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Adaptive Space Expansion for Fast Motion Planning

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1499-1514页

作者： Shenglei shi Jiankui Chen State Key Laboratory of Digital Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China

The sampling process is very inefficient for sam-pling-based motion planning algorithms that excess random sam-ples are generated in the planning *** this paper,we pro-pose an adaptive space expansion(ASE)approach which belongs to the informed sampling category to improve the sampling effi-ciency for quickly finding a feasible *** ASE method enlarges the search space gradually and restrains the sampling process in a sequence of small hyper-ellipsoid ring subsets to avoid exploring the unnecessary ***,for a con-structed small hyper-ellipsoid ring subset,if the algorithm cannot find a feasible path in it,then the subset is ***,the ASE method successively does space exploring and space expan-sion until the final path has been ***,we present a particular construction method of the hyper-ellipsoid ring that uniform random samples can be directly generated in *** last,we present a feasible motion planner BiASE and an asymptoti-cally optimal motion planner BiASE*using the bidirectional exploring method and the ASE *** demon-strate that the computation speed is much faster than that of the state-of-the-art *** source codes are available at https://***/shshlei/ompl.

关键词： Adaptive space expansion(ASE) hyper-ellipsoid ring informed sampling motion planning.

Trustworthy DNN partition for blockchain-enabled digital twin in wireless IIoT networks

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Science China(Information Sciences) 2024年第11期67卷 373-374页

作者： Xiumei DENG Jun LI Long shi kang WEI Ming DING Yumeng SHAO Wen CHEN shi JIN Pillar of Information Systems Technology and Design Singapore University of Technology and Design National Mobile Communications Research Laboratory Southeast University School of Electronic and Optical Engineering Nanjing University of Science and Technology Department of Computing Hong Kong Polytechnic University Data61 CSIRO Department of Electronics Engineering Shanghai Jiao Tong University

The integration of artificial intelligence(AI) and digital twin(DT) technology has revolutionized the industrial Internet of Things(IIoT), enabling advanced automation and intelligent manufacturing [1]. Through sophisticated interactions between physical entities and their virtual counterparts,AI-driven DTs facilitate performance monitoring, analysis,simulation, and optimization of physical assets, enabling predictive maintenance and informed decision-making [2].

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Quantization and Event-Triggered Policy Design for Encrypted Networked Control

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 946-955页

作者： Yongxia shi Ehsan Nekouei the Department of Electrical Engineering City University of Hong KongHong KongChina

This paper proposes a novel event-driven encrypted control framework for linear networked control systems(NCSs),which relies on two modified uniform quantization policies,the Paillier cryptosystem,and an event-triggered *** to the fact that only integers can work in the Pailler cryptosystem,both the real-valued control gain and system state need to be first quantized before *** is dramatically different from the existing quantized control methods,where only the quantization of a single value,e.g.,the control input or the system state,is *** handle this issue,static and dynamic quantization policies are presented,which achieve the desired integer conversions and guarantee asymptotic convergence of the quantized system state to the ***,the quantized system state is encrypted and sent to the controller when the triggering condition,specified by a state-based event-triggered strategy,is *** doing so,not only the security and confidentiality of data transmitted over the communication network are protected,but also the ciphertext expansion phenomenon can be ***,by tactfully designing the quantization sensitivities and triggering error,the proposed event-driven encrypted control framework ensures the asymptotic stability of the overall closedloop ***,a simulation example of the secure motion control for an inverted pendulum cart system is presented to evaluate the effectiveness of the theoretical results.

关键词： Cyber-security encrypted control event-triggered control(ETC) networked control systems(NCSs) semi-homomorphic encryption

Families of Schmidt-number witnesses for high dimensional quantum states

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Communications in Theoretical Physics 2024年第8期76卷 44-51页

作者： Xian shi College of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China

Higher dimensional entangled states demonstrate significant advantages in quantum information processing tasks. The Schmidt number is a quantity of the entanglement dimension of a bipartite state. Here we build families of k-positive maps from the symmetric information complete positive operator-valued measurements and mutually unbiased bases, and we also present the Schmidt number witnesses, correspondingly. At last, based on the witnesses obtained from mutually unbiased bases, we show the distance between a bipartite state and the set of states with a Schmidt number less than k.

