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An anti-collision algorithm for robotic search-and-rescue tasks in unknown dynamic environments

Frontiers of Information Technology & Electronic Engineering 2024年第4期25卷 569-584页

作者： yang CHEN Dianxi SHI Huanhuan yang Tongyue LI zhen wang School of Computer Science Peking UniversityBeijing 100871China Tianjin Artificial Intelligence Innovation Center Tianjin 300457China Intelligent Game and Decision Lab Beijing 100071China College of Computer National University of Defense TechnologyChangsha 410073China

This paper deals with the search-and-rescue tasks of a mobile robot with multiple interesting targets in an unknown dynamic environment.The problem is challenging because the mobile robot needs to search for multiple targets while avoiding obstacles simultaneously.To ensure that the mobile robot avoids obstacles properly,we propose a mixed-strategy Nash equilibrium based Dyna-Q(MNDQ)algorithm.First,a multi-objective layered structure is introduced to simplify the representation of multiple objectives and reduce computational complexity.This structure divides the overall task into subtasks,including searching for targets and avoiding obstacles.Second,a risk-monitoring mechanism is proposed based on the relative positions of dynamic risks.This mechanism helps the robot avoid potential collisions and unnecessary detours.Then,to improve sampling efficiency,MNDQ is presented,which combines Dyna-Q and mixed-strategy Nash equilibrium.By using mixed-strategy Nash equilibrium,the agent makes decisions in the form of probabilities,maximizing the expected rewards and improving the overall performance of the Dyna-Q algorithm.Furthermore,a series of simulations are conducted to verify the effectiveness of the proposed method.The results show that MNDQ performs well and exhibits robustness,providing a competitive solution for future autonomous robot navigation tasks.

关键词： Search and rescue Reinforcement learning Game theory Collision avoidance Decision-making

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Management of triplet excitons transition:fine regulation of Förster and dexter energy transfer simultaneously

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Light(Science & Applications) 2024年第2期13卷 302-315页

作者： Jiaqiang wang Yujie yang Xinnan Sun Xiaoning Li Liyao Zhang zhen Li Institute of Molecular Aggregation Science Tianjin UniversityTianjin300072China School of Life Sciences Tianjin UniversityTianjin300072China Hubei Key Lab on Organic and Polymeric Opto-Electronic Materials Department of ChemistryWuhan UniversityWuhan430072China Wuhan National Laboratory for Optoelectronics Huazhong University of Science and TechnologyWuhan430072China Joint School of National University of Singapore Tianjin UniversityInternational Campus of Tianjin UniversityBinhai New CityFuzhou350207China

Understanding and management of triplet excitons transition in the same molecule remain a great challenge.Hence,for the first time,by host engineering,manageable transitions of triplet excitons in a naphthalimide derivative NDOH were achieved,and monitored through the intensity ratio(ITADF/IRTP)between thermally activated delayed fluorescence(TADF)and room-temperature phosphorescence(RTP).Energy differences between lowest triplet excited states of host and guest were changed from 0.03 to 0.17 eV,and ITADF/IRTP of NDOH decreased by 200 times,thus red shifting the afterglow color.It was proposed that shorter conjugation length led to larger band gaps of host materials,thus contributing to efficient Dexter and inefficient Förster energy transfer.Interestingly,no transition to singlet state and only strongest RTP with quantum yield of 13.9%could be observed,when PBNC with loosest stacking and largest band gap acted as host.This work provides novel insight for the management and prediction of triplet exciton transitions and the development of smart afterglow materials.

关键词： materials transition transitions

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Collaborative Charging Scheduling in Wireless Charging Sensor Networks

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Computers, Materials & Continua 2024年第4期79卷 1613-1630页

作者： Qiuyang wang zhen Xu Lei yang School of Electrical and Electronic Engineering Wuhan Polytechnic UniversityWuhan430048China

Wireless sensor networks (WSNs) have the trouble of limited battery power, and wireless charging provides apromising solution to this problem, which is not easily affected by the external environment. In this paper, we studythe recharging of sensors in wireless rechargeable sensor networks (WRSNs) by scheduling two mobile chargers(MCs) to collaboratively charge sensors. We first formulate a novel sensor charging scheduling problem with theobjective of maximizing the number of surviving sensors, and further propose a collaborative charging schedulingalgorithm(CCSA) for WRSNs. In the scheme, the sensors are divided into important sensors and ordinary sensors.TwoMCs can adaptively collaboratively charge the sensors based on the energy limit ofMCs and the energy demandof sensors. Finally, we conducted comparative simulations. The simulation results show that the proposed algorithmcan effectively reduce the death rate of the sensor. The proposed algorithm provides a solution to the uncertaintyof node charging tasks and the collaborative challenges posed by multiple MCs in practical scenarios.

