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Sampling-efficient path planning and improved actor-critic-based obstacle avoidance for autonomous robots

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Science China(Information Sciences) 2024年第5期67卷 197-214页

作者： Yefeng yang Tao HUANG Tianqi WANG wenyu yang Han CHEN Boyang LI Chih-yung WEN Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic University Center for Control Theory and Guidance Technology Harbin Institute of Technology School of Engineering The University of Newcastle Research Center for Unmanned Autonomous Systems The Hong Kong Polytechnic University

Autonomous robots have garnered extensive utilization in diverse fields. Among the critical concerns for autonomous systems, path planning holds paramount importance. Notwithstanding considerable efforts in its development over the years, path planning for autonomous systems continues to grapple with challenges related to low planning efficiency and inadequate obstacle avoidance response in a timely *** study proposes a novel and systematic solution to the path planning problem within intricate office buildings. The solution consists of a global planner and a local planner. To handle the global planning aspect, an adaptive clustering-based dynamic programming rapidly exploring random tree(ACDP-RRT) algorithm is proposed. ACDP-RRT effectively identifies obstacles on the map by leveraging geometric *** obstacles are then represented as a collection of sequentially arranged convex polygons, optimizing the sampling region and significantly enhancing sampling efficiency. For local planning, a network decoupling actor-critic(ND-AC) algorithm is employed. The proposed ND-AC simplifies the local planner design process by integrating planning and control loops into a neural network(NN) trained via an end-to-end model-free deep reinforcement learning(DRL) framework. Moreover, the adoption of network decoupling(ND) techniques leads to an improved obstacle avoidance success rate when compared to conventional actor-critic(AC)-based methods. Extensive simulations and experiments are conducted to demonstrate the effectiveness and robustness of the proposed approach.

关键词： rapidly exploring random tree (RRT) adaptive clustering network decoupling actor critic (AC) path planning

HIF-1αpromotes virus replication and cytokine storm in H1N1 virus-induced severe pneumonia through cellular metabolic reprogramming

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Virologica Sinica 2024年第1期39卷 81-96页

作者： Xiaoxiao Meng Yong Zhu wenyu yang Jiaxiang Zhang Wei Jin Rui Tian Zhengfeng yang Ruilan Wang Department of Critical Care Medicine Shanghai General HospitalShanghai Jiaotong UniversitySchool of MedicineShanghai201620China Precision Research Center for Refractory Diseases Shanghai General HospitalShanghai Jiaotong UniversitySchool of MedicineShanghai201620China

The mortality of patients with severe pneumonia caused by H1N1 infection is closely related to viral replication and cytokine ***,the specific mechanisms triggering virus replication and cytokine storm are still not fully ***,we identified hypoxia inducible factor-1α(HIF-1α)as one of the major host molecules that facilitates H1N1 virus replication followed by cytokine storm in alveolar epithelial ***,HIF-1αprotein expression is upregulated after H1N1 *** of HIF-1αattenuates pulmonary injury,viral replication and cytokine storm in *** addition,viral replication and cytokine storm were inhibited after HIF-1αknockdown in ***,the invasion of H1N1 virus into alveolar epithelial cells leads to a shift in glucose metabolism to glycolysis,with rapid production of ATP and *** of glycolysis significantly suppresses viral replication and inflammatory *** analysis revealed that H1N1-induced HIF-1αcan promote the expression of hexokinase 2(HK2),the key enzyme of glycolysis,and then not only provide energy for the rapid replication of H1N1 virus but also produce lactate,which reduces the accumulation of the MAVS/RIG-I complex and inhibits IFN-α/β*** conclusion,this study demonstrated that the upregulation of HIF-1αby H1N1 infection augments viral replication and cytokine storm by cellular metabolic reprogramming toward glycolysis mainly through upregulation of HK2,providing a theoretical basis for finding potential targets for the treatment of severe pneumonia caused by H1N1 infection.

