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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

Uncertainties of landslide susceptibility prediction: Influences of random errors in landslide conditioning factors and errors reduction by low pass filter method

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Journal of Rock Mechanics and Geotechnical Engineering 2024年第1期16卷 213-230页

作者： Faming huang Zuokui Teng chi Yao Shui-Hua Jiang Filippo Catani Wei Chen Jinsong huang School of Infrastructure Engineering Nanchang UniversityNanchang330031China State Key Laboratory of Geohazard Prevention and Geoenvironment Protection Chengdu University of TechnologyChengdu610059China Department of Geosciences University of PadovaPadovaItaly College of Geology and Environment Xi’an University of Science and TechnologyXi’an710054China Discipline of Civil Surveying and Conditioning EngineeringPriority Research Centre for Geotechnical Science and EngineeringUniversity of NewcastleNewcastleNSWAustralia

In the existing landslide susceptibility prediction(LSP)models,the influences of random errors in landslide conditioning factors on LSP are not considered,instead the original conditioning factors are directly taken as the model inputs,which brings uncertainties to LSP *** study aims to reveal the influence rules of the different proportional random errors in conditioning factors on the LSP un-certainties,and further explore a method which can effectively reduce the random errors in conditioning *** original conditioning factors are firstly used to construct original factors-based LSP models,and then different random errors of 5%,10%,15% and 20%are added to these original factors for con-structing relevant errors-based LSP ***,low-pass filter-based LSP models are constructed by eliminating the random errors using low-pass filter ***,the Ruijin County of china with 370 landslides and 16 conditioning factors are used as study *** typical machine learning models,*** perceptron(MLP),support vector machine(SVM)and random forest(RF),are selected as LSP ***,the LSP uncertainties are discussed and results show that:(1)The low-pass filter can effectively reduce the random errors in conditioning factors to decrease the LSP uncertainties.(2)With the proportions of random errors increasing from 5%to 20%,the LSP uncertainty increases continuously.(3)The original factors-based models are feasible for LSP in the absence of more accurate conditioning factors.(4)The influence degrees of two uncertainty issues,machine learning models and different proportions of random errors,on the LSP modeling are large and basically the same.(5)The Shapley values effectively explain the internal mechanism of machine learning model predicting landslide *** conclusion,greater proportion of random errors in conditioning factors results in higher LSP uncertainty,and low-pass filter can effectively reduce these random e

关键词： Landslide susceptibility prediction Conditioning factor errors Low-pass filter method Machine learning models Interpretability analysis

Programmable silicon-photonic quantum simulator based on a linear combination of unitaries

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Photonics Research 2024年第8期12卷 1760-1767页

作者： YUE YU YULIN chi CHONGHAO ZHAI JIESHAN huang QIhuang GONG JIANWEI WANG State Key Laboratory for Mesoscopic Physics School of PhysicsPeking UniversityBeijing 100871China Frontiers Science Center for Nano-optoelectronics&Collaborative Innovation Center of Quantum Matter Peking UniversityBeijing 100871China Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuan 030006China Yangtze Delta Institute of Optoelectronics Peking UniversityNantong 226010China Hefei National Laboratory Hefei 230088China Department of Electrical and Computer Engineering University of WashingtonSeattleWashington 98195USA china Mobile Research Institute Beijing 100053China

Simulating the dynamic evolution of physical and molecular systems in a quantum computer is of fundamental interest in many *** implementation of dynamics simulation requires efficient quantum *** Lie-Trotter-Suzuki approximation algorithm,also known as the Trotterization,is basic in Hamiltonian dynamics simulation.A multi-product algorithm that is a linear combination of multiple Trotterizations has been proposed to improve the approximation ***,implementing such multiproduct Trotterization in quantum computers remains challenging due to the requirements of highly controllable and precise quantum entangling operations with high success ***,we report a programmable integrated-photonic quantum simulator based on a linear combination of unitaries,which can be tailored for implementing the linearly combined multiple Trotterizations,and on the simulator we benchmark quantum simulation of Hamiltonian *** modify the multi-product algorithm by integrating it with oblivious amplitude amplification to simultaneously reach high simulation precision and high success *** quantum simulator is devised and fabricated on a large-scale silicon-photonic quantum chip,which allows the initialization,manipulation,and measurement of arbitrary four-qubit states and linearly combined unitary *** an example,the quantum simulator is reprogrammed to emulate the dynamics of an electron spin and nuclear spin coupled *** work promises the practical dynamics simulations of real-world physical and molecular systems in future large-scale quantum computers.