关键词： Schmidt number entanglement witness mutually unbiased bases

CAV driving safety monitoring and warning via V2X-based edge computing system

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Frontiers of Engineering Management 2024年第1期11卷 107-127页

作者： Cheng chang Jiawei ZHANG Kunpeng ZHANG Yichen ZHENG Mengkai shi Jianming HU Shen LI Li LI Department of Automation Tsinghua UniversityBeijing 100084China College of Electrical Engineering Henan University of TechnologyZhengzhou 450001China Nebula Link Technology Co. Ltd.Beijing 100080China Department of Civil Engineering Tsinghua UniversityBeijing 100084China

Driving safety and accident prevention are attracting increasing global *** safety monitoring systems often face challenges such as limited spatiotemporal coverage and accuracy,leading to delays in alerting drivers about potential *** study explores the use of edge computing for monitoring vehicle motion and issuing accident warnings,such as lane departures and vehicle *** traditional systems that depend on data from single vehicles,the cooperative vehicle-infrastructure system collects data directly from connected and automated vehicles(CAVs)via vehicle-to-everything *** approach facilitates a comprehensive assessment of each vehicle’s *** propose algorithms and specific data structures for evaluating accident risks associated with different ***,we examine the prerequisites for data accuracy and transmission delay to enhance the safety of CAV *** efficacy of this framework is validated through both simulated and real-world road tests,proving its utility in diverse driving conditions.

关键词： driving safety accident prevention connected and automated vehicles edge computing

Cloud-Edge Collaborative Federated GAN Based Data Processing for IoT-Empowered Multi-Flow Integrated Energy Aggregation Dispatch

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Computers, Materials & Continua 2024年第7期80卷 973-994页

作者： Zhan shi Electric Power Dispatching Control Center Guangdong Power Grid Co.Ltd.Guangzhou510030China

The convergence of Internet of Things(IoT),5G,and cloud collaboration offers tailored solutions to the rigorous demands of multi-flow integrated energy aggregation dispatch data *** generative adversarial networks(GANs)are instrumental in resource scheduling,their application in this domain is impeded by challenges such as convergence speed,inferior optimality searching capability,and the inability to learn from failed decision making ***,a cloud-edge collaborative federated GAN-based communication and computing resource scheduling algorithm with long-term constraint violation sensitiveness is proposed to address these *** proposed algorithm facilitates real-time,energy-efficient data processing by optimizing transmission power control,data migration,and computing resource *** employs federated learning for global parameter aggregation to enhance GAN parameter updating and dynamically adjusts GAN learning rates and global aggregation weights based on energy consumption constraint *** results indicate that the proposed algorithm effectively reduces data processing latency,energy consumption,and convergence time.

关键词： IoT federated learning generative adversarial network data processing multi-flowintegration energy aggregation dispatch

Regulation of insect behavior by non-coding RNAs

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Science China(Life Sciences) 2024年第6期67卷 1106-1118页

作者： Jing He Le kang State Key Laboratory of Integrated Management of Pest Insects and Rodents Institute of ZoologyChinese Academy of SciencesBeijing 100101China Beijing Institutes of Life Sciences Chinese Academy of SciencesBeijing 100101China College of Life Science Hebei UniversityBaoding 071002China

The adaptation of insects to environments relies on a sophisticated set of behaviors controlled by molecular and physiological *** the past several decades,accumulating studies have unveiled the roles of non-coding RNAs(nc RNAs)in regulating insect *** RNAs assume particularly pivotal roles in the behavioral plasticity of insects by rapidly responding to environmental *** RNAs also contribute to the maintenance of homeostasis of insects by fine-tuning the expression of target ***,a comprehensive review of nc RNAs'roles in regulating insect behaviors has yet to be ***,we present the recent progress in our understanding of how nc RNAs regulate various insect behaviors,including flight and movement,social behavior,reproduction,learning and memory,and *** refine the intricate mechanisms by which nc RNAs modulate the function of neural,motor,reproductive,and other physiological systems,as well as gene expression in insects like fruit flies,social insects,locusts,and ***,we discuss potential avenues for future studies in nc RNA-mediated insect behaviors.

