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development of Multi-Agent-Based Indoor 3d Reconstruction

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computers, Materials and continua 2024年第1期81卷 161-181页

作者： cheng H.c. Hong F.Z. Hussain B. Wang Y. Yue c.P. Optical Wireless Lab Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong

Large-scale indoor 3d reconstruction with multiple robots faces challenges in core enabling technologies. This work contributes to a framework addressing localization, coordination, and vision processing for multi-agent reconstruction. A system architecture fusing visible light positioning, multi-agent path finding via reinforcement learning, and 360° camera techniques for 3d reconstruction is proposed. Our visible light positioning algorithm leverages existing lighting for centimeter-level localization without additional infrastructure. Meanwhile, a decentralized reinforcement learning approach is developed to solve the multi-agent path finding problem, with communications among agents optimized. Our 3d reconstruction pipeline utilizes equirectangular projection from 360° cameras to facilitate depth-independent reconstruction from posed monocular images using neural networks. Experimental validation demonstrates centimeter-level indoor navigation and 3d scene reconstruction capabilities of our framework. The challenges and limitations stemming from the above enabling technologies are discussed at the end of each corresponding section. In summary, this research advances fundamental techniques for multi-robot indoor 3d modeling, contributing to automated, data-driven applications through coordinated robot navigation, perception, and modeling. © 2024 The Authors. Published by Tech Science Press.

关键词： 3d reconstruction multi-agent path finding Multi-agent system multi-robot human collaboration reinforcement learning visible light communication visible light positioning

灰盖鬼伞中过表达的碱性真菌漆酶在高盐染料废水中的应用潜力

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微生物学报 2024年第8期64卷 3014-3029页

作者：王先华朱雪玲林嘉钇谷贤富彭齐霞肖亚中 Ursula Kües 方泽民安徽大学生命科学学院安徽合肥230601 安徽省现代生物制造重点实验室安徽合肥230601 安徽省微生物与生物催化工程技术研究中心安徽合肥230601 University of goettingen Goettingen 237077Germany

【目的】本研究利用双孢菇(Agaricus bisporus)gpdII启动子,实现了碱性真菌漆酶PIE5(ccPIE5)在灰盖鬼伞(coprinopsis cinerea)FA2222中的同源过表达。【方法】在mKjalke液体培养基中37℃培养7 d,漆酶活力达到(24.2±1.1)U/mL。纯化的ccPIE5在pH 8.0和60℃下表现出最佳催化活性。【结果】与已经研究报道的真菌漆酶不同,ccPIE5能耐受高浓度Nacl,当Nacl浓度从0升至1.5 mol/L时,ccPIE5的k_(cat)和K_(m)均呈下降趋势,表示ccPIE5在纺织印染废水脱色中有潜在应用价值。进一步在染料废水脱色应用中,以丁香酸作为介体,ccPIE5在pH 8.5和60℃条件下可高效降解(92.9±2.3)%的靛蓝胭脂红。通过Lc-MS分析确认,Isatin 5-sulfonic acid(ISA)是靛蓝胭脂红降解的主要副产物。【结论】ccPIE5在高温、碱性和含盐条件下高效脱色染料,是处理环境和工业特定应用的理想选择。

关键词：真菌漆酶过表达灰盖鬼伞高盐靛蓝胭脂红

Autonomous Vehicle Platoons In Urban Road Networks:A Joint distributed Reinforcement Learning and Model Predictive control Approach

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IEEE/cAA Journal of Automatica Sinica 2024年第1期11卷 141-156页

作者： Luigi d’Alfonso Francesco giannini giuseppe Franzè giuseppe Fedele Francesco Pupo giancarlo Fortino IEEE the department of computer Engineering ModelingElectronics and SystemsUniversitàdella CalabriaVia Pietro BucciCubo 42-CRende(CS)87036Italy the department of Mechanical Engineering Energy Engineering and ManagementUniversitàdella CalabriaVia Pietro BucciCubo 42-CRende(CS)87036Italy

In this paper, platoons of autonomous vehicles operating in urban road networks are considered. From a methodological point of view, the problem of interest consists of formally characterizing vehicle state trajectory tubes by means of routing decisions complying with traffic congestion criteria. To this end, a novel distributed control architecture is conceived by taking advantage of two methodologies: deep reinforcement learning and model predictive control. On one hand, the routing decisions are obtained by using a distributed reinforcement learning algorithm that exploits available traffic data at each road junction. On the other hand, a bank of model predictive controllers is in charge of computing the more adequate control action for each involved vehicle. Such tasks are here combined into a single framework:the deep reinforcement learning output(action) is translated into a set-point to be tracked by the model predictive controller;conversely, the current vehicle position, resulting from the application of the control move, is exploited by the deep reinforcement learning unit for improving its reliability. The main novelty of the proposed solution lies in its hybrid nature: on one hand it fully exploits deep reinforcement learning capabilities for decisionmaking purposes;on the other hand, time-varying hard constraints are always satisfied during the dynamical platoon evolution imposed by the computed routing decisions. To efficiently evaluate the performance of the proposed control architecture, a co-design procedure, involving the SUMO and MATLAB platforms, is implemented so that complex operating environments can be used, and the information coming from road maps(links,junctions, obstacles, semaphores, etc.) and vehicle state trajectories can be shared and exchanged. Finally by considering as operating scenario a real entire city block and a platoon of eleven vehicles described by double-integrator models, several simulations have been performed with the a