关键词： quantum Hamiltonian linearly

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Study on surface discharge of nonlinear conductive epoxy resin/SrTiO3 composites in 80–300 K temperature zone

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High Voltage 2024年第1期9卷 117-126页

作者： Yunqi Xing Bin Wang Mingyang Wang Jiakai chi Peng Jia Rongjin huang State Key Laboratory of Reliability and Intelligence of Electrical Equipment Hebei University of TechnologyTianjinChina Key Laboratory of Electormagnetic Field and Electrical Apparatus Reliability of Hebei Province Hebei University of TechnologyTianjinChina Key Laboratory of Special Machine and High Voltage Apparatus(Ministry of Education) Shenyang University of TechnologyShenyangChina State Grid Tianjin High Voltage Company TianjinChina china Energy Engineering Group Tianjin Electric Power Design Institute Co. Ltd.TianjinChina CAS Key Laboratory of Cryogenics Technical Institute of Physics and ChemistryBeijingChina

Bisphenol F epoxy resin(EP)is often used in terminal current lead insulation of superconducting equipment because of its good insulation performance,high mechanical strength,good toughness at cryogenic temperatures,and resistance to cold shock and heat ***,due to the wide temperature range of 80–300 K and the strong electric field,the EP-N_(2)interface is prone to surface flashover,resulting in terminal insulation *** improve the reliability of the current lead insulation,non-linear conductive EP/strontium titanate(SrTiO_(3))composites were prepared by modification with nano *** changes of dielectric,surface discharge,flashover,and trap distribution characteristics of composite materials were studied,and the mechanism of SrTiO_(3)on the surface flashover of composite materials was *** results show that the conductivity of the composite increases with the rise of SrTiO_(3)filling content,and the amplitude of improvement is greater under the strong electric field,showing a more significant *** composite has a lower trap energy level and a greater number of shallow traps compared to pure EP,which accelerates surface charge detrapping and reduces charge accumulation,effectively enhancing the discharge and surface flashover voltage of the composite.

关键词： composites composite insulation

Mechanical properties and thermal deformation behavior of low-cost titanium matrix composites prepared by a structure-optimized Y_(2)O_(3) crucible

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Journal of Iron and Steel Research International 2024年第3期31卷 738-751页

作者： Qian Dang Gang huang Ye Wang chi Zhang Guo-huai Liu Zhao-dong Wang The State Key Laboratory of Rolling and Automation Northeastern UniversityShenyang 110819LiaoningChina School of Materials Science and Chemical Engineering Harbin University of Science and TechnologyHarbin 150004HeilongjiangChina School of Materials Science and Engineering Shenyang University of TechnologyShenyang 110870LiaoningChina

A porous yttrium oxide crucible with both thermal shock resistance and erosion resistance was developed by structural *** structure-optimized yttrium oxide crucible was proved to be suitable for melting highly reactive titanium ***-cost(TiB+Y2O_(3))-reinforced titanium matrix composites were prepared by vacuum induction melting using the prepared *** thermal deformation behavior and microstructure evolution of(TiB+Y2O_(3))-reinforced tita-nium matrix composites were investigated at deformation temperatures of 900-1100℃with strain rates of 0.001-1 *** results showed that the prepared yttrium oxide crucible had both thermal shock and erosion resistance,the low-cost titanium matrix composites could be prepared by the developed yttrium oxide crucibles which were homogeneous in composition and highly sensitive to strain rate and deformation temperature,and the peak and theological stresses decreased with increasing deformation temperature or decreasing strain *** addition,the average thermal deformation activation energy of the composites was calculated to be 574.6 kJ/mol by establishing the Arrhenius constitutive equation in consideration of the strain variables,and the fitting goodness between the predicted stress value and the measured value was 97.624%.The calculated analysis of the hot processing map showed that the best stable thermal deformation zone was located in the deformation temperature range of 1000-1100℃and strain rate range of 0.001-0.01 s^(-1),where the peak dissipation coefficient wasη=71%.In this zone,the deformation of the reinforcement and matrix was harmonious,the reinforcement was less likely to fracture,dynamic recrystallization occurred more fully and the alloy exhibited near steady rheological characteristics.

