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Sampling-efficient path planning and improved actor-critic-based obstacle avoidance for autonomous robots

Science China(Information Sciences) 2024年第5期67卷 197-214页

作者： Yefeng YANG Tao huang Tianqi WANG wenyu YANG Han CHEN Boyang li Chih-yung wen Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic University Center for Control Theory and Guidance Technology Harbin Institute of Technology School of Engineering The University of Newcastle Research Center for Unmanned Autonomous Systems The Hong Kong Polytechnic University

Autonomous robots have garnered extensive utilization in diverse fields. Among the critical concerns for autonomous systems, path planning holds paramount importance. Notwithstanding considerable efforts in its development over the years, path planning for autonomous systems continues to grapple with challenges related to low planning efficiency and inadequate obstacle avoidance response in a timely *** study proposes a novel and systematic solution to the path planning problem within intricate office buildings. The solution consists of a global planner and a local planner. To handle the global planning aspect, an adaptive clustering-based dynamic programming rapidly exploring random tree(ACDP-RRT) algorithm is proposed. ACDP-RRT effectively identifies obstacles on the map by leveraging geometric *** obstacles are then represented as a collection of sequentially arranged convex polygons, optimizing the sampling region and significantly enhancing sampling efficiency. For local planning, a network decoupling actor-critic(ND-AC) algorithm is employed. The proposed ND-AC simplifies the local planner design process by integrating planning and control loops into a neural network(NN) trained via an end-to-end model-free deep reinforcement learning(DRL) framework. Moreover, the adoption of network decoupling(ND) techniques leads to an improved obstacle avoidance success rate when compared to conventional actor-critic(AC)-based methods. Extensive simulations and experiments are conducted to demonstrate the effectiveness and robustness of the proposed approach.

关键词： rapidly exploring random tree (RRT) adaptive clustering network decoupling actor critic (AC) path planning

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BL03HB: a Laue microdiffraction beamline for both protein crystallography and materials science at SSRF

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Nuclear Science and Techniques 2024年第7期35卷 68-78页

作者： Zhi-Jun Wang Si-Sheng Wang Zheng-huang Su li Yu Yu-Zhu Wang Bo Sun wen wen Xing-Yu Gao Shanghai Advanced Research Institute Chinese Academy of SciencesShanghai201210China University of Chinese Academy of Science Beijing100049China

A Laue microdiffraction beamline(BL03HB) was constructed at the Shanghai Synchrotron Radiation Facility(SSRF).This beamline features two consecutive focusing points in two different sectors within its end station, the first dedicated to protein crystallography and the other tailored to materials science applications. Based on a superbend dipole magnet with a magnetic field of 2.29 T, a two-stage focusing design was implemented with two sets of Kirkpatrick-Baez mirrors to achieve a micro white beam as small as 4.2 μ m ×4.3 μ m at the first sector and 0.9 μ m ×1.3 μ m at the second sector in the standard beamline operation mode at SSRF. The X-ray microbeam in the two sectors can be easily switched between monochromatic and white beams by moving a four-bounce monochromator in or out of the light path, respectively. In the protein crystallography sector, white-beam Laue microdiffraction was demonstrated to successfully determine the structure of protein crystals from only a few images of diffraction data collected by a Pilatus 2 M area detector. In the materials science sector,the white-beam Laue diffraction was collected in a reflection geometry using another Pilatus 2 M area detector, which could map the microstructural distribution on the sample surface by scanning the samples. In general, the BL03HB beamline promotes the application of Laue microdiffraction in both protein crystallography and materials science. This paper presents a comprehensive overview of the BL03HB beamline, end station, and the first commission results.

关键词： Crystallography White-beam Laue microdiffraction Beamline Synchrotron

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Automated machine learning for rainfall-induced landslide hazard mapping in Luhe County of Guangdong Province,China

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China Geology 2024年第2期7卷 315-329页

作者： Tao li Chen-chen Xie Chong Xu wen-wen Qi Yuan-dong huang Lei li National Institute of Natural Hazards Ministry of Emergency Management of ChinaBeijing 100085China Key Laboratory of Compound and Chained Natural Hazards Dynamics Ministry of Emergency Management of ChinaBeijing 100085China Institute of Disaster Prevention Sanhe 065201China School of Emergency Management Science and Engineering University of Chinese Academy of SciencesBeijing 100049China

Landslide hazard mapping is essential for regional landslide hazard *** main objective of this study is to construct a rainfall-induced landslide hazard map of Luhe County,China based on an automated machine learning framework(AutoGluon).A total of 2241 landslides were identified from satellite images before and after the rainfall event,and 10 impact factors including elevation,slope,aspect,normalized difference vegetation index(NDVI),topographic wetness index(TWI),lithology,land cover,distance to roads,distance to rivers,and rainfall were selected as *** WeightedEnsemble model,which is an ensemble of 13 basic machine learning models weighted together,was used to output the landslide hazard assessment *** results indicate that landslides mainly occurred in the central part of the study area,especially in Hetian and *** 102.44 s were spent to train all the models,and the ensemble model WeightedEnsemble has an Area Under the Curve(AUC)value of92.36%in the test *** addition,14.95%of the study area was determined to be at very high hazard,with a landslide density of 12.02 per square *** study serves as a significant reference for the prevention and mitigation of geological hazards and land use planning in Luhe County.