关键词： distributed model predictive control distributed reinforcement learning routing decisions urban road networks

A global analysis of the introduction pathways and characteristics associated with non-native fish species introduction, establishment, and impacts

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Ecological Processes 2024年第2期13卷 16-31页

作者： camille Bernery céline Bellard Franck courchamp Sébastien Brosse Boris Leroy cNRS Agro Paris Tech Ecologie Systématique Evolution Université Paris-Saclay Unité Biologie des Organismes et Ecosystèmes Aquatiques (BOREA UMR 8067) Muséum National d’Histoire Naturelle Sorbonne Universités Université de Caen Normandie Université des Antilles CNRS IRD Laboratoire évolution & diversité Biologique (EdB UMR5174) Université Paul Sabatier-Toulouse 3 CNRS IRD UPS

Bac.g.ound The invasion success of introduced freshwater fishes is influenced by many factors, including ecological, species, and socioeconomic characteristics. Most studies that document the importance of these characteristics are conducted at local scales and/or focus on a single step of the invasion process. In this study, we aim to determine the species characteristics, ecological characteristics, and socioeconomic characteristics of non-native freshwater fish invasions. Our assessment was done at the global scale and considers all three steps of the invasion(i.e., introduction, establishment, and impact). For this purpose, we applied generalized linear models to 20 variables collected for 307 non-native species and modeled them as a function of ecological characteristics(i.e., environmental features), species traits(i.e., functional and morphological), and socioeconomic characteristics(i.e., human use and introduction pathways). We considered the number of countries in which each species was introduced, established, or had ecological impacts as a proxy of invasion step success. We also explored the specifics of species introduced through the aquaculture and the ornamental fish trade *** We found that non-native freshwater fishes with broad diets, high parental care, and multiple introduction pathways are the most widely introduced and established worldwide. The number of countries with impacts reported was best explained by the type of introduction pathway(i.e., aquaculture or fisheries). Moreover, among non-native species introduced through aquaculture, those belonging to cypriniformes and having broad diets were the most widely introduced and established species. In contrast, the species introduced through the ornamental fish trade pathway belonged to various taxonomic orders but were mainly native to tropical *** considering several types of factors is important when analyzing the invasion success of freshwater fish and disentang

关键词： Aquaculture Ecology Exotic Freshwater fish Introduction pathway Invasion step Morphology Ornamental fish trade Socioeconomic Trait

Refractive outcomes after V4c Toric collamer lens implantation over 1y of follow-up

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International Journal of Ophthalmology(English edition) 2024年第7期17卷 1322-1330页

作者： Humberto carreras-díaz Josefina Reñones de Abajo María del Rosario carreras-díaz Amalia Lorente-Velázquez Vithas Eurocanarias Las Palmas de Gran Canaria 35004Spain University Hospital of girona doctor Josep Trueta Gerona 17007Spain departament of Optometry and Vision Faculty of Optics and OptometryComplutense University of MadridMadrid 28040Spain

AIM:To evaluate refractive outcomes and corneal astigmatism changes after Toric implantable collamer lens with a central port(V4c T-IcL)implantation over 1y of ***:A retrospective study was performed including 50 eyes of 50 patients that underwent V4c T-IcL ***(UdVA)and corrected(cdVA)distance visual acuities,refraction,refractive and corneal astigmatism changes and corneal coupling correction were evaluated preoperatively,1 and 12mo *** analysis was used for astigmatism *** of adjustment(cAdj)was calculated for corneal coupling ***:The mean UdVA achieved was 0.03 logMAR at 1mo and remained unchanged throughout the whole follow-up(P=0.193).At the last visit,84%of the eyes achieved a cdVA of 0.00 logMAR or *** spherical equivalent refraction(SEQ),96%of eyes were ranges of±1.00 d and 84%of them within±0.50 ***,94%of eyes had a remaining refractive cylinder within±1.00 d and 78%of them within±0.50 ***,SEQ and refractive cylinder,remain stable over the postoperative follow-up(P=1.000 and P=0.660,respectively).In terms of surgically induced astigmatism(SIA),no statistically significant differences were found over the follow-up(P=0.102)and under correction was found with a correction index lower than the unit at each visit.A keratometric astigmatism induced of 0.59±0.53(vector mean:0.26×73º)d was reached at the last *** significant changes in terms of corneal astigmatism orientation were reported over post-surgery visits(P=0.129 and P=0.097 at 1 and 12mo respectively).No clinical significance was found for cAdj on with-the-rule *** postoperative complications resulting from the surgery were ***:Refractive outcomes suggest that the V4c T-IcL implantation for correction of myopic astigmatism was satisfactory in terms of effectiveness,safety,and stability during 1y of *** astigmatism induced by the incision around 0.5 d is achieved

