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Hybrid Navigation Method for Multiple Robots Facing Dynamic Obstacles

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Tsinghua Science and Technology 2022年第6期27卷 894-901页

作者： Kaidong Zhao Li ning Shenzhen Institutes of Advanced Technology Chinese Academy of SciencesShenzhen 518055China University of Chinese Academy of Sciences Beijing 100049China

With the continuous development of robotics and artificial intelligence,robots are being increasingly used in various *** traditional navigation algorithms,such as Dijkstra and A*,many dynamic scenarios in life are difficult to cope *** solve the navigation problem of complex dynamic scenes,we present an improved reinforcement-learning-based algorithm for local path planning that allows it to perform well even when more dynamic obstacles are *** method applies the gmapping algorithm as the upper layer input and uses reinforcement learning methods as the *** algorithm enhances the robots’ability to actively avoid obstacles while retaining the adaptability of traditional methods.

关键词： simultaneous localization and mapping(SLAM) reinforcement learning multirobots dynamic obstacles robot operating system(ROS) navigation

Effect of Axial Deformation on Elastic Properties of Irregular Honeycomb Structure

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Chinese Journal of Mechanical Engineering 2021年第4期34卷 276-287页

作者： ning Wang Qingtian Deng School of Science Chang’an UniversityXi’an 710064China

Irregular honeycomb structures occur abundantly in nature and in man-made products,and are an active area of *** this paper,according to the optimization of regular honeycomb structures,two types of irregular honeycomb structures with both positive and negative Poisson’s ratios are *** elastic properties of irregular honeycombs with varying structure angles were investigated through a combination of material mechanics and structural mechanics methods,in which the axial deformation of the rods was *** numerical results show that axial deformation has a significant influence on the elastic properties of irregular honeycomb *** elastic properties of the structure can be considered by the enclosed area of the unit structure,the shape of the unit structure,and the elastic properties of the original *** elastic properties considering the axial deformation of rods studied in this study can provide a reference for other scholars.

关键词： Axial deformation Elastic modulus Positive Poisson’s ratio Negative Poisson’s ratio Irregular honeycombs

Experimental and Numerical Studies of a Microscale Internal Combustion Swing Engine(MICSE)

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Journal of Thermal Science 2021年第5期30卷 1705-1717页

作者： DU ning KONG Wenjun Key Laboratory of Light-Duty Gas-Turbine Institute of Engineering ThermophysicsChinese Academy of SciencesBeijing100190China University of Chinese Academy of Sciences Beijing100039China Ning Du School of Astronautics Beihang UniversityBeijing100191China

In this paper,the operation characteristics of a microscale internal combustion swing engine(MICSE)were investigated experimentally and *** energy flow path of MICSE was comprehensively analyzed based on the first law of *** accuracy of zero-dimensional model was verified by *** indicative thermal efficiency of the engine increases first and then decreases with the increase of equivalent ratio or ignition advance *** results show that there exists an optimum equivalent ratio and ignition advance angle during *** maximum efficiency of the engine reaches 12.5%when the equivalent ratio and ignition advance angle are 0.8 and−0.553,*** can operate normally when the equivalent ratio is greater than *** peak value of net heat release rate lags behind that of pressure change,which is different from the conventional crank *** and simulation results show that the leakage of MICSE is serious,and it is the main loss of *** order of energy terms is as follows:leakage loss>exhaust loss>heat loss>indicative work.

关键词： microscale internal combustion swing engine indicative thermal efficiency equivalent ratio ignition advance angle leakage

Certificateless network coding proxy signatures from lattice

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Frontiers of Computer Science 2023年第5期17卷 145-152页

作者： Huifang YU ning WANG School of Cyberspace Security Xi’an University of Posts&TelecommunicationsXi’an 710121China

Network coding can improve the information transmission efficiency and reduces the network resource consumption,so it is a very good platform for information *** proxy signatures are widely applied in information security ***,certificateless proxy signatures based on classical number theory are not suitable for the network coding environment and cannot resist the quantum computing *** view of this,we construct certificateless network coding proxy signatures from lattice(LCL-NCPS).LCL-NCPS is new multi-source signature scheme which has the characteristics of anti-quantum,antipollution and *** LCL-NCPS,each source node user can output a message vector to intermediate node and sink node,and the message vectors from different source nodes will be linearly combined to achieve the aim of improving the network transmission rate and network *** terms of efficiency analysis of space dimension,LCL-NCPS can obtain the lower computation complexity by reducing the dimension of proxy *** terms of efficiency analysis of time dimension,LCL-NCPS has higher computation efficiency in signature and verification.

关键词： lattice multi-source signature scheme proxy signature post-quantum

On Symmetry Flows of Noncommutative Kadomtsev-Petviashvili Hierarchy

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Communications in Theoretical Physics 2005年第3X期44卷 419-425页

作者： WANG ning Department of Physics Ocean University of China Qingdao 266003 China

We discuss symmetry flows of noncommutative Kadomtsev-Petviashvili (NCKP) hierarchy. An operatorbased formulation, alternative to the star-product approach of extended symmetry flows is presented. Noncommutative additional symmetry flows of the NCKP hierarchy are formulated. A rescaling symmetry flow which is associated with the rescaling of whole coordinates is introduced.

