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Reinforcement Learning Navigation for Robots Based on Hippocampus Episode Cognition

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Journal of Bionic Engineering 2024年第1期21卷 288-302页

作者： Jinsheng Yuan Wei Guo Zhiyuan Hou Fusheng Zha Mantian Li Pengfei Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin 150001China Shenzhen Academy of Aerospace Technology Shenzhen 518057China School of Mechanical and Electrical Engineering Lanzhou University of TechnologyLanzhou 730050China

Artificial intelligence is currently achieving impressive success in all fields.However,autonomous navigation remains a major challenge for AI.Reinforcement learning is used for target navigation to simulate the interaction between the brain and the environment at the behavioral level,but the Artificial Neural Network trained by reinforcement learning cannot match the autonomous mobility of humans and animals.The hippocampus–striatum circuits are considered as key circuits for target navigation planning and decision-making.This paper aims to construct a bionic navigation model of reinforcement learning corresponding to the nervous system to improve the autonomous navigation performance of the robot.The ventral striatum is considered to be the behavioral evaluation region,and the hippocampal–striatum circuit constitutes the position–reward association.In this paper,a set of episode cognition and reinforcement learning system simulating the mechanism of hippocampus and ventral striatum is constructed,which is used to provide target guidance for the robot to perform autonomous tasks.Compared with traditional methods,this system reflects the high efficiency of learning and better Environmental Adaptability.Our research is an exploration of the intersection and fusion of artificial intelligence and neuroscience,which is conducive to the development of artificial intelligence and the understanding of the nervous system.

关键词： Episode cognition Reinforcement learning Hippocampus Robot navigation

Recent Progress of Conductive Metal-Organic Frameworks for Electrochemical Energy Storage

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Transactions of Tianjin University 2023年第2期29卷 136-150页

作者： zhiyuan Sang Yueyu Tong Feng hou Ji Liang Key Laboratory for Advanced Ceramics and Machining Technology of Ministry of Education School of Materials Science and EngineeringTianjin UniversityTianjin 300350China Institute for Superconducting and Electronic Materials Australian Institute of Innovative MaterialsUniversity of WollongongInnovation CampusSquires WayNorth WollongongNSW 2500Australia

The development of reliable and low-cost energy storage systems is of considerable value in using renewable and clean energy sources,and exploring advanced electrodes with high reversible capacity,excellent rate performance,and long cycling life for Li/Na/Zn-ion batteries and supercapacitors is the key problem.Particularly because of their diverse structure,high specific surface area,and adjustable redox activity,electrically conductive metal-organic frameworks(c-MOFs)are considered promising candidates for these electrochemical applications,and a detailed overview of the recent progress of c-MOFs for electrochemical energy storage and their intrinsic energy storage mechanism helps realize a comprehensive and systematic understanding of this progress and further achieve highly efficient energy storage and conversion.Herein,the chemical structure of c-MOFs and their conductive mechanism are first introduced.Subsequently,a comprehensive summarization of the current applications of c-MOFs in energy storage systems,namely supercapacitors,LIBs,SIBs,and ZIBs,is presented.Finally,the prospects and challenges of c-MOFs toward much higher-performance energy storage devices are presented,which should illuminate the future scientific research and practical applications of c-MOFs in energy storage fields.

关键词： Energy storage Conductive metal-organic frameworks Batteries Supercapacitors

Robot Navigation Strategy in Complex Environment Based on Episode Cognition

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Journal of Bionic Engineering 2023年第1期20卷 1-15页

作者： Jinsheng Yuan Wei Guo Zhiyuan Hou Fusheng Zha Mantian Li Lining Sun Pengfei Wang State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China Shenzhen Academy of Aerospace Technology Shenzhen518057China School of Mechanical and Electrical Engineering Lanzhou University of TechnologyLanzhou730050China