关键词： Yttrium oxide crucible Titanium matrix composite Thermal deformation behavior Constitutive equation Hot processing map Microstructure evolution

Unraveling engineering disturbance effects on deformation in red-bed mudstone railway cuttings:incorporating crack-facilitated moisture diffusion

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Journal of Mountain Science 2024年第5期21卷 1663-1682页

作者： huang Kang DAI Zhangjun YAN Chengzeng YAO Junkai chi Zecheng CHEN Shanxiong State Key Laboratory of Geomechanics and Geotechnical Engineering Institute of Rock and Soil MechanicsChinese Academy of SciencesWuhan 430071China University of chinese Academy of Sciences Beijing 100049China Faculty of Engineering China University of GeosciencesWuhan 430074China International Joint Research Center for Deep Earth Drilling and Resource Development China University of GeosciencesWuhan 430074China china Academy of Railway Sciences Corporation Limited Beijing 100081China

Red-bed mudstone, prevalent in southwest china, poses a formidable challenge due to its hydrophilic clay minerals, resulting in expansion, deformation, and cracking upon exposure to moisture. This study addresses uplift deformation disasters in high-speed railways by employing a moisture diffusion-deformation-fracture coupling model based on the finite-discrete element method(FDEM). The model integrates the influence of cracks on moisture diffusion. The investigation into various excavation depths reveals a direct correlation between depth and the formation of tensile cracks at the bottom of the railway cutting. These cracks expedite moisture migration, significantly impacting the temporal and spatial evolution of the moisture field. Additionally, crack expansion dominates hygroscopic deformation, with the lateral coordinate of the crack zone determining peak vertical displacement. Furthermore, key factors influencing deformation in railway cuttings, including the swelling factor and initial moisture content at the bottom of the cutting, are explored. The number of tensile and shear cracks increases with greater excavation depth, particularly concerning shear cracks. Higher swelling factors and initial moisture contents result in an increased total number of cracks, predominantly shear cracks. Numerical calculations provide valuable insights, offering a scientific foundation and directional guidance for the precise prevention, control, prediction, and comprehensive treatment of mudstone-related issues in high-speed railways.

关键词： Red-bed mudstone Railway cutting FDEM Moisture diffusion Deformation Crack

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Hybridization chain reaction-based DNA nanomaterials for biosensing,bioimaging and therapeutics

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chinese Chemical Letters 2024年第2期35卷 223-231页

作者： Zhaoyue Lv Mengxue huang Peiran Li Mengdi Xu chi Yao Dayong Yang Frontiers Science Center for Synthetic Biology Key Laboratory of Systems Bioengineering (MOE)Institute of Biomolecular and Biomedical EngineeringSchool of Chemical Engineering and TechnologyTianjin UniversityTianjin 300350China Zhejiang Institute of Tianjin University Ningbo 315201China

DNA nanomaterials hold great promise in biomedical fields due to its excellent sequence programmability,molecular recognition ability and *** chain reaction(HCR)is a simple and efficient isothermal enzyme-free amplification strategy of DNA,generating nicked double helices with repeated *** the design of HCR hairpins,multiple nanomaterials with desired functions are assembled by DNA,exhibiting great potential in biomedical ***,the recent progress of HCR-based DNA nanomaterials for biosensing,bioimaging and therapeutics are *** works are exemplified to demonstrate how HCR-based DNA nanomaterials are designed and *** challenges and prospects of the development of HCR-based DNA nanomaterials are *** envision that rationally designing HCR-based DNA nanomaterials will facilitate the development of biomedical applications.

