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Robot learning from demonstration for path planning: A review

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Science China(Technological Sciences) 2020年第8期63卷 1325-1334页

作者： XIE ZongWu ZHANG qi JIANG ZaiNan LIU hong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Learning from demonstration(LfD)is an appealing method of helping robots learn new *** papers have presented methods of LfD with good performance in ***,complicated robot tasks that need to carefully regulate path planning strategies remain *** or non-contact constraints in specific robot tasks make the path planning problem more difficult,as the interaction between the robot and the environment is *** this paper,we focus on the path planning of complex robot tasks in the domain of LfD and give a novel perspective for classifying imitation learning and inverse reinforcement *** classification is based on constraints and obstacle ***,we summarize these methods and present promising directions for robot application and LfD theory.

关键词： learning from demonstration path planning imitation learning inverse reinforcement learning obstacle avoidance

Design,fabrication and energy-saving evaluation of five-layer structure based transparent heat mirror coatings for windows application

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Building Simulation 2023年第12期16卷 2333-2342页

作者： Xiaoqiang hong Yue Yang Huaying Chen qi Tao School of Architecture and Civil Engineering Xiamen UniversityXiamen 361005China Xiamen Key Laboratory of Integrated Application of Intelligent Technology for Architectural Heritage Protection Xiamen UniversityXiamen 361005China Fujian Key Laboratory of Digital Simulations for Coastal Civil Engineering School of Architecture and Civil EngineeringXiamen UniversityXiamen 361005China School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China

Transparent heat mirror which allows the transmission of visible sunlight while reflects the infrared thermal energy is an effective building energy efficiency technology for hot climatic *** this work,a five-layer dielectric/metal/dielectric/metal/dielectric(DMDMD)coating of Si_(3)N_(4)/Ag/Si_(3)N_(4)/Ag/Si_(3)N_(4)structure is *** radiative properties of the five-layer coatings are theoretically investigated by transfer matrix *** thicknesses of the layers are optimized by using particle swarm optimization *** sample of the designed Si_(3)N_(4)/Ag/Si_(3)N_(4)/Ag/Si_(3)N_(4)coating is prepared and the building energy performance when applying the DMDMD coating in a simple office room is also investigated,taking the hot weather condition of Guangzhou,China as an *** simulated results show that the Tave+Rave value of the five-layer coating is 8%higher than that of the three-layer coating,and the long-wave emittance of the five-layer coating is 24.8%lower than that of the three-layer *** the application of the five-layer coatings on the glazed window could provide the highest energy saving rate of 8.9%when compared with the traditional low-e coatings.

关键词： transparent heat mirror spectrally selective coating energy-efficient windows building energy efficiency

High-selectivity electroreduction of low-concentration CO2 with large concentration fluctuation

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Science China Chemistry 2025年

作者： Mengyu qi Yanbin Ma Chao Zhang Bingwei Li Xueqing Yang Zhaolin Shi Simeng Liu Changhua An Jiqing Jiao Tongbu Lu MOE International Joint Laboratory of Materials Microstructure Analysis and Testing CenterInstitute for New Energy Materials and Low Carbon TechnologiesSchool of Materials Science and EngineeringSchool of Chemistry and Chemical EngineeringTianjin University of Technology Key Laboratory of Advanced Energy Materials Chemistry (Ministry of Education) Nankai University

Electrochemical CO2reduction reaction（CO2RR） has been regarded as one of the most promising solutions to achieving “zero carbon emission”. In most of the CO2RR-related studies, high-purity CO2has been employed as the feed gas; however, in practice, CO2is generally emitted in low concentrations, so it is of great significance to realize high-selectivity electroreduction of low-concentration CO2with large concentration fluctuation. In this work, we constructed a dual-active-site catalyst and successfully achieved CO2local enrichment and conversion for low-concentration CO2. Operando experiments reveal that the catalyst has one type of site for activating CO2and one type of site for binding the reaction intermediates. The dual-active-site catalyst displays a selectivity for formic acid consistently above 97% over a broad potential window（from-0.9 to-1.6 V ***）. Even when fed with a low-concentration CO2stream（volume ratio from 50% down to 10%）, the dual-active-site catalyst could display high activity and selectivity（>91%）. In particular, the selectivity is still above 85% when the CO2volume ratio is as low as 5%. This work offers a feasible route for converting low-concentration CO2via a synergistic effect for dual-active-site catalysts.

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PRE-Processing for Video Coduing with Rate-Distortion Optimization Decision

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The Journal of China Universities of Posts and Telecommunications 2006年第2期13卷 79-83页

作者： qi Yi HUANG Yong-gui qi hong-gang College of Computer Science and Engineering Guizhou University Guiyang 550003 P.R. China Institute of Computing Technology Chinese Academy of Sciences Beijing 100080 P.R. China

This paper proposes an adaptive video pre-processing algorithm for video coding. This algorithm works on the original image before intraor inter-prediction. It adopts Gaussian filter to remove noise and insignificant features existing in images of video. Detection and restoration of edges are followed to restore the edges which are excessively filtered out in filtered images. Rate-Distortion Optimization （RDO） is employed to decide adaptively whether a processed block or a unprocessed block is coded into bit-streams doe more efficient coding. Our experiment results show that the algorithm achieves good coding performances on both subjective and objective aspects. In addition, the proposed pre-processing algorithm is transparent to decoder, and thus can be compliant with any video coding standards without modifying the decoder.

