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Robust reinforcement learning with UUB guarantee for safe motion control of autonomous robots

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Science China(Technological Sciences) 2024年第1期67卷 172-182页

作者： zhang RuiXian han YiNing SU Man LIN ZeFeng LI HaoWei zhang LiXian School of Astronautics Harbin Institute of TechnologyHarbin 150001China School of Management Harbin Institute of TechnologyHarbin 150001China Beijing Institute of Tracking and Telecommunication Technology Beijing 100094China

This paper addresses the issue of safety in reinforcement learning(RL)with disturbances and its application in the safety-constrained motion control of autonomous *** tackle this problem,a robust Lyapunov value function(rLVF)is *** rLVF is obtained by introducing a data-based LVF under the worst-case disturbance of the observed *** the rLVF,a uniformly ultimate boundedness criterion is *** criterion is desired to ensure that the cost function,which serves as a safety criterion,ultimately converges to a range via the policy to be ***,to mitigate the drastic variation of the rLVF caused by differences in states,a smoothing regularization of the rLVF is *** train policies with safety guarantees under the worst disturbances of the observed states,an off-policy robust RL algorithm is *** proposed algorithm is applied to motion control tasks of an autonomous vehicle and a cartpole,which involve external disturbances and variations of the model parameters,*** experimental results demonstrate the effectiveness of the theoretical findings and the advantages of the proposed algorithm in terms of robustness and safety.

关键词： motion control reinforcement learning robustness stability

Conversion of a single-layer ANN to photonic SNN for pattern recognition

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Science China(Information Sciences) 2024年第1期67卷 261-270页

作者： Yanan han Shuiying XIANG Tianrui zhang Yahui zhang Xingxing GUO Yuechun SHI State Key Laboratory of Integrated Service Networks State Key Discipline Laboratory of Wide Bandgap Semiconductor TechnologyXidian University Yongjiang Laboratory

This work presents a complete conversion scheme for photonic spiking neural networks(SNNs).We verified that the output of an artificial neural network(ANN) trained with the simulated optical activation function can be directly converted into the spike rate of a photonic spiking neuron *** reveal the feasibility of hardware implementation,we considered the effects of different bit precisions of data and weight,noise level,and bias current mismatch on the converted *** proposed scheme was evaluated using the Deterding vowel,IRIS,TIDIGITS,and MNIST datasets for pattern recognition,and achieved mean accuracies of 95.80%,98.67%,96.19%,and 92.33%,*** proposed scheme can convert an ANN into a photonic SNN with almost no precision loss,and the performance was comparable to that of an ANN trained with the rectified linear unit *** proposed scheme can enable the high-performance implementation of photonic SNNs.

关键词： photonic SNN conversion optical computing pattern recognition artificial neural network

Exploring the Lagged Correlation Between Baidu Index and Influenza-Like Illness-China,2014-2019

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China CDC weekly 2024年第26期6卷 629-634页

作者： Xuan han Jiao Yang Yan Luo Dazhu Huo Xuya Yu Xuancheng Hu Ling Xin Liuyang Yang Hualei Xin ting zhang Zhongjie Li Weizhong Yang School of Population Medicine and Public Health Chinese Academy of Medical Sciences(CAMS)&Peking Union Medical CollegeBeijingChina School of Health Policy and Management Chinese Academy of Medical Sciences&Peking Union Medical CollegeBeijingChina Department of management science and information system Faculty of Management and EconomicsKunming University of Science and TechnologyKunming CityYunnan ProvinceChina