关键词： noncommutative Kadomtsev-Petviashvili hierarchy extended symmetry flows additional symmetry flows rescaling symmetry flows

A new look on the electric spark sensitivity of nitramines

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Defence Technology（防务技术） 2020年第1期16卷 10-17页

作者： Svatopluk Zeman ning Liu Institute of Energetic Materials Faculty of Chemical TechnologyUniversity of PardubiceCZ-43210 PardubiceCzech Republic Xi'an Modern Chemistry Research Institute Xi'anShaanxi710065China

Electric spark energy,E_(ES),for a 50%probability of initiation of the 14 nitramines was determined using a measuring instrument in which the electrodes are in direct contact with the *** proportional relationships were established between the logarithm of the E_(ES)values and the length of the longest N-N bond in the nitramine *** finding is compatible with the mechanism of the first step in the electro-reduction of the nitramine *** proportional relationships were found to exist between the E_(ES)values and the crystal lattice free volumes,ΔV(*** increase in theΔV values increases the nitramine's resistance to electric sparks)but there were several nitramines with the opposite course of this *** a semilogarithic relationships between the E_(ES)values and a ratio of intrinsic volumes of molecule,V_(int),to theΔV values were described as well as ambiguous linear dependence between these energies and a sum of the positive and negative extremes of the molecular surface electrostatic potentials,V_(S,∑).Several nitramines studied(always the same ones)display roughly the same distribution in the coordinate systems of relationships with lengths of the longest N-N bonds,the Vint/ΔV ratio and the sum V_(S,∑)as the independent *** was found that,typically,such relationships start from a single identical point,in effect a point corresponding to data for a structural unit from which tho studied nitramines can be hypothetically generated,and/or are converging on another point,often the one corresponding to the data for *** the findings point to a fundamental influence of the intermolecular forces on reactivity of nitramines exposed to electric sparks.

关键词： Electric spark Free volume Initiation Nitramines Sensitivity

An Optimal Control-Based Distributed Reinforcement Learning Framework for A Class of Non-Convex Objective Functionals of the Multi-Agent Network

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IEEE/CAA Journal of Automatica Sinica 2023年第11期10卷 2081-2093页

作者： Zhe Chen ning Li Department of Automation Shanghai Jiao Tong UniversityShanghai 200240 Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240 Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Department of Automation Tsinghua UniversityBeijing 100084China IEEE

This paper studies a novel distributed optimization problem that aims to minimize the sum of the non-convex objective functionals of the multi-agent network under privacy protection, which means that the local objective of each agent is unknown to others. The above problem involves complexity simultaneously in the time and space aspects. Yet existing works about distributed optimization mainly consider privacy protection in the space aspect where the decision variable is a vector with finite dimensions. In contrast, when the time aspect is considered in this paper, the decision variable is a continuous function concerning time. Hence, the minimization of the overall functional belongs to the calculus of variations. Traditional works usually aim to seek the optimal decision function. Due to privacy protection and non-convexity, the Euler-Lagrange equation of the proposed problem is a complicated partial differential ***, we seek the optimal decision derivative function rather than the decision function. This manner can be regarded as seeking the control input for an optimal control problem, for which we propose a centralized reinforcement learning(RL) framework. In the space aspect, we further present a distributed reinforcement learning framework to deal with the impact of privacy protection. Finally, rigorous theoretical analysis and simulation validate the effectiveness of our framework.

关键词： Distributed optimization multi-agent optimal control reinforcement learning(RL)

Unification of Non-Abelian SU(N) Gauge Theory and Gravitational Gauge Theory

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Communications in Theoretical Physics 2002年第10期38卷 455-460页

作者： WU ning Institute of High Energy Physics P.O. Box 918-1 Beijing 100039 China

In this paper, a general theory on unification of non-Abelian SU(N) gauge interactions and gravitationalinteractions is discussed. SU(N) gauge interactions and gravitational interactions are formulated on the similar basisand are unified in a semi-direct product group GSU(N). Based on this model, we can discuss unification of fundamentalinteractions of Nature.

关键词： quantum gravity, unified field theory, gauge field theory

Renormalizable Quantum Gauge Theory of Gravity

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Communications in Theoretical Physics 2002年第8期38卷 151-156页

作者： WU ning Institute of High Energy Physics P.O. Box 918-1 Beijing 100039 China

The quantum gravity is formulated based on the principle of local gauge invariance. The model discussedin this paper has local gravitational gauge symmetry, and gravitational field is represented by gauge field. In the leading-order approximation, it gives out classical Newton's theory of gravity. In the first-order approximation and for vacuum,it gives out Einstein's general theory of relativity. This quantum gauge theory of gravity is a renormalizable quantumtheory.

关键词： quantum gravity, gauge field, renormalization