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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

基于回归正交设计与综合加权评分法的注塑成型工艺优化

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塑料工业 2018年第9期46卷 67-71页

作者：蔡厚道陈云江西科技学院机械工程学院江西南昌330098

以音箱倒相管为研究对象,采用回归正交试验设计方法设计注塑成型多因素多水平回归试验方案,运用Moldflow软件数值模拟仿真分析翘曲变形、体积收缩率和缩痕等三项试验指标数据,利用综合加权评分法对注塑质量指标进行科学评价。建立了各... 详细信息

以音箱倒相管为研究对象,采用回归正交试验设计方法设计注塑成型多因素多水平回归试验方案,运用Moldflow软件数值模拟仿真分析翘曲变形、体积收缩率和缩痕等三项试验指标数据,利用综合加权评分法对注塑质量指标进行科学评价。建立了各试验因素与综合加权评分之间的回归模型,寻优计算得到了回归模型的最优解,最后试模验证了寻优结果的可行性。

关键词：回归正交设计综合加权评分法注塑成型倒相管

Nickel-copper alloying arrays realizing efficient co-electrosynthesis of adipic acid and hydrogen

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Journal of Energy Chemistry 2025年第02期101卷 7-15页

作者： Xuhui Ren Qianyu Zhang yun Tong Guorong Zhou Cong Lin Yanying Zhao Pengzuo chen School of Chemistry and Chemical Engineering Key Laboratory of Surface & Interface Science of Polymer Materials of Zhejiang Province Zhejiang Sci-Tech University

Constructing electrocatalytic overall reaction technology to couple the electrosynthesis of adipic acid with energy-saving hydrogen production is of significant for sustainable energy ***,the development of highly-active bifunctional electrocatalysts remains a ***,3D hierarchical nickel-copper alloying arrays with dendritic morphology are manufactured by a simple electrodeposition process,standing for the excellent bifunctional electrocatalyst towards the co-production of adipic acid and H2from cyclohexanone and *** membrane-free flow electrolyzer of Cu0.81Ni0.19/NF shows the superior electrooxidation performance of ketone-alcohol（KA） oil with high faradaic efficiencies of over 90% for adipic acid and H2,robust stability over 200 h as well as a high yield of 0.6 mmol h-1for adipic acid at 100 mA ***-situ spectroscopy indicates the Cu0.81Ni0.19alloy contributes to forming more active NiOOH species to involve in the conversion of cyclohexanone to adipic acid,while the proposed reaction pathway undergoes the 2-hydroxycyclohexanone and 2,7-oxepanedione ***,the theoretical calculations confirm that the optimal electronic interaction,boosted reaction kinetics as well as improved adsorption free energy of reaction intermediates,synergistically endows Cu0.81Ni0.19alloy with superior bifunctional performance.

关键词： Adipic acid Cu0.81Ni0.19 alloy Cyclohexanone oxidation reaction Hydrogen evolution reaction Hydrogen fuel

Coordinated Control Strategy of New Energy Power Generation System with Hybrid Energy Storage Unit

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Energy Engineering 2025年第1期122卷 167-184页

作者： yun Zhang Zifen Han Biao Tian Ning chen Yi Fan School of Mechano-Electronic Engineering Xidian UniversityXi’an710071China Electric Power Control Center State Grid Gansu Electric Power CompanyLanzhou730030China Electric Power Control Center State Grid Gansu Electric Power Company Zhangye Power Supply BranchZhangye734000China

The new energy power generation is becoming increasingly important in the power *** as photovoltaic power generation has become a research hotspot,however,due to the characteristics of light radiation changes,photovoltaic power generation is unstable and random,resulting in a low utilization rate and directly affecting the stability of the power *** solve this problem,this paper proposes a coordinated control strategy for a newenergy power generation system with a hybrid energy storage unit based on the lithium iron phosphate-supercapacitor hybrid energy storage ***,the variational mode decomposition algorithm is used to separate the high and low frequencies of the power signal,which is conducive to the rapid and accurate suppression of the power fluctuation of the energy storage ***,the fuzzy control algorithm is introduced to balance the power between energy *** this paper,the actual data is used for simulation,and the simulation results show that the strategy realizes the effective suppression of the bus voltage fluctuation and the accurate control of the internal state of the energy storage unit,effectively avoiding problems such as overshoot and over-discharge,and can significantly improve the stability of the photovoltaic power generation systemand the stability of the Direct Current *** is of great significance to promote the development of collaborative control technology for photovoltaic hybrid energy storage units.

