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Target Search and Navigation in Heterogeneous Robot Systems with Deep Reinforcement Learning

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Machine Intelligence Research 2025年第1期22卷 79-90页

作者： yun chen Jiaping Xiao Department of Mechanical Engineering University of AlabamaTuscaloosa35487USA School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore639798Singapore

Collaborative heterogeneous robot systems can greatly enhance the efficiency of target search and navigation *** this paper,we design a heterogeneous robot system consisting of an unmanned aerial vehicle(UAV)and an unmanned ground vehicle(UGV)for search and rescue missions in unknown *** system is able to search for targets and navigate to them in a maze-like mine environment with the policies learned through deep reinforcement learning *** the training process,if two robots are trained simultaneously,the rewards related to their collaboration may not be properly ***,we introduce a multi-stage reinforcement learning framework and a curiosity module to encourage agents to explore unvisited *** in simulation environments show that our framework can train the heterogeneous robot system to achieve the search and navigation with unknown target locations while existing baselines may *** UGV achieves a success rate of 89.1%in the mission within the original environment,and maintains a 67.6%success rate in untrained complex environments.

关键词： Heterogeneous intelligent systems deep reinforcement learning multiagent systems robot learning target search

Simultaneous laparoscopic excision for rectal carcinoma and synchronous hepatic metastasis

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Chinese Medical Journal 2011年第19期124卷 2990-2992页

作者： chen kai-yun XIANG Guo-an WANG Han-ning XIAO Fang-lian Department of General Surgery the Second People＇s Hospital of Guangdong Province Guangzhou Guangdong 510317 China

Background Rectal carcinoma patients are often accompanied by hepatic metastasis. The aim of this study was to evaluate the therapeutic efficacy of simultaneous laparoscopic excision for rectal carcinoma with synchronous hepatic *** A total of 41 patients with rectal carcinoma and synchronous hepatic metastasis detected by CT scan were included in this study. Among them, 23 patients underwent laparoscopic surgery and 18 patients underwent traditional open surgery to simultaneously remove the rectal tumor and hepatic metastasis lesions. All patients received postoperative adjuvant chemotherapy. All the patients were followed up from 36 to 72 months （mean 45.3 months）.Results All the operations were performed successfully and no patient was turned to open surgery in laparoscopic group. The mean blood loss, the mean postoperative hospital stay, the mean blood transfusion and the mean intestinal functional recovery time showed a significant difference between the two groups （P〈0.05）. The 1-, 3- and 5-year survival rates were 82.6%, 43.5% and 8.6% in the laparoscopic group, without significant difference compared with the open group （77.8%, 38.9% and 0）（P〉0.05）.Conclusions Simultaneous laparoscopic excision for rectal carcinoma and synchronous hepatic metastasis is safe and effective with similar survival achieved by the traditional open abdominal surgery.

关键词： rectal tumor metastasis laparoscope hepatectomy

Electrospraying Si/SiO_(x)/C and Sn/C nanosphere arrays on carbon cloth for high-performance flexible lithium-ion batteries

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Journal of Semiconductors 2025年第1期46卷 234-243页

作者： Di chen Rui Li Chunxue Liu kai Jiang School of Integrated Circuits and Electronics Beijing Institute of TechnologyBeijing 100081China College of Physics and Mathematics University of Science and TechnologyBeijing 100083China Falculty of Hepato-Pancreato-Biliary Surgery Chinese PLA General HospitalInstitute of Hepatobiliary Surgery of Chinese PLA& Key Laboratory of Digital Hepetobiliary SurgeryChinese PLABeijing 100853China

Exploring electrode materials with larger capacity,higher power density and longer cycle life was critical for developing advanced flexible lithium-ion batteries(LIBs).Herein,we used a controlled two-step method including electrospraying followed with calcination treatment by CVD furnace to design novel electrodes of Si/Si_(x)/C and Sn/C microrods array consisting of nanospheres on flexible carbon cloth substrate(denoted as Si/Si_(x)/C@CC,Sn/C@CC).Microrods composed of cumulated nanospheres(the diameter was approximately 120 nm)had a mean diameter of approximately 1.5μm and a length of around 4.0μm,distributing uniformly along the entire woven carbon *** of Si/Si/Si_(x)/C@CC and Sn/C@CC products were synthesized as binder-free anodes for Li-ion battery with the features of high reversible capacity and excellent *** Si/Six/C electrode exhibited high specific capacity of about 1750 mA∙h∙g^(−1)at 0.5 A∙g^(−1)and excellent cycling ability even after 1050 cycles with a capacity of 1388 mA∙h∙g^(−1).Highly flexible Si/Si_(x)/C@CC//LiCoO_(2)batteries based on liquid and solid electrolytes were also fabricated,exhibiting high flexibility,excellent electrical stability and potential applications in flexible wearable electronics.