Introduction:This study investigated the lagged correlation between Baidu Index for influenza-related keywords and influenza-like illness percentage(ILI%)across regions in *** aim is to establish a scientific foundation for utilizing Baidu Index as an early warning tool for influenza-like illness ***:In this study,data on ILI%and Baidu Index were collected from 30 provincial-level administrative divisions(PLADs)spanning April 2014 to March *** Baidu Index was categorized into Overall Index,Ordinary Index,Prevention Index,Symptom Index,and Treatment Index based on search query *** lagged correlation between the Baidu Index and ILI%was examined through the cross-correlation function(CCF)***:Correlating the Baidu Overall Index of 30 PLADs with ILI%revealed CCF values ranging from 0.46 to 0.86,with a median lag of 0.5 *** analysis indicated that the Prevention Index and Symptom Index exhibited quicker responses to ILI%,with median lags of−9 and−0.5 days,respectively,compared to 0 and 3 days for the Ordinary and Treatment *** median lag days between the Baidu Index and the ILI%were earlier in the northern PLADs compared to the southern ***:The Prevention and Symptom Indexes show promising predictive capabilities for influenzalike illness epidemics.

关键词： utilizing illness Baidu

Vitamin D binding protein in psychiatric and neurological disorders:Implications for diagnosis and treatment

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Genes & Diseases 2024年第5期11卷 324-334页

作者： Ling Li Bing han Yan Kong Gaojia zhang Zhijun zhang Research Institution of Neuropsychiatry School of MedicineSoutheast UniversityNanjingJiangsu 210009China Department of Neurology Affiliated Zhongda HospitalNanjingJiangsu 210009China Department of Pharmacology Jiangsu Provincial Key Laboratory of Critical Care MedicineSchool of MedicineSoutheast UniversityNanjingJiangsu 210009China Department of Biochemistry and Molecular Biology School of MedicineSoutheast UniversityNanjingJiangsu 210009China Brain Cognition and Brain Disease Institute Department of Mental Health and Public HealthFaculty of Life and Health SciencesShenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenGuangdong 518055China

Vitamin D binding protein(VDBP)serves as a key transporter protein responsible for binding and delivering vitamin D and its metabolites to target *** plays a crucial part in the inflammatory reaction following tissue damage and is engaged in actin *** research has shed light on its potential role in various diseases,leading to a growing interest in understanding the implications of VDBP in psychiatric and neurological *** purpose of this review was to provide a summary of the existing understanding regarding the involvement of VDBP in neurological and psychiatric *** examining the intricate interplay between VDBP and these disorders,this review contributes to a deeper understanding of underlying mechanisms and potential therapeutic *** gained from the study of VDBP could pave the way for novel strategies in the diagnosis,prognosis,and treatment of psychiatric and neurological disorders.

关键词： Neurological disorder Polymorphism Psychiatric disorder Structure Vitamin D binding protein

The Neurovascular Unit Dysfunction in the Molecular Mechanisms of Epileptogenesis and Targeted Therapy

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Neuroscience Bulletin 2024年第5期40卷 621-634页

作者： Xiuxiu Liu Ying zhang Yanming Zhao Qian zhang Feng han Medical Basic Research Innovation Center for Cardiovascular and Cerebrovascular Diseases Ministry of EducationNanjing211166China International Joint Laboratory for Drug Target of Critical Illnesses School of PharmacyNanjing Medical UniversityNanjing211166China Institute of Brain Science The Affiliated Brain Hospital of Nanjing Medical UniversityNanjing211166China Gusu School Nanjing Medical UniversitySuzhou Municipal HospitalThe Affiliated Suzhou Hospital of Nanjing Medical UniversitySuzhou210019China

Epilepsy is a multifaceted neurological syndrome characterized by recurrent,spontaneous,and synchronous *** pathogenesis of epilepsy,known as epileptogenesis,involves intricate changes in neurons,neuroglia,and endothelium,leading to structural and functional disorders within neurovascular units and culminating in the development of spontaneous *** current research on epilepsy treatments primarily centers around anti-seizure drugs,it is imperative to seek effective interventions capable of disrupting *** this end,a comprehensive exploration of the changes and the molecular mechanisms underlying epileptogenesis holds the promise of identifying vital biomarkers for accurate diagnosis and potential therapeutic *** early diagnosis and timely intervention is paramount,as it stands to significantly improve patient prognosis and alleviate the socioeconomic *** this review,we highlight the changes and molecular mechanisms of the neurovascular unit in epileptogenesis and provide a theoretical basis for identifying biomarkers and drug targets.