关键词： H1N1 Severe pneumonia Virus replication Hypoxia inducible factor-1α Glycolysis

Machine learning solution for regional landslide susceptibility based on fault zone division strategy

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Journal of Mountain Science 2024年第5期21卷 1745-1760页

作者： WANG Yunhao WANG Luqi LIU Songlin SUN Weixin LIU Pengfei ZHU Lin yang wenyu GUO Tong School of Civil Engineering Chongqing UniversityChongqing 400045China Key Laboratory of New Technology for Construction of Cities in Mountain Area Chongqing UniversityMinistry of EducationChongqing 400045China National Joint Engineering Research Center of Geohazards Prevention in the Reservoir Areas Chongqing UniversityChongqing 400045China Institute of Geological Environment Monitoring Chongqing 401147China Chongqing 205 Geological Team Chongqing 401121China

Landslide susceptibility assessment is an essential tool for disaster prevention and management. In areas with multiple fault zones, the impact of fault zone on slope stability cannot be disregarded. This study performed qualitative analysis of fault zones and proposed a zoning method to assess the landslide susceptibility in Chengkou County, Chongqing Municipality, China. The region within a distance of 1 km from the faults was designated as sub-zone A, while the remaining area was labeled as sub-zone B. To accomplish the assessment, a dataset comprising 388 historical landslides and 388 non-landslide points was used to train the random forest model. 10-fold cross-validation was utilized to select the training and testing datasets for the model. The results of the models were analyzed and discussed, with a focus on model performance and prediction uncertainty. By implementing the proposed division strategy based on fault zone, the accuracy, precision, recall, F-score, and AUC of both two sub-zones surpassed those of the whole region. In comparison to the results obtained for the whole region, sub-zone B exhibited an increase in AUC by 6.15%, while sub-zone A demonstrated a corresponding increase of 1.66%. Moreover, the results of 100 random realizations indicated that the division strategy has little effect on the prediction uncertainty. This study introduces a novel approach to enhance the prediction accuracy of the landslide susceptibility mapping model in areas with multiple fault zones.

关键词： Landslide susceptibility mapping Fault division strategy Random forest GIS

Coordinated responses of leaf and nodule traits contribute to the accumulation of N in relay intercropped soybean

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Journal of Integrative Agriculture 2024年第6期23卷 1910-1928页

作者： Ping Chen Qing Du Benchuan Zheng Huan yang Zhidan Fu Kai Luo Ping Lin Yilin Li Tian Pu Taiwen Yong wenyu yang College of Agronomy Sichuan Agricultural University/Sichuan Engineering Research Center for Crop Strip Intercropping System/Key Laboratory of Crop Ecophysiology and Farming System in SouthwestMinistry of Agriculture and Rural AffairsChengdu 611130China Crop Research Institute Sichuan Academy of Agricultural SciencesChengdu 610066China

Maize(Zea mays L.)-soybean(Glycine max ***.)relay intercropping provides a way to enhance land ***,the late-planted soybean suffers from shading by the *** maize harvest,how the recovery growth influences the leaf and nodule traits remains unclear.A three-year field experiment was conducted to evaluate the effects of genotypes,i.e.,supernodulating(nts1007),Nandou 12(ND12),and Guixia 3(GX3),and crop configurations,i.e.,the interspecific row spacing of 45(I45),60(I60),75 cm(I75),and sole soybean(SS),on soybean recovery growth and N *** results showed that intercropping reduced the soybean total leaf area(LA)by reducing both the leaf number(LN)and unit leaflet area(LUA),and it reduced the nodule dry weight(NW)by reducing both the nodule number(NN)and nodule diameter(ND)compared with the *** correlation and principal component analysis(PCA)indicated a co-variability of the leaf and nodule traits in response to the genotype and crop configuration *** the recovery growth stages,the compensatory growth promoted soybean growth to reduce the gaps of leaf and nodule traits between intercropping and *** relative growth rates of ureide(RGR_U)and nitrogen(RGR_N)accumulation were higher in intercropping than in *** achieved more significant sucrose and starch contents compared with ***12 and GX3 showed more robust compensatory growth than nts1007 in *** the recovery growth of relay intercropping soybean improved biomass and nitrogen accumulation,ND12 gained a more significant partial land equivalent ratio(pLER)than *** I60 treatment achieved more robust compensation effects on biomass and N accumulation than the other ***,I60 showed a higher nodule sucrose content and greater shoot ureide and N accumulation than ***,intercropping ND12 with maize using an interspecific row spacing of 60 cm was optimal for both yield advantage and N accumulation.