关键词： electrospraying Si/SiO_(x)/C Sn/C lithium-ion batteries

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论运动产业本质

上海体育学院学报 2001年第1期25卷 15-18页

作者：陈云开上海体育学院体操系上海200438

采用文献综述研究方法 ,并与市场营销的实践紧密结合 ,论述了运动产品的内涵与外延 ;运动生产的定义 ;运动产业概念的界定等理论问题。

关键词：运动产品运动生产运动产业体育产业

Integration of wearable electronics and heart rate variability for human physical and mental well-being assessment

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Journal of Semiconductors 2025年第1期46卷 58-76页

作者： Feifei Yin Jian chen Haiying Xue kai Kang Can Lu Xinyi chen Yang Li East China Institute of Photo-Elextro ICs Suzhou 215163China Bengbu Representative Department Bengbu 233000China School of Integrated Circuits Shandong UniversityJinan 250101China

Heart rate variability(HRV)that can reflect the dynamic balance between the sympathetic nervous and parasympathetic nervous of human autonomic nervous system(ANS)has attracted considerable ***,traditional electrocardiogram(ECG)devices for HRV analysis are bulky,and hard wires are needed to attach measuring electrodes to the chest,resulting in the poor wearable experience during the long-term *** with that,wearable electronics enabling continuously cardiac signals monitoring and HRV assessment provide a desirable and promising approach for helping subjects determine sleeping issues,cardiovascular diseases,or other threats to physical and mental *** now,significant progress and advances have been achieved in wearable electronics for HRV monitoring and applications for predicting human physical and mental *** this review,the latest progress in the integration of wearable electronics and HRV analysis as well as practical applications in assessment of human physical and mental health are *** commonly used methods and physiological signals for HRV analysis are briefly ***,we highlighted the research on wearable electronics concerning HRV assessment and diverse applications such as stress estimation,drowsiness detection,***,the current limitations of the integrated wearable HRV system are concluded,and possible solutions in such a research direction are outlined.

关键词： wearable electronics HRV analysis physical and mental well-being machine learning stress detection

Beyond Performance of Learning Control Subject to Uncertainties and Noise: A Frequency-Domain Approach Applied to Wafer Stages

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 198-214页

作者： Fazhi Song Ning Cui Shuaiqi chen kai Zhang Yang Liu Xinkai chen Jiubin Tan IEEE the Center of Ultra-precision Optoelectronic Instrument Engineering Harbin Institute of Technology the Key Laboratory of Ultra-Precision Intelligent Instrumentation Ministry of Industry and Information Technology the State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangdong University of Technology the Center of Ultraprecision Optoelectronic Instrument Engineering Harbin Institute of Technology the Key Laboratory of UltraPrecision Intelligent Instrumentation Ministry of Industry and Information Technology the Department of Electronic and Information Systems Shibaura Institute of Technology

The increasingly stringent performance requirement in integrated circuit manufacturing, characterized by smaller feature sizes and higher productivity, necessitates the wafer stage executing a extreme motion with the accuracy in terms of nanometers. This demanding requirement witnesses a widespread application of iterative learning control(ILC), given the repetitive nature of wafer scanning. ILC enables substantial performance improvement by using past measurement data in combination with the system model knowledge. However, challenges arise in cases where the data is contaminated by the stochastic noise, or when the system model exhibits significant uncertainties, constraining the achievable performance. In response to this issue, an extended state observer(ESO) based adaptive ILC approach is proposed in the frequency *** being model-based, it utilizes only a rough system model and then compensates for the resulting model uncertainties using an ESO, thereby achieving high robustness against uncertainties with minimal modeling effort. Additionally, an adaptive learning law is developed to mitigate the limited performance in the presence of stochastic noise, yielding high convergence accuracy yet without compromising convergence speed. Simulation and experimental comparisons with existing model-based and data-driven inversion-based ILC validate the effectiveness as well as the superiority of the proposed method.

关键词： Extended state observer learning control model uncertainties motion control stochastic noise

Carbon Nanofiber/Polyaniline Composite Aerogel with Excellent Electromagnetic Interference Shielding,Low Thermal Conductivity,and Extremely Low Heat Release

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Nano-Micro Letters 2025年第4期17卷 77-95页

作者： Mingyi chen Jian Zhu kai Zhang Hongkang Zhou Yufei Gao Jie Fan Rouxi chen Hsing-Lin Wang School of Textile Science and Engineering Tiangong UniversityTianjin 300387People’s Republic of China Department of Materials Science and Engineering Southern University of Science and TechnologyShenzhen 518055People’s Republic of China School of Innovation and Entrepreneurship Southern University of Science and TechnologyShenzhen 518055People’s Republic of China Guangdong Provincial Key Laboratory of Energy Materials for Electric Power Southern University of Science and TechnologyShenzhen 518055People’s Republic of China Ministry of Education Key Laboratory of Advanced Textile Composite Materials Tiangong UniversityTianjin 300387People’s Republic of China