关键词： Photovoltaic power suppression hybrid energy storage unit variationalmodal decomposition fuzzy control power distribution control

Adaptive Control of a Flexible Manipulator With Unknown Hysteresis and Intermittent Actuator Faults

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 148-158页

作者： Shouyan chen Weitian He Zhijia Zhao yun Feng Zhijie Liu Keum-Shik Hong School of Mechanical and Electrical Engineering Guangzhou University the School of Control Science and Engineering Shandong University IEEE the College of Electrical and Information Engineering Hunan University the National Engineering Research Center for Robot Visual Perception and Control Technology Hunan University the School of Intelligence Science and Technology University of Science and Technology Beijing (USTB) the Institute for Future the School of AutomationQingdao University the School of Mechanical Engineering Pusan National University

In this study, we consider a single-link flexible manipulator in the presence of an unknown Bouc-Wen type of hysteresis and intermittent actuator faults. First, an inverse hysteresis dynamics model is introduced, and then the control input is divided into an expected input and an error compensator. Second,a novel adaptive neural network-based control scheme is proposed to cancel the unknown input hysteresis. Subsequently,by modifying the adaptive laws and local control laws, a fault-tolerant control strategy is applied to address uncertain intermittent actuator faults in a flexible manipulator system. Through the direct Lyapunov theory, the proposed scheme allows the state errors to asymptotically converge to a specified interval. Finally,the effectiveness of the proposed scheme is verified through numerical simulations and experiments.

关键词： Adaptive control flexible manipulator intermittent actuator faults inverse hysteresis dynamics vibration control

Electrochemical removal of nitrate in high-salt wastewater with low-cost iron electrode modified by phosphate

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Journal of Environmental Sciences 2025年第2期148卷 38-45页

作者： Fengjiao Quan Guangming Zhan Pengfei Xu Xiaolan chen Wenjuan Shen Falong Jia yun He Jianfen Li College of Chemical and Environmental Engineering Wuhan Polytechnic UniversityWuhan 430023China College of Chemistry Central China Normal UniversityWuhan 430079China School of Environmental Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China

Nitrate(NO3-)is a widespread pollutant in high-salt wastewater and causes serious harm to human *** electrochemical removal of nitrate has been demonstrated to be a promising treatment method,the development of low-cost electro-catalysts is still *** this work,a phosphate modified iron(P-Fe)cathode was prepared for electrochemical removal of nitrate in high-salt *** phosphate modification greatly improved the activity of iron,and the removal rate of nitrate on P-Fe was three times higher than that on Fe *** experiments and density functional theory(DFT)calculations demonstrated that the modification of phosphoric acid improved the stability and the activity of the zero-valent iron electrode effectively for *** nitrate was firstly electrochemically reduced to ammonium,and then reacted with the anodic generated hypochlorite to *** this study,a strategy was developed to improve the activity and stability of metal electrode for NO_(3)^(-)removal,which opened up a new field for the efficient reduction of NO3-removal by metal electrode materials.

关键词： Nitrate removal High-salt wastewater Electrocatalysis Phosphate modified Iron

Modulation of the octahedral structure and potential superconductivity of La_(3)Ni_(2)O_(7)through strain engineering

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Science China(Physics,Mechanics & Astronomy) 2025年第3期68卷 145-152页

作者： Zihao Huo Zhihui Luo Peng Zhang Aiqin Yang Zhengtao Liu Xiangru Tao Zihan Zhang Shumin Guo Qiwen Jiang Wenxuan chen dao-Xin Yao Defang Duan Tian Cui Key Laboratory of Material Simulation Methods&Software of Ministry of Education State Key Laboratory of Superhard MaterialsCollege of PhysicsJilin UniversityChangchun130012China Center for Neutron Science and Technology Guangdong Provincial Key Laboratory of Magnetoelectric Physics and DevicesState Key Laboratory of Optoelectronic Materials and TechnologiesSchool of PhysicsSun Yat-sen UniversityGuangzhou510275China MOE Key Laboratory for Non-equilibrium Synthesis and Modulation of Condensed Matter Shaanxi Province Key Laboratory of Advanced Functional Materials and Mesoscopic PhysicsSchool of PhysicsXi’an Jiaotong UniversityXi’an710049China Institute of High Pressure Physics School of Physical Science and TechnologyNingbo UniversityNingbo315211China

The recent transport measurements of La_(3)Ni_(2)O_(7)uncovered a“right-triangle”shape of the superconducting dome in the pressure-temperature(P-T)phase *** by this,we perform theoretical first-principles studies of La_(3)Ni_(2)O_(7)with the pressure ranging from 0 to 100 ***,we reveal a pressure dependence of the Ni-d_(z^(2))electron density at the Fermi energy(n_(z)^(E_(F)))that highly coincides with such *** this basis,we further explore the electronic structure under uniaxial *** tracking the stress response of n_(z)^(E_(F)),we propose that superconductivity can be achieved by applying only ~2GPa of compression along the c *** idea is further exemplified from the perspectives of lattice distortion,band structure,Fermi surface and superconducting phase *** also discuss the possible charge modulation under the stress and provide an insight into the relation between nz E Fand the superconducting T_(c)in La_(3)Ni_(2)O_(7)*** study provides new routes to the search of high-T_(c)superconductors in future experiments.

