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基于近端策略优化的两栖无人平台路径规划算法研究

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北京理工大学学报 2025年第1期45卷 19-25页

作者：左哲覃卫徐梓洋李寓安陈泰然北京理工大学机械与车辆学院北京100081

为解决水陆两栖无人平台在复杂环境中的路径规划问题,针对传统方法难以应对动态障碍物和多变环境的局限性,提出了一种基于近端策略优化(PPO)的路径规划算法,包含四种感知信息输入方案以及速度强化奖励函数,适应动态和静态环境.该算法通... 详细信息

为解决水陆两栖无人平台在复杂环境中的路径规划问题,针对传统方法难以应对动态障碍物和多变环境的局限性,提出了一种基于近端策略优化(PPO)的路径规划算法,包含四种感知信息输入方案以及速度强化奖励函数,适应动态和静态环境.该算法通过批次函数正则化、策略熵引入和自适应裁剪因子,显著提升了算法的收敛速度和稳定性.研究中采用了ROS仿真平台,结合Flatland物理引擎和PedSim插件,模拟了包含动态障碍物的多种复杂场景.实验结果表明,采用BEV+V状态空间输入结构和离散动作空间的两栖无人平台,在路径规划中展现出高成功率和低超时率,优于传统方法和其他方案.仿真和对比实验显示采用鸟瞰图与速度组合的状态空间数据结构配合速度强化奖励函数算法提高了性能,收敛速度提高25.58%,路径规划成功率提升25.54%,超时率下降13.73%.

关键词：路径规划两栖无人平台近端策略优化(PPO)

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Lighting up rotaxanes with AIEgens

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Chinese Chemical Letters 2023年第3期34卷 122-133页

作者： Xiao-qin xu xu-qing Wang wei Wang School of Chemistry and Molecular Engineering East China Normal UniversityShanghai 200062China Guangdong Provincial Key Laboratory of Functional and Intelligent Hybrid Materials and Devices South China University of TechnologyGuangzhou 510640China

Aiming at the construction of novel rotaxanes with desired luminescent properties for practical applications, recently the rapid development of rotaxanes decorated with aggregation-induced emission(AIE) luminogens(i.e., AIEgens) has been witnessed. The combination of AIEgens and rotaxanes leads to the successful construction of a novel type of luminescent rotaxanes with many attractive features. In particular, the unique controllable dynamic feature of rotaxanes endows the resultant AIEgen-based rotaxanes precisely tunable emissions under external stimuli, leading to the construction of a novel type of smart luminescent materials. In this minireview, the recent progress of AIEgen-based rotaxanes has been summarized, with an emphasis on the design strategy and potential applications.

关键词： Mechanically interlocked molecules Aggregation-induced emission Molecular shuttles F?rster resonance energy transfer Light harvesting Aggregate

Boosting aqueous nickel-zinc battery stability with bimetallic ion-integrated 1D metal-organic nanowires

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Science China Chemistry 2025年

作者： Yihao Chen Jin Liang Yichun Su Guoyin Zhu Hengyue xu Hongye Ding Guangxun Zhang Dianheng Yu Zizhou Shen Yizhou Zhang wei Huang Huan Pang School of Chemistry and Chemical Engineering Yangzhou University Key Laboratory of Flexible Electronics (KLoFE) & Institute of Advanced Materials (IAM) School of Flexible Electronics (Future Technologies) Nanjing Tech University (NanjingTech) Institute of Advanced Materials and Flexible Electronics (IAMFE) School of Chemistry and Materials Science Nanjing University of Information Science & Technology Department of Chemistry Tsinghua University State Key Laboratory of Coordination Chemistry Nanjing University