关键词： relay intercropping genotype crop configuration symbiotic nitrogen fixation soybean nodule

Knockdown of HE4 suppresses tumor growth and invasiveness in lung adenocarcinoma through regulation of EGFR signaling

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Oncology Research 2024年第6期32卷 1119-1128页

作者： YUE ZHANG wenyu yang XIAOWANG HAN YUE QIAO HAITAO WANG TING CHEN TIANYING LI WEN-BIN OU Department of Biopharmaceutics College of Life Sciences and MedicineZhejiang Provincial Key Laboratory of Silkworm Bioreactor and BiomedicineZhejiang Sci-Tech UniversityHangzhou310018China Department of Thoracic Surgery Zhejiang Provincial People’s HospitalHangzhou310014China

It has been shown that the high expression of human epididymis protein 4(HE4)in most lung cancers is related to the poor prognosis of patients,but the mechanism of pathological transformation of HE4 in lung cancer is still *** current study is expected to clarify the function and mechanism of HE4 in the occurrence and metastasis of lung adenocarcinoma(LUAD).Immunoblotting evaluated HE4 expression in lung cancer cell lines and biopsies,and through analysis of The Cancer Genome Atlas(TCGA)*** HE4 overexpression was demonstrated in LUAD,but not in lung squamous cell carcinoma(LUSC),indicating that HE4 can serve as a biomarker to distinguish between LUAD and ***4 knockdown significantly inhibited cell growth,colony formation,wound healing,and invasion,and blocked the G1-phase of the cell cycle in LUAD cell lines through inactivation of the EGFR signaling downstream including PI3K/AKT/mTOR and RAF/MAPK *** first-line EGFR inhibitor gefitinib and HE4 shRNA had no synergistic inhibitory effect on the growth of lung adenocarcinoma cells,while the third-line EGFR inhibitor osimertinib showed additive anti-proliferative ***,we provided evidence that HE4 regulated EGFR expression by transcription regulation and protein interaction in *** findings suggest that HE4 positively modulates the EGFR signaling pathway to promote growth and invasiveness in LUAD and highlight that targeting HE4 could be a novel strategy for LUAD treatment.

关键词： Lung adenocarcinoma Human epididymis protein 4 Epidermal growth factor receptor Biomarker Targeted therapies

基于在线监测数据的催化再生烟气污染综合评价

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安全与环境学报 2024年第5期24卷 2017-2024页

作者：杨文玉化学品安全全国重点实验室山东青岛266104 中石化安全工程研究院有限公司山东青岛266104

为综合评估催化裂化装置废气排放对环境大气的污染状况,以28套典型催化裂化装置的催化剂再生烟气为研究对象,统计分析2022年1—12月上述装置排放的3种大气污染物(SO^(2)、NO_(x)和颗粒物)的质量浓度和废气流量的连续小时级在线监测数据... 详细信息

为综合评估催化裂化装置废气排放对环境大气的污染状况,以28套典型催化裂化装置的催化剂再生烟气为研究对象,统计分析2022年1—12月上述装置排放的3种大气污染物(SO^(2)、NO_(x)和颗粒物)的质量浓度和废气流量的连续小时级在线监测数据。SO2、NO_(x)和颗粒物排放质量浓度均值分别为5.95 mg/m^(3)、39.32 mg/m^(3)和6.30 mg/m^(3),污染物达标排放率达到99.99%,仅通过达标排放率难以判别装置间的污染排放水平。因此,本文通过层次分析(Analytic Hierarchy Process,AHP)主观赋权法与指标相关性权重(Criteria Importance Through Intercriteria Correlation,CRITIC)客观赋权法相结合的方式构建了催化再生烟气污染评价指数(Exhaust Pollution Evaluation Index,Iepe),并结合聚类分析结果和废气污染评价指数计算数据,确定了适用于评估催化再生烟气污染排放等级的Iepe。通过对废气污染评价指数的综合分析发现,催化再生烟气处于超低污染水平的催化裂化装置有3套,处于低强度污染水平的催化裂化装置有20套,处于中等强度污染水平的催化裂化装置有5套。氮氧化物和颗粒物质量浓度对催化再生烟气污染评价指数的贡献较大,建议炼化企业将催化再生烟气的氮氧化物和颗粒物质量浓度作为废气污染管控的重点,以进一步提升催化裂化装置的绿色低碳水平。