关键词： Epileptogenesis Neurovascular unit Molecular mechanisms Drug targets

Traceable Lactate-Fueled Self-Acting Photodynamic Therapy against Triple-Negative Breast Cancer

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Research 2024年第3期2024卷 723-733页

作者： Yifan zhang Guangle Feng ting He Min Yang Jing Lin Peng Huang Marshall Laboratory of Biomedical Engineering International Cancer CenterShenzhen Key Laboratory of Tumor Visualization Molecular MedicineLaboratory of Evolutionary Theranostics(LET)School of Biomedical EngineeringShenzhen University Medical SchoolShenzhen UniversityShenzhen518055China.

The depth of light penetration and tumor hypoxia restrict the efficacy of photodynamic therapy(PDT)in triple-negative breast cancer(TNBC),while the overproduction of lactate(LA)facilitates the development,aggressiveness,and therapy resistance of *** address these issues,a self-acting PDT nanosystem(HL@hMnO_(2)-LO_(x)@HA)is fabricated by loading 2-(1-hexyloxyethyl)-2-devinyl pyropheophorbide-alpha(HPPH),luminol,and LA oxidase(LO_(x))in a hyaluronic acid(HA)-coated hollow manganese dioxide(hMnO_(2))***_(x) catalyzes the oxidation of LA into pyruvate and hydrogen peroxide(H_(2)O_(2)),thus depleting the overproduced intratumoral *** the acidic tumor microenvironment,H_(2)O_(2) reacts with luminol and hMnO_(2) to yield blue luminescence as well as O_(2) and Mn^(2+),***^(2+)could further enhance this *** is then excited by the chemiluminescence through chemiluminescence resonance energy transfer for self-illuminated *** generated O_(2) alleviates the hypoxia state of the TNBC tumor to produce sufficient 1O_(2) for self-oxygenation *** Mn^(2+)performs T1 magnetic resonance imaging to trace the self-acting PDT *** work provides a biocompatible strategy to conquer the limits of light penetration and tumor hypoxia on PDT against TNBC as well as LA overproduction.

关键词： Breast Therapy manganese

Epigenetics and environmental health

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Frontiers of Medicine 2024年第4期18卷 571-596页

作者： Min zhang ting Hu Tianyu Ma Wei Huang Yan Wang Key Laboratory of Cancer and Microbiome State Key Laboratory of Molecular OncologyNational Cancer Center/National Clinical Research Center for Cancer/Cancer HospitalChinese Academy of Medical Sciences and Peking Union Medical CollegeBeijing100021China Beijing Key Laboratory of Cancer Invasion and Metastasis Research Department of Biochemistry and Molecular BiologySchool of Basic Medical SciencesCapital Medical UniversityBeijing100069China

Epigenetic modifications including DNA methylation,histone modifications,chromatin remodeling,and RNA modifications complicate gene regulation and heredity and profoundly impact various physiological and pathological *** recent years,accumulating evidence indicates that epigenetics is vulnerable to environmental changes and regulates the growth,development,and diseases of individuals by affecting chromatin activity and regulating gene *** exposure or induced epigenetic changes can regulate the state of development and lead to developmental disorders,aging,cardiovascular disease,Alzheimer's disease,cancers,and so ***,epigenetic modifications are *** use of specific epigenetic inhibitors targeting epigenetic changes in response to environmental exposure is useful in disease ***,we provide an overview of the role of epigenetics in various ***,we summarize the mechanism of epigenetic alterations induced by different environmental exposures,the influence of different environmental exposures,and the crosstalk between environmental variation epigenetics,and genes that are implicated in the body's ***,the interaction of multiple factors and epigenetics in regulating the initiation and progression of various diseases complicates clinical *** discuss some commonly used epigenetic drugs targeting epigenetic modifications and methods to prevent or relieve various diseases regulated by environmental exposure and epigenetics through diet.