关键词： V4c Toric collamer lens corneal astigmatism surgically induced astigmatism corneal coupling

Preliminary research on Megalake Jilantai-Hetao in the arid areas of china during the Late Quaternary

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chinese Science Bulletin 2008年第11期53卷 1725-1739页

作者： cHEN FaHu FAN YuXin cHUN Xi d.B. MAdSEN c.g. OVIATT ZHAO Hui YANg LiPing SUN Yang MOE Key Laboratory of Western china's Environmental Systems Lanzhou University Lanzhou 730000 China Texas Archeological Research Laboratory University of Texas Austin TX 78712 USA geology department Kansas State University Manhattan KS 66506 USA cold and Arid Regions Environmental and Engineering Research Institute Chinese Academy of Sciences Lanzhou 730000 China

我们识别了 geomorphological，在通过地调查并且通过地区性的遥感的分析的当前的 Jilantai 盐湖附近的高湖层次的沉积、生物的证据想象。在约 1060， 1050， 1044 和 1035 m a.s.l 的举起有四组海岸线，是在当前的盐湖上面的 37， 27，... 详细信息

我们识别了 geomorphological，在通过地调查并且通过地区性的遥感的分析的当前的 Jilantai 盐湖附近的高湖层次的沉积、生物的证据想象。在约 1060， 1050， 1044 和 1035 m a.s.l 的举起有四组海岸线，是在当前的盐湖上面的 37， 27， 21 和 12 m 分别地出现。沙和石子的沿岸的存款在在 1070 和 1080 m a.s.l 之间的举起被发现，比水流高的 47 ～ 57 m 腌湖表面，尽管 palaeoshoreline 地形仅仅在几个地点被保存。在 Herimuxini，在 Ulan Buh 荒芜的、典型湖的沉积和沙石子的北边缘上，沿岸的存款也发生在 1080 m a.s.l 并且在下面的举起。典型吐痰扩大的 A 11-km-long 从逐渐地在它的大拐弯上沿着黄河的南部的银行在一些沙石子石场从 1050 ～ 1035 m a.s.l 在举起减少的这条海岸线东方海岸线特征例如在水文学计量器车站和 Shilazhao 镇附近定位的那些，被识别。沿岸的存款 overlying 冲积的洪水的层在 Hangjin 在 Balagong 附近发生在沙石场县。也有沙滩岩石和沿岸的存款，沿着 Langshan-Yinshan 山的南部的山麓在几个地点在 cut-and-built 平台上保存。另外，揭示水下的三角洲沉积的侧面在 Wuhai 附近被识别，在黄河进入盆的地方。典型的湖沉积也在 Hetao 平原的东方结束在 Togtoh 站台存在。水的软体动物壳在沿岸的存款是普通的，包括 corbicula 的几种，根值 lagotis， R。xauricularia 和 gyraulus convexiusculus。Ostracode 壳能也在更好的沉积被识别。典型垂直 prograding 序列在湖的沉积很好被保存的露头是明显的。滚动波浪的卵石和沙滩岩石很通常在更高的举起在堤在侧面的顶上被保存。所有这些证据建议曾经有一个巨大的palaeo湖，用到达我们指的 ∼1080 m a.s.l 的最高的湖水平盖住 Jilantai 区域和 Hetao 平原的大多数部分巨大的 paleolake ，比现代的湖贝加尔湖大，作为“ Megalake Jilantai-Hetao ”. OSL 标明日期结果显示大湖以前形成了 ∼60 —50 ka，和在在 1060 和 1035 m a.s.l 之间的举起的四条海岸线多半从 ∼60 ∼50 ka 代表湖水平变化到早 Holocene。Megalake Jilantai-Hetao 的发现将多半影响黄河的发展的理解在期间晚第四级， Ulan Buh 和 Kubq 的进化抛弃，在这个区域的 neotectonism，并且可能地区性的气候的变化。

关键词：中国晚第四纪干旱地区古气候学

Quantized Redshift and its Significance for Recent Observation

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Research in Astronomy and Astrophysics 2024年第9期24卷 156-166页

