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

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

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E3 ubiquitin ligase PbrATL18 is a positive factor in pear resistance to drought and Colletotrichum fructicola infection

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Horticultural Plant Journal 2024年第3期10卷 698-712页

作者： Likun Lin Qiming Chen Kaili Yuan Caihua xing Qinghai Qiao Xiaosan huang Shaoling Zhang State Key Laboratory of Crop Genetics and Germplasm Enhancement/College of Horticulture Nanjing Agricultural UniversityNanjingJiangsu210095China

The Arabidopsis Toxicos en Levadura(ATL)protein is a subfamily of the E3 ubiquitin ligases,which exists widely in plants and is extensively involved in plant growth and *** the ATL family has been identified in other species,such as Arabidopsis,Oryza sativa,and grapevine,few reports on pear ATL gene families have been *** this study,92 PbrATL genes were identified and analyzed from the Pyrus breschneideri *** analysis and phylogenetic tree generation divided them into nine subgroups,and chromosome localization analysis showed that the 92 PbrATL genes were distributed in 16 of 17 pear *** data and quantitative real-time polymerase chain reaction(qRT-PCR)experiments demonstrated that PbrATL18,PbrATL41,and PbrATL88 were involved in both pear drought resistance and Colletotrichum fructicola *** addition,Arabidopsis thaliana overexpressing PbrATL18 showed greater resistance to drought stress than the wild type(WT),and PbrATL18-silenced pear seedlings showed greater sensitivity to drought and *** infection than the ***18 regulated plant resistance by regulating chitinase(CHI),phenylalanine ammonia-lyase(PAL),polyphenol oxidase(PPO),catalase(CAT),peroxidase(POD),and superoxide dismutase(SOD)*** study provided a reference for further exploring the functions of the PbrATL gene in drought resistance and *** infection.

关键词： Pear Colletotrichum fructicola Arabidopsis Toxicos en Levadura(ATL) Drought stress

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Dual-channel mechano-phosphorescence:a combined locking effect with twisted molecular structures and robust interactions

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Light(Science & Applications) 2024年第4期13卷 738-746页

作者： Zongliang Xie Zhu Mao Hailan Wang Yuxin Xiao Xiayu Zhang tao Yu Zhongfu An Wei huang Frontiers Science Center for Flexible Electronics Xi’an Institute of Flexible Electronics&Xi’an Institute of Biomedical Materials and EngineeringNorthwestern Polytechnical University127 West Youyi RoadXi’an 710072China. Research&Development Institute of Northwestern Polytechnical University in Shenzhen Shenzhen 518100China. Shenzhen Institutes of Advanced Electronic Materials Shenzhen 518100China. Key Laboratory of Flexible Electronics&Institute of Advanced Materials Nanjing Tech University30 South Puzhu RoadNanjing 211816China

Organic mechanoluminescence materials,featuring dual emission and ultralong phosphorescence characteristics,exhibit significant potential for applications in real-time stress sensing,pressure-sensitive lighting,advanced security marking techniques,and material breakage ***,due to immature molecular design strategies and unclear luminescence mechanisms,these materials remain rarely *** this study,we propose a valuable molecular design strategy to achieve dual-channel *** introducing the arylphosphine oxide group into a highly twisted molecular framework,enhanced intra-and intermolecular interactions could be achieved within rigid structures,leading to dual-channel mechanoluminescence with greatly promoted ultralong *** investigations reveal the substantial boosting effect of intra-and intermolecular interactions on mechanoluminescence and ultralong phosphorescence properties by locking the highly twisted molecular *** work provides a concise and guiding route to develop novel smart responsive luminescence materials for widespread applications in material science.

关键词： channel luminescence locking

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Computing Power Network:A Survey

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China Communications 2024年第9期21卷 109-145页

作者： Sun Yukun Lei Bo Liu Junlin huang Haonan Zhang xing Peng Jing Wang Wenbo School of Information and Communications Engineering Beijing University of Posts and TelecommunicationsBeijing 100876China Research Institute of China Telecom Co. Ltd.Beijing 102209China Beijing Branch of China Telecom Co. Ltd.Beijing 100032China

With the rapid development of cloud computing,edge computing,and smart devices,computing power resources indicate a trend of ubiquitous *** traditional network architecture cannot efficiently leverage these distributed computing power resources due to computing power island *** overcome these problems and improve network efficiency,a new network computing paradigm is proposed,i.e.,Computing Power Network(CPN).Computing power network can connect ubiquitous and heterogenous computing power resources through networking to realize computing power scheduling *** this survey,we make an exhaustive review on the state-of-the-art research efforts on computing power *** first give an overview of computing power network,including definition,architecture,and ***,a comprehensive elaboration of issues on computing power modeling,information awareness and announcement,resource allocation,network forwarding,computing power transaction platform and resource orchestration platform is *** computing power network testbed is built and *** applications and use cases in computing power network are ***,the key enabling technologies for computing power network are ***,open challenges and future research directions are presented as well.