关键词： video pre-processing gaussian filter detection and restoration of edge rate-distortion optimization

Phloroglucinol derivative compound 21 attenuates cuprizoneinduced multiple sclerosis mice through promoting remyelination and inhibiting neuroinflammation

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Science China(Life Sciences) 2020年第6期63卷 905-914页

作者： Zhe Zhao xiu-qi Bao Zihong Zhang Hui Liu Dan Zhang State Key Laboratory of Bioactive Substrate and Function of Natural Medicine Institute of Materia MedicaChinese Academy of Medical Sciences and Peking Union Medical CollegeBeijing 100050China

Multiple sclerosis(MS) is a chronic autoimmune demyelinating disease in the central nervous system. The myelin loss is mainly caused by dysfunction of oligodendrocytes and inflammatory responses of microglia and astrocytes further aggravate the demyelination. Current therapies for MS focus on suppressing the overactivated immune response but cannot halt the disease progress, so effective drugs are urgently needed. Compound 21 is a phloroglucinol derivative that has been proved to have an outstanding anti-inflammatory effect. The purpose of the present study is to investigate whether this novel compound is effective in MS. The cuprizone-induced model was used in this study to mimic the pathological progress of MS. The results showed that Compound 21 significantly improved the neurological dysfunction and motor coordination impairment. Luxol Fast Blue staining and myelin basic protein immunostaining demonstrated that Compound 21 remarkably promoted remyelination. In addition,Compound 21 significantly promoted oligodendrocytes differentiation. Furthermore, we found that Compound 21 decreased microglia and astrocytes activities and the subsequent neuroinflammatory response, indicating that the anti-inflammatory effect of Compound 21 was also involved in its neuro-protection. All the data prove that Compound 21 exerts protective effect on MS through promoting remyelination and suppressing neuroinflammation, indicating that Compound 21 might be a potential drug candidate for MS treatment.

关键词： multiple sclerosis oligodendrocytes demyelination microglia astrocytes

Bacterial diversity in soils around a lead and zinc mine

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Journal of Environmental Sciences 2007年第1期19卷 74-79页

作者： HU qing qi hong-yan ZENG Jing-hai ZHANG hong-xun Department of Environmental Biotechnology Research Center for Eco-Environmental Sciences Chinese Academy of Sciences Beijing 100085 China

Five samples of soil collected from a lead and zinc mine were used to assess the effect of combined contamination of heavy metals on soil bacterial communities using a polyphasic approach including characterization of isolates by culture method, community level catabolic profiling in BIOLOG GN microplates, and genetic community fingerprinting by denaturing gradient gel electrophoresis of 16S rDNA fragments amplified by PCR from community DNA （PCR-DGGE）. The structure of the bacterial community was affected to a certain extent by heavy metals. The PCR-DGGE analysis of 16S rRNA genes showed that there were significant differences in the structure of the microbial community among the soil samples, which were related to the contamination levels. The number of bacteria and the number of denaturing gradient gel electrophoresis （DGGE） bands in the soils increased with increasing distance from the lead and zinc mine tailing, whereas the concentration of lead （Pb） and cadmium （Cd） was decreased. Heavily polluted soils could be characterized by a community that differs from those of lightly polluted soils in richness and structure of dominating bacterial populations. The clustering analysis of the DGGE profiles showed that the bacteria in all the five samples of soil belonged to three clusters. The data from the BIOLOG analysis also showed the same result. This study showed that heavy metal contamination decreased both the biomass and diversity of the bacterial community in soil.

关键词： BIOLOG system DGGE heavy metal microbial diversity soils

Skeleton Marching-based Parallel Vascular Geometry Reconstruction Using Implicit Functions

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International Journal of Automation and computing 2020年第1期17卷 30-43页

作者： Quan qi qing-De Li Yongqiang Cheng qing-qi hong College of Information Science and Technology Shihezi UniversityShihezi 832003China Department of Computer Science and Technology University of HullHull HU67RXUK Software School Xiamen UniversityXiamen 361005China