关键词： epigenetics environmental exposure health prevention and therapy

NP-3 Effects of Osthole Microemulsion by Nasal Administration on the Cholinergic Pathway in AD Mice

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神经药理学报 2018年第4期8卷 101-102页

作者： HOU Xue-qin RONG Cui-ping HAO Ji-fu zhang han-ting Institute of Pharmacology Taishan Medical UniversityShandong271016China Guangxi Key Laboratory of Brain and Cognitive Neuroscience Guilin Medical UniversityGuilinChina Department of Pharmacy Taishan Medical UniversityShandong271016China Departments of Behavioral Medicine&Psychiatry Physiology&Pharmacologyand Neurosciencethe Rockefeller Neurosciences InstituteWest Virginia University Health Sciences CenterMorgantownWV 26506USA

Objectives:Fructus Cnidii is the dry ripe fruit of Cnidium monnieri(L.)Cuss.,which belongs to the umbelliferous *** has long been used in clinic practice and has been found to have pharmacological activity in the central nervous *** is the main active component of Fructus ***,it shows low bioavailability,fast distribution and elimination,and low concentration in the brain when given *** this study,we aimed to develop a new dosage form to increase the osthole concentration in the brain and enhance its pharmacological effects in the central nervous system through reducing the dosage while improving the stability and ***,microemulsion containing osthole was prepared and the effects of osthole microemulsion were examined in the mouse model of Alzheimer’s disease(AD).Methods:On the basis of pseudo-ternary phase diagram,microemulsion was prepared by using polyoxyethlated Cremophor RH40 as emulsifiers,propylene glycol as assistant emulsifiers and ethyl acetate as the oil *** particle size and distribution of osthole microemulsion were detected by laser particle size analyzer and transmission election *** content of osthole was determined by UV *** effects of osthole microemulsion by nasal administration on the learning and memory abilities in scopolamine-treated mice were assessed by Morris water maze and novel object recognition *** superoxide dismutase(SOD)activity,glutathione(GSH)levels and malondialdehyde(MDA)contents in the serum were examined to evaluate the oxidant *** acetyltransferase(ChAT)and acetylcholinesterase(AChE)expression in the olfactory-basal forebrain pathway were detected by immunohistochemical *** also investigated the acetylcholine(ACh)levels and the histological morphology in the ***:The average particle size of 1μg·μL-1 osthole microemulsion was less than 15 *** was characterized as spheres under the transmission electron micros

关键词： Osthole nanoemulsions Pseudo-ternary phase diagram Nasal administration Cholinergic nerve circuits

Tailoring electron vortex beams with customizable intensity patterns by electron diffraction holography

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Opto-Electronic Advances 2024年第2期7卷 14-21页

作者： Pengcheng Huo Ruixuan Yu Mingze Liu Hui zhang Yan-qing Lu ting Xu National Laboratory of Solid-State Microstructures and Collaborative Innovation Center of Advanced Microstructures Nanjing UniversityNanjing 210093China College of Engineering and Applied Sciences Key Laboratory of Intelligent Optical Sensing and Manipulation and Jiangsu Key Laboratory of Artificial Functional MaterialsNanjing UniversityNanjing 210093China

An electron vortex beam(EVB) carrying orbital angular momentum(OAM) plays a key role in a series of fundamental scientific researches, such as chiral energy-loss spectroscopy and magnetic dichroism spectroscopy. So far, almost all the experimentally created EVBs manifest isotropic doughnut intensity patterns. Here, based on the correlation between local divergence angle of electron beam and phase gradient along azimuthal direction, we show that free electrons can be tailored to EVBs with customizable intensity patterns independent of the carried OAM. As proof-of-concept, by using computer generated hologram and designing phase masks to shape the incident free electrons in the transmission electron microscope, three structured EVBs carrying identical OAM are tailored to exhibit completely different intensity patterns. Furthermore, through the modal decomposition, we quantitatively investigate their OAM spectral distributions and reveal that structured EVBs present a superposition of a series of different eigenstates induced by the locally varied geometries. These results not only generalize the concept of EVB, but also demonstrate an extra highly controllable degree of freedom for electron beam manipulation in addition to OAM.

关键词： electron vortex beam orbital angular momentum diffraction holography