关键词： Landslide hazard Heavy rainfall Harzard mapping Hazard assessment Automated machine learning Shallow landslide Visual interpretation Luhe County Geological hazards survey engineering

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Tumor-targeted metabolic inhibitor prodrug labelled with cyanine dyes enhances immunoprevention of lung cancer

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Acta Pharmaceutica Sinica B 2024年第2期14卷 751-764页

作者： wen li Jiali huang Chen Shen Weiye Jiang Xi Yang Jingxuan huang Yueqing Gu Zhiyu li Yi Ma Jinlei Bian State Key Laboratory of Natural Medicines China Pharmaceutical UniversityNanjing 210009China Department of Biomedical Engineering School of EngineeringChina Pharmaceutical UniversityNanjing 210009China Jiangsu Key Laboratory of Drug Design and Optimization Department of Medicinal ChemistrySchool of PharmacyChina Pharmaceutical UniversityNanjing 210009China

Recent progress in targeted metabolic therapy of cancer has been limited by the considerable toxicity associated with such *** address this challenge,we developed a smart theranostic prodrug system that combines a fluorophore and an anticancer drug,specifically 6-diazo-5-oxo-L-norleucine(DON),using a thioketal linkage(TK).This system enables imaging,chemotherapy,photodynamic therapy,and on-demand drug release upon radiation *** optimized prodrug,DON-TK-BM3,incorporating cyanine dyes as the fluorophore,displayed potent reactive oxygen species release and efficient tumor cell *** the parent drug DON,DON-TK-BM3 exhibited no toxicity toward normal ***,DON-TK-BM3 demonstrated high tumor accumulation and reduced side effects,including gastrointestinal toxicity,in *** study provides a practical strategy for designing prodrugs of metabolic inhibitors with significant toxicity stemming from their lack of tissue selectivity.

关键词： Smart prodrug system Glutamineantagonists Immunotherapy Photodynamictherapy Reactive oxygen species Metabolicinhibitor Cyaninedye Non-small-cell lung cancer(NSCLC)

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Layered niobium carbide enabling excellent kinetics and cycling stability of li-Mg-B-H hydrogen storage material Layered niobium carbide enabling excellent kinetics

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Rare Metals 2024年第3期43卷 1153-1166页

作者： li-wen Lu Hui Luo Guang-Xu li Yun li Xin-Hua Wang Cun-Ke huang Zhi-QiangLan wen-Zheng Zhou Jin Guo Mohammad Ismail Hai-Zhen liu Guangxi Novel Battery Materials Research Center of Engineering Technology Guangxi Colleges and Universities Key Laboratory of Blue Energy and Systems IntegrationSchool of Physical Science and TechnologyGuangxi UniversityNanning530004China State Key Laboratory of Featured Metal Materials and life-Cycle Safety for Composite Structures Nanning530004China School of Mechanical and Electrical Engineering Quzhou College of TechnologyQuzhou324000China Department of Materials Science and Engineering Zhejiang UniversityHangzhou310027China Faculty of Ocean Engineering Technology and Informatics Universiti Malaysia Terengganu21030Kuala NerusTerengganuMalaysia Key Laboratory of Advanced Energy Materials Chemistry(Ministry of Education) Nankai UniversityTianjin300071China

The li-Mg-B-H composite(2liBH_(4)+MgH_(2))has a high capacity of 11.4 wt%as a hydrogen storage ***,the slow kinetics and poor cycling stability severely restrict its practical *** this work,a layered Nb_(2)C MXene was first synthesized and then introduced to tailor the kinetics and cycling stability of the li-Mg-B-H *** milled 2liH+MgB_(2)composites were initially hydrogenated to obtain the 2liBH_(4)+MgH_(2)*** 2liBH_(4)+MgH_(2)+5wt%Nb_(2)C can release 9.0 wt%H_(2)in 30 min at 400℃,while it is only 2.7 wt%for the undoped 2liBH_(4)+MgH_(2).The dehydrogenation activation energies of MgH_(2)and liBH_(4)are 123 and 154 kJ·mol^(-1)respectively for the 5 wt%Nb_(2)C-doped composite,lower than the undoped composite(164 and 165 kJ·mol^(-1)).The 2liBH_(4)+MgH_(2)+5 wt%Nb_(2)C possesses excellent cycling stability,with the reversible capacity only slightly reduced from 9.4 wt%for the 1st cycle to 9.3 wt%for the 20th ***_(2)C keeps stable in the composite and acts as an efficient catalyst for the li-Mg-B-H *** is believed that both the layered structure and the active Nb element contribu te to the enhanced hydrogen storage performances of the li-Mg-B-H *** work confirms that the Nb_(2)C MXene with layered stru cture has a significant enhancing impact on the li-Mg-B-H hydrogen storage materials,which is different from the bulk NbC.