The rapid development of communication technology and high-frequency electronic devices has created a need for more advanced electromagnetic interference(EMI)shielding *** response to this demand,a study has been conducted to develop multifunctional carbon nanofibers(CNFs)/polyaniline(PANI)aerogels with excellent electromagnetic interference shielding,flame retardancy,and thermal insulation *** process involved freeze-drying of electrospun CNFs and PANI nanoparticles followed by in situ growth PANI to coat the CNFs,creating the core-shell structured CNFs/PANI composite fiber and its hybrid aerogels(CP-3@PANI).The interaction between PANI and aniline(ANI)provides attachment sites,allowing additional ANI adsorption into the aerogel for in situ *** results in PANI uniformly covering the surface of the CNFs,creating a core-shell composite fiber with a flexible CNF core and PANI *** process enhances the utilization rate of the ANI monomer and increases the PANI content loaded onto the ***,effective connections are established between the CNFs,forming a stable,conductive three-dimensional network *** prepared CP-3@PANI aerogels exhibit excellent EMI shielding efficiency(SE)of 85.4 dB and specific EMI SE(SE d^(-1))of 791.2 dB cm^(3)g^(-1)in the *** to the synergistic flame-retardant effect of CNFs,PANI,and the dopant(phytic acid),the CP-3@PANI aerogels demonstrate outstanding flame-retardant and thermal insulation properties,with a peak heat release rate(PHRR)as low as 7.8 W g^(-1)and a total heat release of only 0.58 kJ g^(-1).This study provides an effective strategy for preparing multifunctional integrated EMI shielding materials.

关键词： CNFs/PANI hybrid aerogels EMI shielding Flame retardancy Thermal insulation

Novel Low-Carbon Optimal Operation Method for Flexible Distribution Network Based on Carbon Emission Flow

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Energy Engineering 2025年第2期122卷 785-803页

作者： Chao Gao kai Niu Wenjing chen Changwei Wang Yabin chen Rui Qu Guangdong-Hong Kong-Macao Greater Bay Area Construction Promotion Office of Guangdong Power Grid Co. Ltd.Guangzhou510030China School of Electrical Engineering Northeast Electric Power UniversityJilin132012China School of Electrical Engineering Fuzhou UniversityFuzhou350116China

With the widespread implementation of distributed generation(DG)and the integration of soft open point(SOP)into the distribution network(DN),the latter is steadily transitioning into a flexible distribution network(FDN),the calculation of carbon flow distribution in FDN is more *** this end,this study constructs a model for low-carbon optimal operations within the FDN on the basis of enhanced carbon emission flow(CEF).First,the carbon emission characteristics of FDNs are scrutinized and an improved method for calculating carbon flow within these networks is ***,a model for optimizing low-carbon operations within FDNs is formulated based on the refined CEF,which merges the specificities of DG and intelligent ***,this model is scrutinized using an upgraded IEEE 33-node distribution system,a comparative analysis of the cases reveals that when DG and SOP are operated in a coordinated manner in the FDN,with the cost of electricity generation was reduced by 40.63 percent and the cost of carbon emissions by 10.18 *** findings indicate that the judicious optimization of areas exhibiting higher carbon flow rates can effectively enhance the economic efficiency of DN operations and curtail the carbon emissions of the overall network.

关键词： Flexible distribution network carbon emission flow distributed generation soft open points

Statistical Research on Megahertz-peaked Spectra Pulsars

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Research in Astronomy and Astrophysics 2025年第1期25卷 116-134页

作者： Hong-Bing Cai Li chen Shi-Dang Li kai Wang Hang Liu JSNU SPBPU Institute of Engineering & SINO RUSSIAN Institute Jiangsu Normal University School of Physics and Electronic Engineering Jiangsu Normal University

Megahertz-peaked spectra(MPS) pulsars are referred as cases whose radio spectra turn over around 100 MHz. We identified 53 MPS pulsars based on the spectral data from the literature, and statistically analyzed the spatial location distribution, the magnetic field-period distribution, peak frequencies, spectral indices, and dispersion measures of these MPS pulsars. We found that there is a strong positive correlation between the dispersion measures and the peak frequencies of MPS pulsars, and negative correlations of the dispersion measures with spectral indices and the ages are also found. Such correlations suggest that the interstellar medium is an important factor that affects observational properties of MPS pulsars.

关键词： (stars:) pulsars: general ISM: general radio continuum: general