The hippocampal formation of the brain contains a series of nerve cells related to environmental cognition and navigation.These cells can integrate their moment information and external perceptual information and acquire episodic cognitive memory.Through episodic cognition and memory,organisms can achieve autonomous navigation in complex environments.This paper mainly studies the strategy of robot episode navigation in complex environments.After exploring the environment,the robot obtains subjective environmental cognition and forms a cognition map.The grid cells information contained in the cognitive map can obtain the direction and distance of the target through vector calculation,which can get a shortcut through the inexperienced area.The synaptic connection of place cells in the cognitive map can be used as the topological relationship between episode nodes.When the target-oriented vector navigation encounters obstacles,the obstacles can be realized by setting closer sub-targets.Based on the known obstacle information obtained from boundary cells in the cognitive map,topological paths can be divided into multi-segment vector navigation to avoid encountering obstacles.This paper combines vector and topological navigation to achieve goal-oriented and robust navigation capability in a complex environment.

关键词： Bionic intelligent.Grid cell-Hippocampus-Navigation strategy Episode cognition

Dual-modification of manganese oxide by heterostructure and cation pre-intercalation for high-rate and stable zinc-ion storage

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Journal of Energy Chemistry 2022年第4期31卷 82-91页

作者： Song Wang Weibing Ma zhiyuan Sang Feng hou Wenping Si Jingdong Guo Ji Liang De'an Yang Key Laboratory of Advanced Ceramics and Machining Technology of Ministry of Education School of Materials Science and EngineeringTianjin UniversityTianjin 300072China

Zinc-ion batteries(ZIBs)possess great advantages in terms of high safety and low cost,and are regarded as promising alternatives to lithium-ion batteries(LIBs).However,limited by the electrochemical kinetics and structural stability of the typical cathode materials,it is still difficult to simultaneously achieve high rates and high cycling stability for ZIBs.Herein,we present a manganese oxide(Sn_(x)Mn O_(2)/Sn O_(2))material that is dual-modified by Sn O_(2)/Mn O_(2)heterostructures and pre-intercalated Sn;cations as the cathode material for ZIBs.Such modification provides sufficient hetero-interfaces and expanded interlayer spacing in the material,which greatly facilitates the insertion/extraction of Zn^(2+).Meanwhile,the“structural pillars”of Sn^(4+) cations and the“pinning effect”of SnO_(2)also structurally stabilizes the Mn O_(2)species during the repeated Zn^(2+) insertion/extraction,leading to ultra-high cycling stability.Due to these merits,the Sn_(x)MnO_(2)/SnO_(2)cathode exhibits a high reversible capacity of 316.1 m Ah g^(-1) at 0.3 A g^(-1),superior rate capability of 179.4 m Ah g^(-1) at 2 A g^(-1),and 92.4%capacity retention after 2000 cycles.Consequently,this work would provide a promising yet efficient strategy by combining heterostructures and cations preintercalation to obtain high-performance cathodes for ZIBs.

关键词： Zinc-ion battery Manganese-based cathode material Pre-intercalation Heterostructure

Alkali Vapor Corrosion of Different Refractories at High Temperatures

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China's Refractories 2023年第2期32卷 24-30页

作者： FAN Muxu hou Xiaojing FENG zhiyuan WANG Han LIU Pengcheng SHI Gan Sinosteel Luoyang Institute of Refractories Research Co. Ltd.Luoyang 471039China

Commercial high purity corundum brick,corundum-mullite brick,mullite brick,calcium hexaaluminate brick and calcium hexaaluminate-corundum brick were studied to investigate their reaction state and alkali vapor corrosion mechanism at 1370 and 1500℃.The results show that:(1)served in hot alkali vapor,the high-purity corundum brick has no obvious slag layer but expands dramatically;(2)the corundum-mullite brick shows obvious reactive expansion at 1370℃and melting corrosion happens at 1500℃;(3)at 1370℃alkali vapor and mullite brick react and form a slag layer without volume effect;when the temperature increases to 1500℃,the reaction melting corrosion intensifies;(4)the calcium hexaaluminate brick and the calcium hexaaluminate-corundum brick form a thin slag layer in alkali vapor,and the sample surface absorbs Na+to form a dense layer with small volume effect.

