 518055China

Antibiotic wastewater contains a variety of pollutant stressors that can induce and promote antibiotic resistance(AR)when released into the environment.Although these substances are mostly in concentrations lower than those known to induce AR individually,it is possible that antibiotic wastewater discharge might still promote the AR transmission risk via additive or synergistic effects.However,the comprehensive effect of antibiotic wastewater on AR development has rarely been evaluated,and its treatment efficiency remains unknown.Here,samples were collected from different stages of a cephalosporin production wastewater treatment plant,and the potential AR induction effect of their chemical mixtures was explored through the exposure of the antibiotic-sensitive Escherichia coli K12 strain.Incubation with raw cephalosporin production wastewater significantly promoted mutation rates(3.6×10^(3)-9.3×10^(3)-fold)and minimum inhibition concentrations(6.0-6.7-fold)of E.coli against ampicillin and chloramphenicol.This may be attributed to the inhibition effect and oxidative stress of cephalosporin wastewater on E.coli.The AR induction effect of cephalosporin wastewater decreased after the coagulation sedimentation treatment and was completely removed after the full treatment process.A Pearson correlation analysis revealed that the reduction in the AR induction effect had a strong positive correlation with the removal of organics and biological toxicity.This indicates that the antibiotic wastewater treatment had a collaborative processing effect of conventional pollutants,toxicity,and the AR induction effect.This study illustrates the potential AR transmission risk of antibiotic wastewater and highlights the need for its adequate treatment.

关键词： Antibiotic wastewater treatment plant Antibiotic resistance Antibiotic resistance induction effect Correlation analysis Biological toxicity

Single and combined effects of secondary polyethylene microplastic on the growth of Pak choi and the soil microbiome composition

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Frontiers of Environmental Science & Engineering 2024年第5期18卷 1-12页

作者： Jiamin Hu Zhenwen Xie Jiane zuo State Key Joint Laboratory of Environmental Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing100084China Tsinghua Shenzhen International Graduate School Tsinghua UniversityShenzhen518055China

It has been confirmed that microplastics(MPs)are present in the environment.This study simulated secondary PE-MPs via aging and mechanical processes to evaluate their effects on Pak choi(Brassica rapa L.)over 21 d.Two common pollutants,dichlorodiphenyltrichloroethane(DDT)and naphthalene,were used in the combined toxicity tests.The results indicated that the growth of Pak choi was significantly inhibited after exposure to secondary PE-MPs,and the combined effects were antagonistic,owing to the adsorption capacity of secondary PE-MPs to DDT and naphthalene.Oxidative stress in Pak choi can be markedly affected,leading to oxidative damage to plant cells.The moisture content,soil bulk density,soil density,cation exchange capacity(CEC),and FDA hydrolase in the planted soils increased in the treated groups,and the TOC content changed significantly.We also found that the microbial composition of the soil in the DDT and naphthalene groups showed more significant alterations than that in the other groups.Alpha diversity analysis showed that species diversity increased in the combined groups but indicated a clear downward trend in the single MPs groups.This study suggests that secondary PE-MPs harm the growth of Pak choi and can change soil properties,revealing the harm to the ecosystem of MPs in the soil.

关键词： Secondary PE-MPs Combined effects Oxidative stress Soil properties Bacterial community

Three-dimensional limit variation analysis on the ultimate pullout capacity of the anchor cables based on the Hoek-Brown failure criterion

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Journal of Mountain Science 2024年第3期21卷 1036-1047页

作者： zuo Shi ZHAO Lianheng HU Shihong College of Civil Engineering Changsha UniversityChangsha 410022China Hunan Provincial Key Laboratory for Disaster Prevention and Mitigation of Rail Transit Engineering Structure Key Laboratory of Heavy-Haul Railway Engineering StructureMinistry of EducationCentral South UniversityChangsha 410075China College of Civil Engineering Central South UniversityChangsha 410075China

Only simplified two-dimensional model and a single failure mode are adopted to calculate the ultimate pullout capacity(UPC)of anchor cables in most previous research.This study focuses on a more comprehensive combination failure mode that consists of bond failure of an anchorage body and failure of an anchored rock mass.The three-dimensional ultimate pullout capacity of the anchor cables is calculated based on the Hoek-Brown failure criterion and variation analysis method.The numerical solution for the curvilinear function in fracture plane is obtained based on the finite difference theory,which more accurately reflects the failure state of the anchor cable,as opposed to that being assumed in advance.The results reveal that relying solely on a single failure mode for UPC calculations has limitations,as changes in parameter values not only directly impact the UPC value but also can alter the failure model and thus the calculation method.

关键词： Anchor cable Ultimate pullout capacity(UPC) Failure model Variation analysis Hoek-Brown failure criterion

Multi-circular formation control with reinforced transient profiles for nonholonomic vehicles:A path-following framework

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Defence Technology（防务技术） 2024年第1期31卷 278-287页

作者： Jintao Zhang Xingling Shao Wendong Zhang Zongyu zuo School of Instrument and Electronics North University of ChinaTaiyuan 030051China State Key Laboratory of Dynamic Measurement Technology North University of ChinaTaiyuan 030051China Seventh Research Division School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100191China

This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the feature of spatial-temporal decoupling is devised for a group of vehicles guided by a virtual leader evolving along an implicit path,which allows for a circumnavigation on multiple circles with an anticipant angular spacing.In addition,notice that it typically imposes a stringent time constraint on time-sensitive enclosing scenarios,hence an improved prescribed performance control(IPPC)using novel tighter behavior boundaries is presented to enhance transient capabilities with an ensured appointed-time convergence free from any overshoots.The significant merits are that coordinated circumnavigation along different circles can be realized via executing geometric and dynamic assignments independently with modified transient profiles.Furthermore,all variables existing in the entire system are analyzed to be convergent.Simulation and experimental results are provided to validate the utility of suggested solution.