关键词： computing power modeling computing power network computing power scheduling information awareness network forwarding

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Two-temperature modeling of lamellar cathode arc

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Plasma Science and Technology 2024年第6期26卷 120-139页

作者：李渊博刘兴叶韬 School of Materials Science and Engineering Lanzhou Jiaotong UniversityLanzhou 730070People’s Republic of China

A three-dimensional, two-temperature(2T) model of a lamellar cathode arc is constructed,drawing upon the conservation equations for mass, momentum, electron energy, and heavy particle energy, in addition to Maxwell's equations. The model aims to elucidate how the physical properties of electrons and heavy particles affect heat transfer and fluid flow in a lamellar cathode arc. This is achieved by solving and comparing the fields of electron temperature,heavy particle temperature, fluid flow, current density, and Lorentz force distribution under varying welding currents. The results show that the guiding effect of the lamellar cathode on current density, the inertial drag effect of moving arc, and the attraction effect of Lorentz force at the lamellar cathode tip primarily govern the distribution of the arc's physical fields. The guiding effect localizes the current density to the front end of the lamellar cathode, particularly where the discharge gap is minimal. Both the inertial drag effect and the attraction effect of Lorentz force direct arc flow toward its periphery. Under the influence of the aforementioned factors, the physical fields of the lamellar cathode arc undergo expansion and shift counter to the arc's direction of motion. A reduction in welding current substantially weakens the guiding effect,causing the arc's physical fields to deviate further in the direction opposite to the arc motion. In comparison with a cylindrical cathode arc, the physical fields of the lamellar cathode arc are markedly expanded, leading to a reduction in current density, electron temperature, heavy particle temperature, cathode jet flow velocity, and Lorentz force.

关键词： numerical simulation two-temperature model welding arc

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RGB-guided hyperspectral image super-resolution with deep progressive learning

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CAAI Transactions on Intelligence Technology 2024年第3期9卷 679-694页

作者： tao Zhang Ying Fu Liwei huang Siyuan Li Shaodi You Chenggang Yan School of Computer Science and Technology Beijing Institute of TechnologyBeijingChina Satellite Information Intelligent Processing and Application Research Laboratory Beijing Institute of Remote SensingBeijingChina Key Laboratory of Spectral Imaging Technology Xi'an Institute of Optics and Precision Mechanics of Chinese Academy of SciencesXi'anChina Institute of Informatics University of AmsterdamAmsterdamNetherlands School of Communication Engineering Hangzhou Dianzi UniversityHangzhouChina

Due to hardware limitations,existing hyperspectral(HS)camera often suffer from low spatial/temporal ***,it has been prevalent to super-resolve a low reso-lution(LR)HS image into a high resolution(HR)HS image with a HR RGB(or mul-tispectral)image *** approaches for this guided super-resolution task often model the intrinsic characteristic of the desired HR HS image using hand-crafted ***,researchers pay more attention to deep learning methods with direct supervised or unsupervised learning,which exploit deep prior only from training dataset or testing *** this article,an efficient convolutional neural network-based method is presented to progressively super-resolve HS image with RGB image ***-ically,a progressive HS image super-resolution network is proposed,which progressively super-resolve the LR HS image with pixel shuffled HR RGB image ***,the super-resolution network is progressively trained with supervised pre-training and un-supervised adaption,where supervised pre-training learns the general prior on training data and unsupervised adaptation generalises the general prior to specific prior for variant testing *** proposed method can effectively exploit prior from training dataset and testing HS and RGB images with spectral-spatial *** has a good general-isation capability,especially for blind HS image *** experimental results show that the proposed deep progressive learning method out-performs the existing state-of-the-art methods for HS image super-resolution in non-blind and blind cases.

关键词： computer vision deep neural networks image processing image resolution unsupervised learning

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Disc-cutter induced rock breakage mechanism for TBM excavation in rock masses with different joint shear strengths

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Underground Space 2024年第6期19卷 119-137页

作者： Bolong Liu Bo Li Liang Zhang Rui huang Huicai Gao Shilin Luo tao Wang Key Laboratory of Rock Mechanics and Geohazards of Zhejiang Province Shaoxing UniversityShaoxing 312000China College of Civil Engineering Tongji UniversityShanghai 200092China College of Civil and Architectural Engineering Xi’an University of Science and TechnologyXi’an 710054China College of Civil Engineering Changsha UniversityChangsha 410022China School of Transportation Science and Engineering Harbin Institute of TechnologyHarbin 150040China Chongqing Research Institute of Harbin Institute of Technology Harbin Institute of TechnologyChongqing 401151China

When tunnel boring machines(TBMs)excavate through jointed rock masses,the cutting efficiency is strongly affected by the shear strength of joints,the mechanism of which,however,remains poorly *** this study,a series of disc-cutter indentation tests were conducted on granite rock mass specimens with different joint shear *** the indentation,the cracking process was recorded by a digital image correlation(DIC)*** deformation and strength of specimens,cracking behavior,rock breakage mode and cutting efficiency were quantitatively *** addition,to investigate the combined effects of joint shear strength,orientation and spacing on the rock breakage mechanism,numerical rock mass models were established based on a particle flow code *** results reveal that the cracking of primary and secondary cracks changes from the mixed shear-tensile to tensile mode in the initial stage,while the joint shear strength does not affect the cracking mode in the subsequent propagation *** rock breakage mode is classified to an internal block breakage mode,a cross-joint breakage mode and a cutters-dependent breakage *** cross-joint breakage mode is optimal for improving the cutting *** simulation results reveal that the increase in the joint shear strength changes the internal block breakage mode to cross-joint breakage mode for rock masses of particular ranges of joint orientation and *** findings provide basis for improving the TBM cutting efficiency through jointed rock masses.