关键词： DNA nanotechnology Hybridization chain reaction DNA nanomaterials Biosensing Bioimaging Therapeutics

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Assessing cutter-rock interaction during TBM tunnelling in granite:Large-scale standing rotary cutting tests and 3D DEM simulations

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Journal of Rock Mechanics and Geotechnical Engineering 2024年第9期16卷 3595-3615页

作者： Xin huang Miaoyuan Tang Shuaifeng Wang Yixin Zhai Qianwei Zhuang chi Zhang Qinghua Lei Department of Geotechnical Engineering College of Civil EngineeringTongji UniversityShanghaiChina College of Civil Engineering and Architecture Xinjiang UniversityUrumqiChina State Key Laboratory of Geotechnical Engineering Ministry of EducationTongji UniversityShanghaiChina china Shipbuilding NDRI Engineering Co. Ltd.ShanghaiChina Shanghai Tunnel Engineering Co. Ltd.ShanghaiChina Shanghai Shield Design and Experimental Research Center Co. Ltd.ShanghaiChina Department of Earth Sciences Uppsala UniversityUppsalaSweden

The widespread utilisation of tunnel boring machines(TBMs)in underground construction engineering requires a detailed investigation of the cutter-rock *** this paper,we conduct a series of largescale standing rotary cutting tests on granite in conjunction with high-fidelity numerical simulations based on a particle-type discrete element method(DEM)to explore the effects of key cutting parameters on the TBM cutter performance and the distribution of cutter-rock contact *** assessment results of cutter performance obtained from the cutting tests and numerical simulations reveal similar dependencies on the key cutting *** specifically,the normal and rolling forces exhibit a positive correlation with penetration but are slightly influenced by the cutting *** contrast,the side force decreases as the cutting radius ***,the side force shows a positive relationship with the penetration for smaller cutting radii but tends to become negative as the cutting radius *** cutter's relative effectiveness in rock breaking is significantly impacted by the penetration but shows little dependency on the cutting ***,an optimal penetration is identified,leading to a low boreability index and specific energy.A combined Hertz-Weibull function is developed to fit the cutter-rock contact stress distribution obtained in DEM simulations,whereby an improved CSM(Colorado School of Mines)model is proposed by replacing the original monotonic cutting force distribution with this combined Hertz-Weibull *** proposed model outperforms the original CSM model as demonstrated by a comparison of the estimated cutting forces with those from the tests/*** findings from this work that advance our understanding of TBM cutter performance have important implications for improving the efficiency and reliability of TBM tunnelling in granite.

关键词： Large-scale standing rotary cutting test Discrete element method(DEM)simulation Cutter-rock interaction Improved CSM(Colorado School of Mines) model Cutting force

Emerging microfluidics for the modeling and treatment of arthritis

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Engineered Regeneration 2024年第2期5卷 153-169页

作者： Nengjie Yang chi Sun Chen Dong Yuting huang Yujuan Zhu Zhifeng Gu Department of Rheumatology Research Center of ImmunologyAffiliated Hospital of Nantong UniversityMedical School of Nantong UniversityNantong 226001China Department of Geriatrics Affiliated Hospital of Nantong UniversityNantong UniversityNantong 226001China Department of Dermatology Affiliated Hospital of Nantong UniversityMedical School of Nantong UniversityNantong 226001China Research Center of Clinical Medicine Research Center of ImmunologyAffiliated Hospital of Nantong UniversityNantong 226001China

Microfluidic is a technology that allows the precise control of fluid in a *** its advantages of high throughput and low cost,microfluidic technology has achieved good performance in various fields in recent *** is a general term for a variety of joint diseases,which can be clinically manifested as joint pain and swelling,seriously affecting people’s physical and mental *** present,the causes of arthritis disease are still unknown,and existing disease models and treatment methods are still limited,so more treatments need to be *** organ chip is a cutting-edge technology to build a bionic human organ model,which can reflect the structure and function characteristics of human organs by simulating the physiological environment of tissues and cells in *** paper reviews the application of microfluidic technology in the modeling and treatment of arthritis,hoping to open up a new vision for the study of arthritis.

关键词： Microfluidics Arthritis Organ on a chip Drug delivery system Drug screening