关键词： Multi-circular formation Reinforced transient profiles Nonholonomic vehicles Path following

A Dual-Task Learning Approach for Bearing Anomaly Detection and State Evaluation of Safe Region

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Chinese Journal of Mechanical Engineering 2024年第1期37卷 229-241页

作者： Yuhua Yin Zhiliang Liu Bin Guo Mingjian zuo School of Mechanical and Electrical Engineering University of Electronic Science and Technology of ChinaChengdu 611731China Qingdao International Academician Park Research Institute Qingdao 266041China

Predictive maintenance has emerged as an effective tool for curbing maintenance costs,yet prevailing research predominantly concentrates on the abnormal phases.Within the ostensibly stable healthy phase,the reliance on anomaly detection to preempt equipment malfunctions faces the challenge of sudden anomaly discernment.To address this challenge,this paper proposes a dual-task learning approach for bearing anomaly detection and state evaluation of safe regions.The proposed method transforms the execution of the two tasks into an optimization issue of the hypersphere center.By leveraging the monotonicity and distinguishability pertinent to the tasks as the foundation for optimization,it reconstructs the SVDD model to ensure equilibrium in the model’s performance across the two tasks.Subsequent experiments verify the proposed method’s effectiveness,which is interpreted from the perspectives of parameter adjustment and enveloping trade-offs.In the meantime,experimental results also show two deficiencies in anomaly detection accuracy and state evaluation metrics.Their theoretical analysis inspires us to focus on feature extraction and data collection to achieve improvements.The proposed method lays the foundation for realizing predictive maintenance in a healthy stage by improving condition awareness in safe regions.

关键词： Bearing condition monitoring Anomaly detection Safe region Support vector data description

Tributyltin causes generational neurodevelopmental toxicity and the protective effect of folic acid in zebrafish

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Journal of Environmental Sciences 2024年第3期137卷 615-625页

作者： Haoxing Cai Naying Zheng Chen Tang Yuxuan Zhang Zhenghong zuo Chengyong He State Key Laboratory of Cellular Stress Biology School of Life SciencesFaculty of Medicine and Life SciencesXiang’an Hospital of Xiamen UniversityXiamen UniversityXiamen 361005China

Tributyltin(TBT),a common organotin environmental pollutant,may pose a threat to human development during critical early-life periods.We aimed to assess the neurodevelopmental intergenerational toxicity of early-life exposure to TBT and the protective effect of DNA methyl donor folic acid(FA).Specifically,after early-life exposure(1–21 days postfertilization,dpf)to TBT(0,1,10 and 100 ng/L),zebrafish(Danio rerio)were cultured in clean medium until sexual maturity.The exposed females were mated with unexposed males to produce embryos(F1).The F1 generation were cultured(4–120 hours post-fertilization,hpf)with and without 1 mmol/L FA.The neurotoxic effects of early-life TBT exposure for zebrafish and their offspring(F1)were significantly enhanced anxiety and reduced aggression,decreased gene expression of DNA methyltransferase in the brain and increased serotonin levels in the body.Moreover,the intergenerational neurodevelopmental toxicity,as manifested in the F1 generation,was attenuated by FA supplementation.In summary,early-life TBT exposure led to intergenerational neurodevelopmental deficits in zebrafish,and DNA methyl donors had a protective effect on F1 neurodevelopment,which can inform the prevention and treatment of intergenerational neurotoxicity due to organotin pollutants.

关键词： Tributyltin Neurodevelopment Intergeneration DNA methylation Folic acid Zebrafish

Byzantine Robust Federated Learning Scheme Based on Backdoor Triggers

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Computers, Materials & Continua 2024年第5期79卷 2813-2831页

作者： Zheng Yang Ke Gu Yiming zuo School of Computer and Communication Engineering Changsha University of Science and TechnologyChangsha410114China

Federated learning is widely used to solve the problem of data decentralization and can provide privacy protectionfor data owners. However, since multiple participants are required in federated learning, this allows attackers tocompromise. Byzantine attacks pose great threats to federated learning. Byzantine attackers upload maliciouslycreated local models to the server to affect the prediction performance and training speed of the global model. Todefend against Byzantine attacks, we propose a Byzantine robust federated learning scheme based on backdoortriggers. In our scheme, backdoor triggers are embedded into benign data samples, and then malicious localmodels can be identified by the server according to its validation dataset. Furthermore, we calculate the adjustmentfactors of local models according to the parameters of their final layers, which are used to defend against datapoisoning-based Byzantine attacks. To further enhance the robustness of our scheme, each localmodel is weightedand aggregated according to the number of times it is identified as malicious. Relevant experimental data showthat our scheme is effective against Byzantine attacks in both independent identically distributed (IID) and nonindependentidentically distributed (non-IID) scenarios.

关键词： Federated learning Byzantine attacks backdoor triggers