关键词： alkali vapor corrosion sodium carbonate calcium hexaaluminate corundum mullite

Forensic Investigation of Atypical Asphysia

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Journal of Forensic Science and Medicine 2018年第4期4卷 233-237页

作者： Zhe Cao zhiyuan An Xiaoning hou Dong Zhao Anshan Public Security Bureau AnshanChina Key Laboratory of Evidence Science(China University of Political Science and Law) Ministry of EducationChinaCollaborative Inn ovation Center of Judicial CivilizationChina Key Laboratory of Forensic Genetics of Ministry of Public Security Institute of Forensic ScienceMinistry of Public SecurityBeijingChina

Smothering,choking,confined spaces,traumatic asphyxia,positional asphyxia,and other kinds of atypical mechanical asphyxia are not rare in forensic practice.However,these are not commonly well demonstrated in forensic monographs worldwide.The authors researched related works and literatures and summarized these with a view to contribute to the existing teaching resources and provide help to forensic practitioners who are involved in scene investigation and identification of such deaths.

关键词： Asphyxia forensic pathology forensic medicine

2.1 μm,high-energy dissipative soliton resonance from a holmium-doped fiber laser system

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High Power Laser Science and Engineering 2023年第1期11卷 90-98页

作者： Desheng Zhao Bin Zhang Xiran Zhu Shuailin Liu Li Jiang zhiyuan Dou Linyong Yang Jing hou College of Advanced Interdisciplinary Studies National University of Defense TechnologyChangshaChina Nanhu Laser Laboratory National University of Defense TechnologyChangshaChina Hunan Provincial Key Laboratory of High Energy Laser Technology ChangshaChina

We propose a 2.1μm high-energy dissipative soliton resonant(DSR)fiber laser system based on a mode-locked seed laser and dual-stage amplifiers.In the seed laser,the nonlinear amplifying loop mirror technique is employed to realize mode-locking.The utilization of an in-band pump scheme and long gain fiber enables effectively exciting 2.1μm pulses.A section of ultra-high numerical aperture fiber(UHNAF)with normal dispersion and high nonlinearity and an output coupler with a large coupling ratio are used to achieve a high-energy DSR system.By optimizing the UHNAF length to55 m,a 2103.7 nm,88.1 nJ DSR laser with a 3-dB spectral bandwidth of 0.48 nm and a pulse width of 17.1 ns is obtained under a proper intracavity polarization state and pump power.The output power and conversion efficiency are 0.233W and 4.57%,respectively,both an order of magnitude higher than those of previously reported holmium-doped DSR seed lasers.Thanks to the high output power and nanosecond pulse width of the seed laser,the average power of the DSR laser is linearly scaled up to 50.4 W via a dual-stage master oscillator power amplifier system.The 3-dB spectral bandwidth broadens slightly to 0.52 nm,and no distortion occurs in the amplified pulse waveform.The corresponding pulse energy reaches 19.1μJ,which is the highest pulse energy in a holmium-doped mode-locked fiber laser system to the best of our knowledge.Such a 2.1μm,high-energy DSR laser with relatively wide pulse width has prospective applications in mid-infrared nonlinear frequency conversion.