作者： Arindam Mal Sarbani Palit christopher c.Fulton Sisir Roy Indian Space Research Organization Space Applications CentreAhmedabadIndia Indian Statistical Institute CVPR UnitKolkataIndia Protostar Inc.15652 Carrousel DriveCanyon CountryCA 91387USA National Institute of Advanced Studies IISC CampusBangaloreIndia

With the recent observational evidence in extragalactic astronomy,the interpretation of the nature of quasar redshift continues to be a research *** high redshifts are being detected for extragalactic objects that are presumably very distant and young while also exhibiting properties that are characteristic of a more mature galaxy such as *** to Halton Arp and geoffrey Burbidge,redshift disparities consist of an intrinsic component and are related to an evolutionary *** observed redshift periodicity at integer multiples of0.089 in log scale and Burbidge observed redshift periodicity at integer multiples of 0.061 in linear *** Singular Value decomposition based periodicity estimation is known to be superior for noisy data sets,especially when the data contain multiple harmonics and overtones,mainly irregular in nature,we have chosen it to be our primary tool for analysis of the quasar-galaxy pair redshift *** have observed a fundamental periodicity of0.051 with a confidence interval of 95%in linear scale with the site-available Sloan digital Sky Survey data Release 7(SdSS dR7)quasar-galaxy pair data *** have independently generated quasar-galaxy pair data sets from both 2d F and SdSS and found fundamental periodicities of 0.077 and 0.089,respectively,in log scale with a confidence interval of 95%.

关键词： galaxies:distances and redshifts (galaxies:)quasars:absorption lines cosmology:observations

All-electron basis sets for H to Xe specific for ZORA calculations:Applications in atoms and molecules

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chinese Physics B 2024年第8期33卷 238-246页

作者： c.S.gomes F.E.Jorge A.canal Neto departamento de Fisica Universidade Federal do Espirito Santo29075-910 VitoriaESBrazil departamento de Fisica Instituto de Ciencias Exatas e BiologicasUniversidade Federal de Ouro Preto Campus Universitario Morro do Cruzeiro35402-136 Ouro PretoMGBrazil

A segmented basis set of quadruple zeta valence quality plus polarization functions(QZP)for H through Xe was developed to be used in conjunction with the ZORA *** set was augmented with diffuse functions to describe electrons farther away from the nuclei *** the ZORA-ccSd(T)/QZP-ZORA theoretical model,atomic ionization energies and bond lengths,harmonic vibrational frequencies,and atomization energies of some molecules were *** addition of core-valence corrections has been shown to improve the agreement between theoretical and experimental results for molecular *** atomization energies,a similar observation emerges when considering spin-orbit *** the augmented QZP-ZORA set,static mean dipole polarizabilities of a set of atoms were calculated and compared with previously published recommended and experimental *** evaluations of the ZORA and douglas–Kroll–Hess Hamiltonians were made for each property studied.

关键词： QZP-ZORA and AQZP-ZORA basis sets elements from H to Xe ccSd(T)method atomic and molecular properties

Exposure of juvenile chinook salmon to effluent from a large urban wastewater treatment *** *** profiling

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Aquaculture and Fisheries 2024年第3期9卷 367-377页

作者： James P.Meador Suzanne c.Ball c.Andrew James Jenifer K.McIntyre dept.of Environmental and Occupational Health Sciences School of Public Health4225 Roosevelt Way NESuite 100SeattleWA98105-6099USA Washington State University School of the EnvironmentPuyallup Research and Extension Center2606 W Pioneer AvePuyallupWA98371USA University of Washington Tacoma Center for Urban Waters326 East D StreetTacomaWA98421-1801USA

Targeted metabolomic analysis was conducted on juvenile chinook salmon exposed for 10 days to wastewater effluent(WWE)from a large urban treatment *** included five dilutions of WWE(20%,5.3%,1.4%,0.4%,and 0.1%)and a control with 7 replicates per *** was extracted from fish and analyzed via liquid chromatography–mass spectrometry(Lc-MS)for 361 endogenous metabolites,of which 185 were ***-versus-treatment comparisons identified several metabolites that were associated with altered biochemical pathways observed for all treatments,including several that are important for energy generation and *** altered pathways are crucial for fish health and may be an early indicator of potential adverse effects on growth,reproduction,behavior,and immune *** ocean-type chinook salmon spend several days to weeks in the nearshore estuary where they may encounter high concentrations of WWE *** are exposed to a wide range of potent pharmaceuticals,personal care products,and industrial compounds from WWE that have the potential to affect physiological homeostasis and disrupt their normal life cycle.

关键词： Wastewater effluent Metabolomics Physiology chinook salmon Pharmaceuticals Metabolic pathways estuary