Limited by low conductivity,designing cathode materials with excellent electron transfer efficiency for high-performance nickel-zinc batteries （NZBs） remains *** this study,a series of bimetallic metal-organic nanowires were fabricated by doping M ions in NiNTA,resulting in NiMNTA (M=Mg2+,Mn2+,Co2+,Zn2+,Ag+),and NixCo6-xNTA （x=1,2,3,4,5）.The proportions and types of metal ions can be modified without altering the initial coordination structure.X-ray absorption fine structure spectroscopy （XAFS） revealed that only M–O bonds,not metal bonds,were present in the *** performance of Ni2Co4NTA as the cathode for aqueous NZBs was significantly improved,achieving the maximum energy density of 279.17Wh kg-1with the high cycle stability （retention rate of 72.0%after 1,000 cycles）.The flexible Ni2Co4NTA//Zn@carbon cloth battery employing gel electrolyte also exhibits the excellent Coulombic efficiency of 96%after 350 *** approach shows considerable potential for designing one-dimensional materials with bimetallic modifications,providing new strategies for developing cathode materials for NZBs with high specific capacity and cycle stability.

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基于PSPICE的电路课程CAI

天津理工学院学报 2002年第2期18卷 44-46页

作者：徐伟徐钦民吕以全天津理工学院自动化与能源工程学院天津300191

讨论了将计算机仿真技术应用于电路课程CAI的必要性和可行性 ,给出了基于电子电路仿真软件Pspice8 0仿真电路的实例 .

关键词：电路课程 CAI 计算机仿真 Pspice 电子电路教学电路仿真软件

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电子鼻在食品微生物污染快速检测中的应用

食品工业科技 2017年第6期38卷 376-380,385页

作者：蒋雪松陈卉卉胡立挺王维琴许林云宁波海通食品科技有限公司浙江慈溪315300 南京林业大学机械电子工程学院江苏南京210037

世界上大部分的消费食品都受到微生物污染的影响。常用的微生物检测和鉴别方法存在一些缺点,不适用于食品的快速筛查。近年来,电子鼻为包括微生物污染诊断在内的食品品质与安全分析提供了有价值的分析手段。本文介绍了电子鼻的三个组成... 详细信息

世界上大部分的消费食品都受到微生物污染的影响。常用的微生物检测和鉴别方法存在一些缺点,不适用于食品的快速筛查。近年来,电子鼻为包括微生物污染诊断在内的食品品质与安全分析提供了有价值的分析手段。本文介绍了电子鼻的三个组成部分(气体采样单元、气敏传感器阵列、信号处理与模式识别系统),综述了电子鼻对食品中常见的细菌、霉菌、酵母和毒素等四种微生物污染类型的检测,最后对电子鼻的发展趋势和前景进行了展望。

关键词：电子鼻食品微生物细菌霉菌有机挥发物

循环加载与卸围压组合扰动下红砂岩损伤破裂与渗透特性

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岩土工程学报 2025年第1期47卷 48-56页

作者：姚玮俞缙周先齐常方强常旭厦门理工学院土木工程与建筑学院福建厦门361024 华侨大学福建省隧道与城市地下空间工程技术研究中心福建厦门361021

为探究深地工程开挖诱导岩体损伤破裂及渗透性演化规律,开展了同步测定波速与渗透率的循环加载与卸围压组合扰动三轴试验,研究了不同条件下红砂岩的损伤与渗透性演化规律。结果表明:①岩石在不同组合扰动阶段具有不同的应力应变曲线形态... 详细信息

为探究深地工程开挖诱导岩体损伤破裂及渗透性演化规律,开展了同步测定波速与渗透率的循环加载与卸围压组合扰动三轴试验,研究了不同条件下红砂岩的损伤与渗透性演化规律。结果表明:①岩石在不同组合扰动阶段具有不同的应力应变曲线形态,其末端形态取决于在何种扰动阶段破坏,初始应力比为决定组合扰动诱发岩石破坏难易的主要因素;②总峰值轴向应变随初始应力比增大而增大,其中组合扰动轴向应变占比始终较低,总峰值体积应变绝对值随初始应力比增大而先增大后减小,其中组合扰动体积应变占比较高;③在初始加载阶段,波速增大,渗透率降低,在组合扰动阶段,波速下降,渗透率增加,且损伤与体积应变近似呈线性关系,损伤与渗透率随扰动次数增加均呈先慢后快的增长趋势,且拐点分别近似在一条直线上;④岩石在组合扰动卸围压阶段破坏为单剪切破坏模式,在组合扰动循环加载阶段破坏为共轭剪切破坏模式;⑤双高(高初始应力比与高初始围压)条件将显著加剧岩体开挖失稳破坏风险。