关键词： Wireless rechargeable sensor network mobile charger collaborative charging adaptive charging

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Conservation genomics provides insights into genetic resilience and adaptation of the endangered Chinese hazelnut, Corylus chinensis

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Plant Diversity 2024年第3期46卷 294-308页

作者： zhen yang Lisong Liang Weibo Xiang Lujun wang Qinghua Ma Zhaoshan wang Key Laboratory of Tree Breeding and Cultivation National Forestry and Grassland AdministrationResearch Institute of ForestryChinese Academy of ForestryBeijing 100091China National Engineering Research Center of Eco-Environment Protection for yangtze River Economic Belt China Three Gorges CorporationBeijing 100083China Rare Plants Research Institute of yangtze River China Three Gorges CorporationYichang 443133China Research Institute of Economic Forest Cultivation and Processing Anhui Academy of ForestryHefei 230031China

Global climate change has increased concerns regarding biodiversity loss.However,many key conservation issues still required further research,including demographic history,deleterious mutation load,adaptive evolution,and putative introgression.Here we generated the first chromosome-level genome of the endangered Chinese hazelnut,Corylus chinensis,and compared the genomic signatures with its sympatric widespread C.kwechowensis-C yunnanensis complex.We found large genome rearrangements across all Corylus species and identified species-specific expanded gene families that may be involved in adaptation.Population genomics revealed that both C.chinensis and the C.kwechowensis-C.yunnanensis complex had diverged into two genetic lineages,forming a consistent pattern of southwestern-northern differentiation.Population size of the narrow southwestern lineages of both species have decreased continuously since the late Miocene,whereas the widespread northern lineages have remained stable(C.chinensis) or have even recovered from population bottlenecks(C.kwechowensis-C.yunnanensis complex) during the Quaternary.Compared with C.kwechowensis-C. yunnanensis complex,C.chinensis showed significantly lower genomic diversity and higher inbreeding level.However,C.chinensis carried significantly fewer deleterious mutations than C.kwechowensis-C. yunnanensis complex,as more effective purging selection reduced the accumulation of homozygous variants.We also detected signals of positive selection and adaptive introgression in different lineages,which facilitated the accumulation of favorable variants and formation of local adaptation.Hence,both types of selection and exogenous introgression could have mitigated inbreeding and facilitated survival and persistence of C.chinensis.Overall,our study provides critical insights into lineage differentiation,local adaptation,and the potential for future recovery of endangered trees.

关键词： Conservation genomics Demographic history Inbreeding Genetic load Runs of homozygosity Local adaptation

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TuBG1 promotes hepatocellular carcinoma via ATR/P53-apoptosis and cycling pathways

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Hepatobiliary & Pancreatic Diseases International 2024年第2期23卷 195-209页

作者： Yan Zhang zhen-zhen wang An-Qi Han Ming-Ya yang Li-Xin Zhu Fa-Ming Pan Yong wang Department of General Surgery The Second Hospital of Anhui Medical UniversityHefei 230601China Department of General Surgery The First Affiliated Hospital of Anhui Medical UniversityHefei 230022China Department of Epidemiology and Biostatistics School of Public HealthAnhui Medical UniversityHefei 230032China The Key Laboratory of Major Autoimmune Diseases Anhui Medical UniversityHefei 230032China