关键词： Indentation test Joint shear strength Disc cutter Rock breakage mechanism Cutting efficiency

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Enhanced thermal conductivity and mechanical properties of 2D C_(f)/SiC composites modified by in-situ grown carbon nanotubes

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Journal of Advanced Ceramics 2024年第1期13卷 19-33页

作者： Changhui Niu Qing Zhang Laifei Cheng Fang Ye Litong Zhang Min huang tao Yang Science and Technology on Thermostructure Composite Materials Laboratory Northwestern Polytechnical UniversityXi’an 710072China Civil Aviation Department Zhejiang Institute of CommunicationsHangzhou 311112China Zhejiang Provincial Key Laboratory for Cutting Tools Taizhou UniversityTaizhou 318000China

In this work,the effects of carbon nanotubes(CNTs)on the microstructure evolution,thermal conductivity,and mechanical properties of C_(f)/SiC composites during chemical vapor infiltration(CVI)densification were investigated in *** with composites without CNTs,the thermal conductivity,flexural strength,flexural modulus,fracture toughness,interfacial shear strength,and proportional limit stress of specimens with CNTs of 4.94 wt%were improved by 117%,21.8%,67.4%,10.3%,36.4%,and 71.1%,*** improvement was attributed to the role of CNTs in the division of inter-layer pores,which provided abundant vapor growth sites for the ceramic matrix and promoted densification of the whole *** addition,the high thermal conductivity network formed by the overlap of CNTs and the rivet strengthening effect of CNTs were beneficial for synergistic improvement of thermal conductivity and mechanical properties of the ***,this study has practical significance for the development of thermal protection composite components with enhanced thermal conductivity and mechanical characteristics.

关键词： ceramic−matrix composites carbon nanotubes microstructure thermal conductivity mechanical properties

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Toward a Learnable Climate Model in the Artificial Intelligence Era

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Advances in Atmospheric Sciences 2024年第7期41卷 1281-1288页

作者： Gang huang Ya WANG Yoo-Geun HAM Bin MU Weichen tao Chaoyang XIE State key Laboratory of Numerical Modeling for Atmospheric Sciences and Geophysical Fluid Dynamics Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing 100029China Laboratory for Regional Oceanography and Numerical Modeling Qingdao National Laboratory for Marine Science and TechnologyQingdao 266237China University of Chinese Academy of Sciences Beijing 100049China Department of Environmental Planning Graduate School of Environmental StudiesSeoul National UniversitySeoul 08826South Korea School of Software Engineering Tongji UniversityShanghai 200092China

Artificial intelligence(AI)models have significantly impacted various areas of the atmospheric sciences,reshaping our approach to climate-related *** this AI-driven transformation,the foundational role of physics in climate science has occasionally been *** perspective suggests that the future of climate modeling involves a synergistic partnership between AI and physics,rather than an“either/or”*** controversies around current physical inconsistencies in large AI models,we stress the critical need for detailed dynamic diagnostics and physical ***,we provide illustrative examples to guide future assessments and constraints for AI *** AI integration with numerical models,we argue that offline AI parameterization schemes may fall short of achieving global optimality,emphasizing the importance of constructing online ***,we highlight the significance of fostering a community culture and propose the OCR(Open,Comparable,Reproducible)*** a better community culture and a deep integration of physics and AI,we contend that developing a learnable climate model,balancing AI and physics,is an achievable goal.

关键词： artificial intelligence deep learning learnable climate model

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Nickel-catalyzed arylcyanation of alkenes via cyano group translocation:access to 1,n-dinitriles or 4-amino nitriles

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Science China Chemistry 2024年第9期67卷 2975-2981页

作者： Xiaohong Li Shenfan Wang Xiangxiang Fu Donghui xing Zeyuan Fu Yuanfu Deng Huanfeng Jiang Liangbin huang State Key Laboratory of Pulp and Paper Engineering School of Chemistry and Chemical EngineeringSouth China University of TechnologyGuangzhou 510640China

Herein,a nickel-catalyzed arylcyanation of unactivated alkenes via cyano group translocation with aryl boronic acids has been *** transformations provided a robust approach to constructing structurally diverse 1,n-dinitriles or 4-amino nitriles from easily prepared and commercially available starting *** cyano group translocation was achieved,involving the addition into the intramolecular C–N triple bond followed by the retro-Thorpe *** studies revealed that high temperature and CsHCO_(3) as the base were crucial for the cyano group translocation.

关键词： arylcyanation nickel catalysis cyano group translocation 1 n-dinitriles 4-amino nitriles

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