关键词：深地工程组合扰动力学特性损伤渗透性

Multistate circularly polarized luminescence switches based on dual stimuli-responsive chiral[2]rotaxanes

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Science China Chemistry 2024年第12期67卷 4202-4211页

作者： wei-Tao xu xue Li Xiao-qin xu xu-qing Wang Hai-Bo Yang wei Wang Wuhu Hospital East China Normal University(The Second People’s HospitalWuhu)Wuhu 241001China Shanghai Key Laboratory of Green Chemistry and Chemical Processes State Key Laboratory of Petroleum Molecular and Process EngineeringSchool of Chemistry and Molecular EngineeringEast China Normal UniversityShanghai 200062China Shanghai Center of Brain-inspired Intelligent Materials and Devices East China Normal UniversityShanghai 200241China

Aiming at the construction of novel multistate circularly polarized luminescence(CPL)switches,dual stimuli-responsive chiral[2]rotaxanes towards anions and light have been designed and *** the light-controlled on/off F?rster resonance energy transfer(FRET)switching between the emissive stoppers and anion-induced controllable motions of the chiral wheel for the precise regulations of chirality information transfer from the chiral wheel to the emissive stoppers,precisely switching between four CPL emission states with varied emission wavelengths and dissymmetry factors has been successfully realized,making them a promising platform for practical uses such as information storage and *** proof-of-concept study not only provides a novel design strategy for multistate CPL switching but also contributes excellent candidates for the construction of novel smart chiral luminescent materials.

关键词： mechanically interlocked molecules Förster resonance energy transfer aggregation-induced emission pillararene spiropyran

Modern physiognomy: an investigation on predicting personality traits and intelligence from the human face

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Science China(Information Sciences) 2018年第5期61卷 326-328页

作者： Rizhen qin wei GAO Huarong xu Zhanyi HU National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Department of Computer Science and Technology Xiamen University of Technology CAS Center for Excellence in Brain Science and Intelligent Technology Institute of AutomationChinese Academy of Sciences

Even in ancient China,Egypt and Greece,people had tried to establish the relationship between facial morphological features and personality traits of an *** modern psychological studies revealed that people tend to evaluate others on their appearance and then move on to interact with them based on these first ***,it has been a well-established fact the face plays a central role in the everyday assessments of other *** example,humans perform trait

关键词： Modern physiognomy an investigation on predicting personality traits and intelligence from the human face

超高效液相色谱-串联质谱法测定水体沉积物中17种新烟碱类杀虫剂及代谢物的残留量

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现代化工 2025年第1期45卷 261-265页

作者：徐彦杨继伟李剑徐巧俞晓峰姜佳钦杭州谱育科技发展有限公司浙江杭州310000 浙江工业大学化学工程学院浙江杭州310000

建立了基于全自动加速溶剂萃取-超高效液相色谱-串联质谱法检测水体沉积物中17种新烟碱类杀虫剂及代谢物残留的分析方法,17种目标物的质量浓度在一定范围内与对应的峰面积呈线性关系,该方法的检出限(3.143s)为0.0007~0.0022μg/kg。在0... 详细信息

建立了基于全自动加速溶剂萃取-超高效液相色谱-串联质谱法检测水体沉积物中17种新烟碱类杀虫剂及代谢物残留的分析方法,17种目标物的质量浓度在一定范围内与对应的峰面积呈线性关系,该方法的检出限(3.143s)为0.0007~0.0022μg/kg。在0.02、0.2、1.5μg/kg加标水平下的平均回收率为82.70%~114.30%,日内精密度和日间精密度的相对标准偏差分别为1.4%~9.4%和3.8%~9.7%。

关键词：全自动加速溶剂萃取新烟碱类杀虫剂超高效液相色谱-串联质谱法水体沉积物