关键词： nickelate superconductors density functional theory strong correlated systems strain engineering

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Trinuclear gold-catalyzed site-selective alkylation of peptides

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Science China Chemistry 2025年第1期68卷 249-256页

作者： Qing-yun Fang chengyihan Gu Yinghan chen Wencheng Yan Yong Liang Weipeng Li chengjian Zhu Jie Han Jin Xie State Key Laboratory of Coordination Chemistry Jiangsu Key Laboratory of Advanced Organic MaterialsChemistry and Biomedicine Innovation Center(ChemBIC)School of Chemistry and Chemical EngineeringNanjing UniversityNanjing 210023China Green Catalysis Center College of ChemistryZhengzhou UniversityZhengzhou 450001China State Key Laboratory of Natural Medicines China Pharmaceutical UniversityNanjing 211198China

Selective modification of peptides has always been a challenging *** selective alkylation of peptides can alter the biological activity and physical properties of molecules,and it has gained significant research *** herein disclose an intriguing gold-catalyzed alkylation of peptides using bench-stable unactivated alkyl bromides under photoredox catalysis.A wide range of structurally diverse primary,secondary and tertiary alkyl bromides serve as effective coupling partners to precisely connect with theα-C(sp^(3))–H in glycine residue of *** protocol demonstrates an exceptionally broad scope for alkyl halides and excellent tolerance for a wide range of useful functional groups.A series of relay transformations to construct cyclic peptides,to proceed click reaction and to realize peptide fluorescence labeling further enhance its synthetic *** addition,mechanistic studies and density functional theory(DFT)calculations reveal an inner-sphere and subsequent outersphere single electron transfer(SET)mechanism.

关键词： gold catalysis peptide alkylation C-C coupling radical

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Xiangshao Granules Ameliorate Post-stroke Depression by Inhibiting Activation of Microglia and IDO1 Expression in Hippocampus and Prefrontal Cortex

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Chinese Journal of Integrative Medicine 2025年第1期31卷 28-38页

作者： LI cheng-gang XU Lu-shan SUN Liang XU Yu-hao CAO Xiang ZHAO chen-chen XIA Sheng-nan ZHANG Qing-xiu XU yun Department of Neurology Nanjing Drum Tower HospitalAffiliated Hospital of Medical SchoolNanjing UniversityNanjing210008China State Key Laboratory of Pharmaceutical Biotechnology and Institute of Translational Medicine for Brain Critical Diseases Nanjing UniversityNanjing210008China Jiangsu Key Laboratory for Molecular Medicine Medical School of Nanjing UniversityNanjing210008China Nanjing Neurology Medical Center Nanjing210008China

Objective To investigate the therapeutic effect of Xiangshao Granules(XSG)on post-stroke depression(PSD)and explore the underlying *** Forty-three C57BL/6J mice were divided into 3 groups:sham(n=15),PSD+vehicle(n=14),and PSD+XSG(n=14)groups according to a random number *** PSD models were constructed using chronic unpredictable mild stress(CUMS)after middle cerebral artery occlusion(MCAO).The sham group only experienced the same surgical operation,but without MACO and CUMS *** XSG group received XSG(60 mg/kg per day)by gavage for 4 *** mice in the sham and vehicle groups were given the same volume of 0.9%saline at the same *** body weight and behavior tests including open field test,sucrose preference test,tail suspension test,and elevated plus-maze test,were used to validate the PSD mouse ***-time fluorescence quantitative polymerase chain reaction(RT-qPCR),enzyme-linked immunosorbent assay(ELISA),and immunofluorescence staining were used to evaluate the anti-inflammatory effects of *** potential molecular mechanisms were explored and verified through network pharmacology analysis,Nissl staining,Western blot,ELISA,and RT-qPCR,*** The body weight and behavior tests showed that MCAO combined with CUMS successfully established the PSD *** alleviated neuronal damage,reduced the expressions of pro-apoptotic proteins Caspase-3 and B-cell lymphoma-2(BCL-2)-associated X(BAX),and increased the expression of anti-apoptotic protein BCL-2 in PSD mice(P<0.05 or P<0.01).XSG inhibited microglial activation and the expressions of pro-inflammatory cytokines including tumor necrosis factor-α,interleukin(IL)-1β,and IL-6 via the toll-like receptor 4/nuclear factor kappa-B signaling pathway in PSD mice(P<0.05 or P<0.01).Furthermore,XSG decreased the expression of indoleamine 2,3-dioxygenase1(IDO1)and increased the concentration of 5-hydroxytryptamine in PSD mice(P<0.05 or P<0.01).Conclusion XSG could reverse

关键词： post-stroke depression Xiangshao Granules indoleamine 2,3-dioxygenase 1 Chinese medicine