关键词： dissipative soliton resonance high pulse energy holmium-doped fiber laser system mode-locking

Study of the Carbon Neutral Path in China: A Literature Review

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Chinese Journal of Urban and Environmental Studies 2023年第2期11卷 21-43页

作者： hou Fangxin LIU Yifang MA zhiyuan LIU Changyi ZHANG Shining YANG Fang NIE Yuanhong Global Energy Interconnection Group Co. Ltd Economic Research Institute State Grid Anhui Electric Power Co. Ltd

After the carbon peaking and carbon neutrality goals were proposed, different institutions and scholars carried out research on China’s medium-and long-term mitigation pathways. Through the literature review of China’s research on carbon neutrality, this paper finds that the zero-carbon energy transition is the key to achieving carbon neutrality. The main driving factors of reducing energy-related carbon emissions include the cleanliness of primary and secondary energy supply systems, the electrification of energy consumption and the development of hydrogen energy,energy efficiency improvement, carbon capture and storage(CCS), and negative emissions.Furthermore, based on the literature, this paper conducts a quantitative comparative analysis, and selects key indicators for comparative analysis and summary from seven dimensions, including economic and social development, carbon emission pathways, primary energy consumption, final energy consumption, final hydrogen energy consumption, electricity demand and supply, and installed capacity and structure of power generation. Main conclusions are as follows:(i) In terms of carbon emission pathways, the institutions generally believed that China will peak carbon emissions around 2028 and achieve carbon neutrality between 2050 and 2060. Achieving net-zero or near-zero emissions first in the power sector is the key to carbon neutrality across the society;(ii) In terms of energy supply, it is a consensus to increase the proportion of clean energy and reduce carbon emissions from the source. The proportion of clean energy in primary energy will increase to more than 85%, and the proportion of clean energy power generation and installed capacity will reach more than 90%;(iii) In terms of energy use, electricity will become the core of final energy consumption in the future. The predicted electricity consumption across the society will range 14.3–18.4 PWh, and the predicted electrification rate will exceed 65%.

关键词： Carbon peaking carbon neutrality cleanliness electrification

Observations and modelling of the travel time delay and leading negative phase of the 16 September 2015 Illapel,Chile tsunami

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Acta Oceanologica Sinica 2021年第11期40卷 11-30页

作者： Peitao Wang zhiyuan Ren Lining Sun Jingming hou Zongchen Wang Ye Yuan Fujiang Yu Key Laboratory of Marine Hazards Forecasting National Marine Environmental Forecasting CenterMinistry of Natural ResourcesBeijing 100081China

The systematic discrepancies in both tsunami arrival time and leading negative phase(LNP)were identified for the recent transoceanic tsunami on 16 September 2015 in Illapel,Chile by examining the wave characteristics from the tsunami records at 21 Deep-ocean Assessment and Reporting of Tsunami(DART)sites and 29 coastal tide gauge stations.The results revealed systematic travel time delay of as much as 22 min(approximately 1.7%of the total travel time)relative to the simulated long waves from the 2015 Chilean tsunami.The delay discrepancy was found to increase with travel time.It was difficult to identify the LNP from the near-shore observation system due to the strong background noise,but the initial negative phase feature became more obvious as the tsunami propagated away from the source area in the deep ocean.We determined that the LNP for the Chilean tsunami had an average duration of 33 min,which was close to the dominant period of the tsunami source.Most of the amplitude ratios to the first elevation phase were approximately 40%,with the largest equivalent to the first positive phase amplitude.We performed numerical analyses by applying the corrected long wave model,which accounted for the effects of seawater density stratification due to compressibility,self-attraction and loading(SAL)of the earth,and wave dispersion compared with observed tsunami waveforms.We attempted to accurately calculate the arrival time and LNP,and to understand how much of a role the physical mechanism played in the discrepancies for the moderate transoceanic tsunami event.The mainly focus of the study is to quantitatively evaluate the contribution of each secondary physical effect to the systematic discrepancies using the corrected shallow water model.Taking all of these effects into consideration,our results demonstrated good agreement between the observed and simulated waveforms.We can conclude that the corrected shallow water model can reduce the tsunami propagation speed and reproduce the LNP,which is observed for tsunamis that

关键词： 2015 Chilean tsunami travel time delay leading negative phase numerical modeling corrected long wave earth’s elasticity loading seawater density stratification Boussinesq dispersion