关键词： Hydrogen storage lithium borohydride Magnesium hydride Nb_(2)C MXene

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Impact of stage-specific limb function exercises guided by a selfmanagement education model on arteriovenous fistula maturation status

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World Journal of Clinical Cases 2024年第14期12卷 2316-2323页

作者： Yi li li-Jun huang Jian-wen Hou Dan-Dan Hu Department of Nursing The People's Hospital of Jianyang CityJianyang 641400Sichuan ProvinceChina Department of Nephrology The People's Hospital of Jianyang CityJianyang 641400Sichuan ProvinceChina Department of Head and Neck Surgery Zhejiang Cancer HospitalHangzhou 310000Zhejiang ProvinceChina School of Nursing Shangqiu Institute of TechnologyShangqiu 476005Henan ProvinceChina

BACKGROUND The exercise of limb function is the most economical and safe method to promote the maturation of arteriovenous fistula(AVF).However,due to the lack of a uni-fied exercise standard in China,many patients have insufficient awareness of the importance of AVF,leading to poor effectiveness of limb function *** self-management education model can effectively promote patients to take pro-active health-related *** study focuses on the characteristics of patients during the peri-AVF period and conducts a phased limb function exercise under the guidance of the self-management education model to observe changes in fac-tors such as the maturity of *** To assess the impact of stage-specific limb function exercises,directed by a self-management education model,on the maturation status of *** This study is a randomized controlled trial involving 74 patients with forearm AVFs from the Nephrology Department of a tertiary hospital in Sichuan Province,*** were randomly divided into an observation group and a control group using a random number table *** observation group underwent tailored stage-specific limb func-tion exercises,informed by a self-management education model which took into account the unique features of AVF at various stages,in conjunction with routine ***,the control group was given standard limb function exercises along with routine *** assessment involves the maturity of AVFs post-intervention,post-operative complications,and the self-management level of the fistula in both groups *** were conducted using SPSS version *** data were represented by frequency and percentage and subjected to chi-square test *** data adhering to a normal distribution were presented as mean±*** independent samples t-test was utilized for inter-group comparisons,while the paired t-test was used for intra-group *** measurement data not fitting a normal distr

关键词： Self-management Education model Stage-specific limb function exercises Arteriovenous fistula Maturation status

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Effect of adenovirus-mediated overexpression of PTEN on brain oxidative damage and neuroinflammation in a rat kindling model of epilepsy

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Chinese Medical Journal 2019年第21期132卷 2628-2635页

作者： Zhi-Sheng Wu wen-li huang Shu-Jie Gong Department of Neurology The First Affiliated Hospital of QuanzhouFujian Medical UniversityQuanzhouFujian 362000China.

Background:Epilepsy is a chronic and severe neurological *** and tensin homolog deleted on chromosome ten(PTEN)-deficient mice exhibit learning and memory deficits and spontaneous *** aim of this study was to investigate the role of PTEN in brain oxidative damage and neuroinflammation in a rat model of ***:An adenovirus(Ad)-PTEN vector was constructed,and status epilepticus(SE)was induced in 41 model rats using lithium ***-six SE rats were then allocated into the Ad-PTEN,Ad-LacZ,and SE groups,those were administered intracerebroventricular injections of Ad-PTEN,Ad-enhanced green fluorescent protein,and phosphate buffer saline,*** normal group was comprised of healthy Sprague-Dawley *** staining was conducted to evaluate neuronal damage,and immunohistochemistry was conducted to observe the morphology of cells in the hippocampal CA1 region and the distribution of ionized calcium-binding adaptor molecule 1(Iba1)and ED1(rat homologue of human CD68).Levels of apoptosis-related proteins,inflammatory-related factors,and oxidative stress-related markers(reactive oxygen species[ROS],glutathione[GSH],superoxide dismutase[SOD],and malondialdehyde[MDA])were *** between multiple groups were conducted using oneway analysis of variance(ANOVA),and pairwise comparisons after ANOVA were conducted using the Tukey multiple comparisons ***:After SE induction,PTEN expression in the rat brain exhibited a four-fold decrease(P=0.000)and the expression of both Iba1 and ED1 ***,significant neuronal loss,oxidative damage,and neuroinflammation were observed in the SE rat *** intracerebroventricular injection of Ad-PTEN,PTEN expression exhibited a three-fold increase(P=0.003),and the expression of both Iba1 and ED1 ***,neurons were restored and neuronal apoptosis was ***,ROS and MDA levels decreased,GSH level and SOD activity