关键词： ncRNAs insect behavior plasticity fine-tuning environmental adaptation

Phenformin activates ER stress to promote autophagic cell death via NIBAN1 and DDIT4 in oral squamous cell carcinoma independent of AMPK

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International Journal of Oral Science 2024年第3期16卷 471-485页

作者： Dexuan Zhuang Shuangshuang Wang Huiting Deng Yuxin shi chang Liu Xue Leng Qun Zhang Fuxiang Bai Bin Zheng Jing Guo Xunwei Wu School and Hospital of Stomatology Cheeloo College of MedicineShandong University&Shandong Key Laboratory of Oral Tissue Regeneration&Shandong Engineering Research Center of Dental Materials and Oral Tissue Regeneration&Shandong Provincial Clinical Research Center for Oral DiseasesJinanChina Engineering Laboratory for Biomaterials and Tissue Regeneration Ningbo Stomatology HospitalSavaid Stomatology SchoolHangzhou Medical CollegeNingboChina Cedars-Sinai Cancer Institute Department of Biomedical SciencesCedars-Sinai Medical CenterLos AngelesCAUSA

The efficient clinical treatment of oral squamous cell carcinoma(OSCC)is still a challenge that demands the development of effective new *** has been shown to produce more potent anti-tumor activities than metformin on different tumors,however,not much is known about the influence of phenformin on OSCC *** found that phenformin suppresses OSCC cell proliferation,and promotes OSCC cell autophagy and apoptosis to significantly inhibit OSCC cell growth both in vivo and in ***-seq analysis revealed that autophagy pathways were the main targets of phenformin and identified two new targets DDIT4(DNA damage inducible transcript 4)and NIBAN1(niban apoptosis regulator 1).We found that phenformin significantly induces the expression of both DDIT4 and NIBAN1 to promote OSCC ***,the enhanced expression of DDIT4 and NIBAN1 elicited by phenformin was not blocked by the knockdown of AMPK but was suppressed by the knockdown of transcription factor ATF4(activation transcription factor 4),which was induced by phenformin treatment in OSCC ***,these results revealed that phenformin triggers endoplasmic reticulum(ER)stress to activate PERK(protein kinase R-like ER kinase),which phosphorylates the transitional initial factor eIF2,and the increased phosphorylation of eIF2 leads to the increased translation of *** summary,we discovered that phenformin induces its new targets DDIT4 and especially NIBAN1 to promote autophagic and apoptotic cell death to suppress OSCC cell *** study supports the potential clinical utility of phenformin for OSCC treatment in the future.

关键词： drugs treatment AMPK DDI

Boundless love:a German Professor Uli Schwarz in China

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Protein & Cell 2024年第8期15卷 553-558页

作者： Le kang State Key Laboratory of Integrated Management of Pest Insects and Rodents Institute of ZoologyChinese Academy of SciencesBeijing 100101China

More than 20 years ago,an old German man embarked on a quest to explore the suburbs of Shanghai and the villages of jiangsu Province in search of antique Chinese *** was not a mere antique collector or aficionado of ancient furmiture,but a German scientist motivated by his profound love of Chinese *** name was Uli Schwarz(Fig.1),a distinguished German scientist who had dedicated the majority of his life to promoting cross-cultural scientific exchanges,an effort that left an indelible mark on the landscape of research collaborations between China and Germany.

关键词： Schwarz German landscape