Fast high-precision patient-specific vascular tissue and geometric structure reconstruction is an essential task for vascular tissue engineering and computer-aided minimally invasive vascular disease diagnosis and *** this paper,we present an effective vascular geometry reconstruction technique by representing a highly complicated geometric structure of a vascular system as an implicit *** implicit geometric modelling,we are able to reduce the complexity and level of difficulty of this geometric reconstruction task and turn it into a parallel process of reconstructing a set of simple short tubular-like vascular sections,thanks to the easy-blending nature of implicit geometries on combining implicitly modelled geometric *** basic idea behind our technique is to consider this extremely difficult task as a process of team exploration of an unknown environment like a *** on this idea,we developed a parallel vascular modelling technique,called Skeleton Marching,for fast vascular geometric *** the proposed technique,we first extract the vascular skeleton system from a given volumetric medical image.A set of sub-regions of a volumetric image containing a vascular segment is then identified by marching along the extracted skeleton tree.A localised segmentation method is then applied to each of these sub-image blocks to extract a point cloud from the surface of the short simple blood vessel segment contained in the image *** small point clouds are then fitted with a set of implicit surfaces in a parallel manner.A high-precision geometric vascular tree is then reconstructed by blending together these simple tubular-shaped implicit surfaces using the shape-preserving blending *** results show the time required for reconstructing a vascular system can be greatly reduced by the proposed parallel technique.

关键词： Vascular geometric reconstruction implicit modelling parallel computing high-performance high-accuracy

Effect of Alloying Elements on Thermal Wear of Cast Hot-Forging Die Steels

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Journal of Iron and Steel Research International 2006年第5期13卷 53-59页

作者： WANG Shu-qi CHEN Kang-min CUI Xiang-hong JIANG qi-chuan hong Bian School of Materials Science and Engineering Jiangsu University Zhenjiang 212013 Jiangsu China School of Materials Science and Engineering Jilin University Changchun 130025 Jilin China

The effect of main alloying elements on thermal wear of cast hot-forging die steels was studied. The wear mechanism was discussed. The results show that alloying elements have significant influences on the thermal wear of cast hot-forging die steels. The wear rates decrease with an increase in chromium content from 3% to 4% and molybdenum content from 2% to 3%, respectively. With further increase of chromium and molybdenum contents, chromium slightly reduces the wear resistance and molybdenum severely deteriorates the wear resistance with high wear rate. Lower vanadium/carbon ratio （1.5-2.5） leads to a lower wear resistance with higher wear rate. With an increase in vanadium/carbon ratio, the wear resistance of the cast steel substantially increases. When vanadium/carbon ratio is 3, the wear rate reaches the lowest value. The predominant mechanism of thermal wear of cast hot-forging die steels are oxidation wear and fatigue delamination. The Fe2O3 and Fe3O4 or lumps of brittle wear debris are formed on the wear surface.

关键词： hot-forging die cast steel alloying element thermal wear mechanism

Analysis of therapeutic effect of cell reduction combined with intraperitoneal thermoperfusion chemotherapy in treatment of peritoneal pseudomyxoma

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World Journal of Gastrointestinal Surgery 2024年第11期16卷 3520-3530页

作者： Wei-Wei Li xiu-Mei Ru hong-Yan Xuan qi Fan Jing-Jing Zhang Jun Lu Department of Endocrinology The Second Affiliated Hospital of Soochow UniversitySuzhou 215004Jiangsu ProvinceChina Department of Anus and Intestine Surgery Xiangya Hospital of Central South UniversityChangsha 410008Hunan ProvinceChina

BACKGROUND Pseudomyxoma peritonei is a rare tumor that can produce a biological behavior similar to that of a malignant *** resection combined with chemo-therapy is the traditional treatment method,but the effect is not *** reduction(CRS)combined with intraperitoneal thermoperfusion chemotherapy(HIPEC)has become a new method for the treatment of peritoneal pseudomy-xoma(PMP).AIM To find out if CRS and HIPEC can be used safely and effectively to treat *** This is an observational *** data of PMP patients treated with CRS+HIPEC at our hospital from January 2013 to June 2023 was collated and *** main outcome measures were overall survival(OS),and the secondary outcome measures were the incidence of surgical complications and serious adverse *** were graded according to common adverse event evaluation *** tumor staging was performed using the peritoneal tumor index(PCI)scoring system,and a cell reduction degree(CCR)score was performed after ***-0 and CCR-1 were considered satisfactory *** A total of 186 patients with PMP were included,with a median age of 56(48-64)years,65(34.9%)years in males,and 121(65.1%)years in *** median PCI score was 28(20-34)*** median operative time was 300(211-430)minutes,and no significant complications occurred.91.4%(170/186)were from the appendix,53.2%(99/186)were from the low grade,and 30.6%(57/186)were from the high *** scores showed that 55 patients(29.6%)achieved satisfactory CRS,and 113 patients(60.8%)did not achieve satisfactory *** fatality rate at 30 days after surgery was 2.7%(5/186),1.6%(3/186)needed a second operation,and the fatality rate at 90 days was 4.3%(8/186).The total incidence of III-IV complications was 43.0%(80/186),among which the higher incidence was mainly anemia(27.4%,51/186),electrolyte disturbance(11.6%,21/181),and albumin decrease(7.5%,14/186).The main compli-cations associated with abdominal surger

关键词： Peritoneal pseudomyxoma Cell reduction Intraperitoneal thermoperfusion chemotherapy Survival prognosis Observational study