Background:As reported,γ-tubulin(TuBG1)is related to the occurrence and development of various types of malignant tumors.However,its role in hepatocellular cancer(HCC)is not clear.The present study was to investigate the relationship between TuBG1 and clinical parameters and survival in HCC patients.Methods:The correlation between TuBG1 and clinical parameters and survival in HCC patients was ex-plored by bioinformatics analysis.Immunohistochemistry was used for the verification.The molecular function of TuBG1 was measured using colony formation,scratch assay,trans-well assay and flow cytometry.Gene set enrichment analysis(GSEA)was used to pick up the enriched pathways,followed by investigating the target pathways using Western blotting.The tumor-immune system interactions and drug bank database(TISIDB)was used to evaluate TuBG1 and immunity.Based on the TuBG1-related immune genes,a prognostic model was constructed and was further validated internally and externally.Results:The bioinformatic analysis found high expressed TuBG1 in HCC tissue,which was confirmed us-ing immunohistochemistry and Western blotting.After silencing the TuBG1 in HCC cell lines,more G1 arrested cells were found,cell proliferation and invasion were inhibited,and apoptosis was promoted.Furthermore,the silence of TuBG1 increased the expressions of Ataxia-Telangiectasia and Rad-3(ATR),phospho-P38 mitogen-activated protein kinase(P-P38MAPK),phospho-P53(P-P53),B-cell lymphoma-2 associated X protein(Bax),cleaved caspase 3 and P21;decreased the expressions of B-cell lymphoma-2(Bcl-2),cyclin D1,cyclin E2,cyclin-dependent kinase 2(CDK2)and CDK4.The correlation analysis of immunohistochemistry and clinical parameters and survival data revealed that TuBG1 was negatively corre-lated with the overall survival.The constructed immune prognosis model could effectively evaluate the prognosis.Conclusions:The increased expression of TuBG1 in HCC is associated with poor prognosis,which might be involved in the occurrence and development of HCC.

关键词： TuBG1 Hepatocellular carcinoma Apoptosis Cell cycling Immunomodulators

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Emerging strategies for nerve repair and regeneration in ischemic stroke:neural stem cell therapy

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Neural Regeneration Research 2024年第11期19卷 2430-2443页

作者： Siji wang Qianyan He yang Qu Wenjing Yin Ruoyu Zhao Xuyutian wang Yi yang zhen-Ni Guo Stroke Center Department of Neurologythe First Hospital of Jilin UniversityChangchunJilin ProvinceChina Neuroscience Research Center Department of Neurologythe First Hospital of Jilin UniversityChangchunJilin ProvinceChina Department of Breast Surgery General Surgery Centerthe First Hospital of Jilin UniversityChangchunJilin ProvinceChina

Ischemic stroke is a major cause of mortality and disability worldwide,with limited treatment options available in clinical practice.The emergence of stem cell therapy has provided new hope to the field of stroke treatment via the restoration of brain neuron function.Exogenous neural stem cells are beneficial not only in cell replacement but also through the bystander effect.Neural stem cells regulate multiple physiological responses,including nerve repair,endogenous regeneration,immune function,and blood-brain barrier permeability,through the secretion of bioactive substances,including extracellular vesicles/exosomes.However,due to the complex microenvironment of ischemic cerebrovascular events and the low survival rate of neural stem cells following transplantation,limitations in the treatment effect remain unresolved.In this paper,we provide a detailed summary of the potential mechanisms of neural stem cell therapy for the treatment of ischemic stroke,review current neural stem cell therapeutic strategies and clinical trial results,and summarize the latest advancements in neural stem cell engineering to improve the survival rate of neural stem cells.We hope that this review could help provide insight into the therapeutic potential of neural stem cells and guide future scientific endeavors on neural stem cells.

关键词： bystander effect cell replacement extracellular vesicles ischemic stroke neural stem cells neural stem cell engineering

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Revisiting the island of hexadecapoledeformation nuclei in the A≈150 mass region:focusing on the model application to nuclear shapes and masses

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Communications in Theoretical Physics 2024年第2期76卷 74-88页

作者： Xiao-yang Wei Hua-Lei wang zhen-zhen Zhang Min-Liang Liu School of Physics and Microelectronics Zhengzhou UniversityZhengzhou 450001China Key Laboratory of High Precision Nuclear Spectroscopy Institute of Modern PhysicsChinese Academy of SciencesLanzhou 730000China School of Nuclear Science and Technology University of Chinese Academy of SciencesBeijing 100049China

Based on the potential-energy-surface calculation,the impact of different deformation degrees of freedom on a single-particle structure and binding energies in nuclei around^(152)Nd,located on one of the hexadecapole-deformation islands,is analyzed in a multi-dimensional deformation space.Various energy maps,curves and tables are presented to indicate nuclear properties.The calculated equilibrium deformations and binding energies with different potential parameters are compared with experimental data and other theories.It is found that the inclusion of the hexadecapole deformations,especially the axial one,can improve the theoretical description of both nuclear shapes and masses.In addition,our calculated potential-energy curve shows that a critical deformation-point,β_(2)≈0.4,exists—the triaxial(hexadecapole)deformation effect can be neglectable but the hexadecapole(triaxial)one plays an important role before(after)such a critical point.