关键词：环境工程学催化裂化再生烟气在线监测污染评价指数

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中国儿童急性白血病的诊治现状及展望

中华医学杂志 2024年第27期104卷 2477-2482页

作者：杨文钰竺晓凡中国医学科学院血液病医院(中国医学科学院血液学研究所)儿童血液与肿瘤诊疗中心血液与健康全国重点实验室国家血液系统疾病临床医学研究中心细胞生态海河实验室天津医学健康研究院天津

急性白血病是儿童最常见的造血干细胞恶性肿瘤, 位居儿童肿瘤性疾病发病率的首位, 是影响儿童生长和生存的一类重大疾病。随着医疗-诊治水平不断提高、免疫治疗的广泛开展, 儿童急性白血病的生存率及生活质量显著提高。近年来, 我国相... 详细信息

急性白血病是儿童最常见的造血干细胞恶性肿瘤, 位居儿童肿瘤性疾病发病率的首位, 是影响儿童生长和生存的一类重大疾病。随着医疗-诊治水平不断提高、免疫治疗的广泛开展, 儿童急性白血病的生存率及生活质量显著提高。近年来, 我国相继成立三大儿童白血病协作组, 并发表了一系列高水平研究成果。未来, 着力推进儿童急性白血病诊疗规范化及同质化进程、筛选敏感残留病监测靶标、不断优化现有治疗方案、最大限度降低近/远期不良反应、探索难治/复发急性白血病最佳治疗方案、加速开展新药临床研究等, 将是儿童急性白血病诊治领域的发展方向。

关键词：白血病儿童诊断和治疗现状展望

基于GIS的环保智能可视化管理系统的研发及应用

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安全、健康和环境 2024年第6期24卷 24-28,42页

作者：杨文玉化学品安全全国重点实验室山东青岛266104 中石化安全工程研究院有限公司山东青岛266104

基于石化企业环保管理业务特点及需求,从环保智能可视化管理角度提出了基于GIS的环保智能地图管理系统的技术架构,主要解决现有技术难以实现环保管理一体化、系统化、智能化的问题。通过建立基于GIS的环保智能可视化管理系统,将物联网... 详细信息

基于石化企业环保管理业务特点及需求,从环保智能可视化管理角度提出了基于GIS的环保智能地图管理系统的技术架构,主要解决现有技术难以实现环保管理一体化、系统化、智能化的问题。通过建立基于GIS的环保智能可视化管理系统,将物联网、自动控制、网络通信、GIS以及大数据等信息技术引进环保管理领域,搭建了企业环保数据的价值挖掘和深化应用模式,解决了环保管理业务平台独立、数据多源和分散决策的问题,实现了企业废水、废气、固废、土壤及地下水数据的融合应用,全面支撑企业污染源和环保治理设施的环保智能监控管理,为企业环保过程管控和科学决策提供技术支撑。

关键词：地理信息技术污染源数字化环保管理智能化

空间热离子反应堆燃料元件力学性能分析程序开发

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强激光与粒子束 2024年第3期36卷 148-157页

作者：杨文宇柴翔朱恩平刘晓晶上海交通大学智慧能源创新学院上海200240 上海交通大学机械与动力工程学院上海200240

为了实现对空间热离子反应堆燃料元件运行期间安全性能的预测,研究开发了一种燃料元件力学性能分析程序,并针对多层圆筒状的TOPAZ-Ⅱ热离子燃料元件开展了应力、应变和几何变形的高精度模拟。程序考虑了核燃料在高温辐照环境下的辐照肿... 详细信息

为了实现对空间热离子反应堆燃料元件运行期间安全性能的预测,研究开发了一种燃料元件力学性能分析程序,并针对多层圆筒状的TOPAZ-Ⅱ热离子燃料元件开展了应力、应变和几何变形的高精度模拟。程序考虑了核燃料在高温辐照环境下的辐照肿胀,并分析了燃料芯块-发射极在发生接触后的力学响应问题,从而快速且准确地求解燃料芯块和发射极的力学状态,以对空间热离子反应堆运行期间的性能提供准确预测。结果表明:在正常运行情况下,空间热离子反应堆燃料会发生显著的肿胀效应,其造成的变形将导致燃料元件热电转换效率降低、元件失效等安全隐患。

关键词：空间堆燃料元件辐照肿胀力学分析

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