关键词： Epilepsy Status epilepticus Brain injuries Oxidative stress Neurons Inflammation

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Properties and microstructure of copper–titanium alloys with magnesium additions

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Rare Metals 2024年第5期43卷 2290-2299页

作者： Lue huang li-Jun Peng Jiang li Xu-Jun Mi Gang Zhao Guo-Jie huang Hao-Feng Xie Yi-Cheng Cao wen-Jing Zhang Zhen Yang State Key Laboratory of Nonferrous Metals and Processes GRINM Group Co.Ltd.Beijing 100088China GRIMAT Engineering Institute Co. LtdBejing 101407China School of Materials Science and Engineering Northeastern UniversityShenyang110000China General Research Institute for Nonferrous Metals Beijing 100088China China Academy of Space Technology Beijing 100094China China Nonferrous Metals Mining Group(Tianjin)Co.Ltd Tianjin 3001llChina

The volume fractions and morphology of precipitates in precipitation-strengthened Cu-Ti alloys,which precipitate mainly as continuous and discontinuous precipitates,are important for the application of the *** study employed hardness and electrical conductivity tests transmission electron microscopy(TEM),atom probe tomography(APT),and first-principles calculations to demonstrate that the addition of Mg is effective for accelerating nanosized continuousβ'-Cu_(4)Ti precipitation as well as for suppressing the precipitation of coarse lamellar discontinuousβ-Cu_(4)Ti precipitates along the grain boundaries,resulting in Cu-Ti alloys with high yield strength and good electrical *** results showed that the continuous precipitation ofβ'-Cu_(4)Ti was accelerated by the Mg additions,which reduced the supersaturation of the matrix,thereby reducing the chemical driving force for the discontinuous *** the other hand,Mg additions increased the mismatch between the discontinuousβ-Cu_(4)Ti precipitates and matrix decreased the nucleation rate of the discontinuous precipitates,and increased the spacing of the discontinuous precipitation layer,resulting in a lower growth rate of the discontinuous ***,the addition of Mg to Cu-Ti alloys enhances the strength and improves the resistance to over-ageing.

关键词： Cu-Ti-Mg alloy Precipitation hardening Discontinuous precipitation Continuous precipitation Microstructure formation mechanism

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Structural Dependence Learning Based on Self-attention for Face Alignment

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Machine Intelligence Research 2024年第3期21卷 514-525页

作者： Biying li Zhiwei liu Wei Zhou Haiyun Guo Xin wen Min huang Jinqiao Wang Foundation Model Research Center Institute of AutomationChinese Academy of SciencesBeijing100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing100083China Alpha(Beijing)Private Equity Beijing100083China School of Computer Science National University of Defense TechnologyChangsha410073China

Self-attention aggregates similar feature information to enhance the features. However, the attention covers nonface areas in face alignment, which may be disturbed in challenging cases, such as occlusions, and fails to predict landmarks. In addition, the learned feature similarity variance is not large enough in the experiment. To this end, we propose structural dependence learning based on self-attention for face alignment (SSFA). It limits the self-attention learning to the facial range and adaptively builds the significant landmark structure dependency. Compared with other state-of-the-art methods, SSFA effectively improves the performance on several standard facial landmark detection benchmarks and adapts more in challenging cases.

关键词： Computer vision face alignment self-attention facial structure contextual information

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Metallothionein 1E Alleviates Cadmium-induced Renal Cytotoxicity through Promoting Mitochondrial Functional Recovery

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Biomedical and Environmental Sciences 2024年第1期37卷 117-121页

作者： wen Si Hui li Lu Bei huang Hui Dan XIE Ying LUO Lei Key Laboratory of Molecular Epidemiology of Hunan Province School of MedicineHunan Normal UniversityChangsha 410081HunanChina Department of Occupational Health Changsha Centre for Disease Control and PreventionChangsha 410004HunanChina The Key Laboratory of Model Animals and Stem Cell Biology in Hunan Province Hunan Normal University School of MedicineChangsha 410013HunanChina

The pervasive utilization of industrial substances has escalated human exposure to cadmium(Cd),a metal associated with long-term negative health outcomes such as renal dysfunction,neurological disorders,and various cancers^([1]).Once ingested by humans,Cd interacts with cysteine-rich metallothioneins(MTs)which have metal-binding and antioxidant properties and is subsequently transported to the kidney^([2]).

关键词： Renal kidney cadmium

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