关键词： hexadecapole deformation binding energy potential-energy-surface calculation nuclear property

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Stress relaxation properties of calcium silicate hydrate:a molecular dynamics study

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第2期25卷 97-115页

作者： Zhicheng GENG Shengwen TANG yang wang Hubao A zhen HE Kai WU Lei wang State Key Laboratory of Water Resources Engineering and Management Wuhan UniversityWuhan430072China Key Laboratory of Advanced Civil Engineering Materials of Ministry of Education School of Materials Science and EngineeringTongji UniversityShanghai200092China College of Materials Science and Engineering Xi’an University of Architecture and TechnologyXi’an710055China

The time-dependent viscoelastic response of cement-based materials to applied deformation is far from fully understood at the atomic level.Calcium silicate hydrate(C-S-H),the main hydration product of Portland cement,is responsible for the viscoelastic mechanism of cement-based materials.In this study,a molecular model of C-S-H was developed to explain the stress relaxation characteristics of C-S-H at different initial deformation states,Ca/Si ratios,temperatures,and water contents,which cannot be accessed experimentally.The stress relaxation of C-S-H occurs regardless of whether it is subjected to initial shear,tensile,or compressive deformation,and shows a heterogeneous characteristic.Water plays a crucial role in the stress relaxation process.A large Ca/Si ratio and high temperature reduce the cohesion between the calcium-silicate layer and the interlayer region,and the viscosity of the interlayer region,thereby accelerating the stress relaxation of C-S-H.The effect of the hydrogen bond network and the morphology of C-S-H on the evolution of the stress relaxation characteristics of C-S-H at different water contents was elucidated by nonaffine mean squared displacement.Our results shed light on the stress relaxation characteristics of C-S-H from a microscopic perspective,bridging the gap between the microscopic phenomena and the underlying atomic-level mechanisms.

关键词： Calcium silicate hydrate(C-S-H) Stress relaxation Ca/Si ratio Temperature Water content Atomic simulation

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Thermodynamic geometry of the RN-Ad S black hole and non-local observables

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Communications in Theoretical Physics 2024年第2期76卷 137-144页

作者： Chao wang Bin Wu zhen-Ming Xu Wen-Li yang Institute of Physics Shaanxi University of TechnologyHanzhong 723000China School of Physics Northwest UniversityXi'an 710127China Institute of Modern Physics Northwest UniversityXi'an 710127China Shaanxi Key Laboratory for Theoretical Physics Frontiers Xi'an 710127China Peng Huanwu Center for Fundamental Theory Xi'an 710127China

This paper studies the thermodynamic geometry of the Reissner–Nordstr?m-anti-de Sitter(RN-AdS)black hole via detection of the non-local observables in the dual field theory,including the entanglement entropy and equal-time two-point correlation function.With the dimensional analysis,we construct the principle of corresponding states of black hole thermodynamics.As a result,our findings can be applied to black holes with different Ad S backgrounds.In this sense,the probe of the thermodynamic geometry of the RN-Ad S black hole though the non-local observables in dual field theory has been confirmed numerically.

关键词： black hole thermodynamic thermodynamic geometry phase transition non-local observables

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Ribonucleotide reductase subunit M1 blocks glucose catabolism via phosphorylation of pyruvate kinase M2 in human esophageal squamous cell cancer

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Genes & Diseases 2024年第3期11卷 69-71页

作者： Jian yang Lingxiao wang Hui Sun zhenxiang Zhao Yanchuan Ma zhen Hu Liqin Zhai Yonggang wang Translational Medicine Research Center Shanxi Medical UniversityTaiyuanShanxi030001China Department of Cell Biology and Genetics Shanxi Medical UniversityTaiyuanShanxi 030001China Key Laboratory of Cellular Physiology of the Ministry of Education Shanxi Medical UniversityTaiyuanShanxi 030001China Department of Colorectal Surgery The Fifth Clinical Medical College of Shanxi Medical UniversityTaiyuanShanxi 030012China Science&Technology Information and Strategy Research Center of Shanxi TaiyuanShanxi 030006China Department of Pathology Shanxi Provincial People's HospitalTaiyuanShanxi 030012China Department of Anatomy College of Basic MedicineShanxi Medical UniversityTaiyuanShanxi 030001China

Esophageal squamous cell cancer(EScC)is one of the malignant tumors with high morbidity and mortality all over the world.^(1) In recent years,combined chemotherapy has gradually been the effective treatment method for EscC patients.Therefore,it is imperative to explore potential therapeutic targets for the treatment of EsCC.We previously reported a high-frequency amplification of pyrimidine metabolic pathway-related genes in EsCC tissues.

关键词： squamous esophageal cancer

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