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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.

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

Classification of congenital cataracts based on multidimensional phenotypes and its association with visual outcomes

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International Journal of Ophthalmology(English edition) 2024年第3期17卷 473-479页

作者： Yuan Tan ying-shi Zou ying-Lin Yu Le-Yi Hu Ting Zhang Hui Chen Ling Jin Duo-Ru Lin Yi-Zhi Liu Hao-Tian Lin Zhen-Zhen Liu State Key Laboratory of Ophthalmology Zhongshan Ophthalmic CenterSun Yat-sen UniversityGuangdong Provincial Key Laboratory of Ophthalmology and Visual ScienceGuangdong Provincial Clinical Research Center for Ocular DiseasesGuangzhou 510060Guangdong ProvinceChina

●AIM:To establish a classification for congenital cataracts that can facilitate individualized treatment and help identify individuals with a high likelihood of different visual outcomes.●METHODS:Consecutive patients diagnosed with congenital cataracts and undergoing surgery between January 2005 and November 2021 were *** on visual outcomes and the phenotypic characteristics of ocular biometry and the anterior and posterior segments were extracted from the patients’medical records.A hierarchical cluster analysis was *** main outcome measure was the identification of distinct clusters of eyes with congenital cataracts.●RESULTS:A total of 164 children(299 eyes)were divided into two clusters based on their ocular *** 1(96 eyes)had a shorter axial length(mean±SD,19.44±1.68 mm),a low prevalence of macular abnormalities(1.04%),and no retinal abnormalities or posterior *** 2(203 eyes)had a greater axial length(mean±SD,20.42±2.10 mm)and a higher prevalence of macular abnormalities(8.37%),retinal abnormalities(98.52%),and posterior cataracts(4.93%).Compared with the eyes in Cluster 2(57.14%),those in Cluster 1(71.88%)had a 2.2 times higher chance of good best-corrected visual acuity[<0.7 logMAR;OR(95%CI),2.20(1.25–3.81);P=0.006].●CONCLUSION:This retrospective study categorizes congenital cataracts into two distinct clusters,each associated with a different likelihood of visual *** innovative classification may enable the personalization and prioritization of early interventions for patients who may gain the greatest benefit,thereby making strides toward precision medicine in the field of congenital cataracts.

关键词： classification congenital cataract phenotype visual acuity cluster analysis

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

An Improved Thermal Conductivity Measurement Scheme for Macroscopic Graphitic Films Using the Laser Flash Method

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Journal of Thermal Science 2024年第4期33卷 1480-1490页

作者： ZHANG Peijuan MING Xin LIU yingjun WANG xuelong shi Hang HAO Yuanyuan LU Jiahao LIU Zheng LAI Haiwen ZHANG ying GAO Weiwei XU Zhen GAO Chao MOE Key Laboratory of Macromolecular Synthesis and Functionalization Department of Polymer Science and EngineeringKey Laboratory of Adsorption and Separation Materials&Technologies of Zhejiang ProvinceZhejiang UniversityHangzhou310027China Shanxi-Zheda Institute of Advanced Materials and Chemical Engineering Taiyuan030032China Special Equipment Safety Supervision and Inspection Institute of Jiangsu Province National Graphene Products Quality Inspection and Testing Center(Jiangsu)Wuxi214174China Hangzhou Gaoxi Technol Co. LtdHangzhou311113China China Academy of Aerospace Aerodynamics Beijing100074China

Achieving efficient thermal management urges to exploit high-thermal-conductivity materials to satisfy the boosted demand of heat *** is critical to adopt standardized characterization protocols to evaluate the intrinsic thermal conductivity of thermal management ***,for the most representative laser flash method,the lack of standard measurement methodology and systematic description on the thermal diffusivity and influencing factors has led to significant deviations and confusion of the thermal conduction performance in the emerging thermal management ***,the measurement error factors of thermal diffusivity by the common laser flash analyzer(LFA)are *** high-thermal-conductivity graphitic film(GF)as a typical case,the key factors are analyzed to guide the measurement protocol of related carbon-based thermal management *** basic principle of the LFA measurement,actual pre-processing conditions,instrument parameters setting,and data analysis are elaborated for accurate ***,the graphene thick films and common isotropic materials are also extended to meet various thermal measurement *** on the existing practical problems,we propose a feasible test flow to achieve a unified and standardized thermal conductivity measurement,which is beneficial to the rapid development of carbon-based thermal management materials.

关键词： thermal management graphitic film laser flash method thermal conductivity thermal diffusivity

Construction of CDKN2A-related competitive endogenous RNA network and identification of GAS5 as a prognostic indicator for hepatocellular carcinoma

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World Journal of Gastrointestinal Oncology 2024年第4期16卷 1514-1531页

作者： Yong Pan Yi-Ru Zhang Ling-Yun Wang Li-Na Wu ying-Qiu Ma Zhou Fang shi-Bo Li Department of Infectious Disease Zhoushan HospitalWenzhou Medical UniversityZhoushan 316021Zhejiang ProvinceChina State Key Laboratory for the Diagnosis and Treatment of Infectious Diseases The First Affiliated Hospital of Zhejiang UniversityHangzhou 310003Zhejiang ProvinceChina Department of Infectious Disease The First Affiliated Hospital of Wenzhou Medical UniversityWenzhou 325035Zhejiang ProvinceChina

BACKGROUND Competitive endogenous RNA(ceRNA)is an innovative way of gene expression modulation,which plays a crucial part in ***,the intricacy and behavioral characteristics of the ceRNA network in hepatocellular carcinoma(HCC)remain *** To establish a cyclin dependent kinase inhibitor 2A(CDKN2A)-related ceRNA network and recognize potential prognostic indicators for *** The mutation landscape of CDKN2A in HCC was first explored using the cBioPortal *** expression analysis was implemented between CDKN2Ahigh and CDKN2Alow expression HCC *** targeted microRNAs were predicted by lncBasev3.0,and the targeted mRNAs were predicted by miRDB,and Targetscan *** univariate and multivariate analysis were utilized to identify independent prognostic *** CDKN2A was frequently mutated and deleted in *** single-cell RNA-sequencing analysis revealed that CDKN2A participated in cell cycle *** CDKN2A-related ceRNA network-growth arrest specific 5(GAS5)/miR-25-3p/SRY-box transcription factor 11(SOX11)was successfully ***5 was recognized as an independent prognostic biomarker,whose overexpression was correlated with a poor prognosis in HCC *** association between GAS5 expression and methylation,immune infilt-ration was ***,traditional Chinese medicine effective components targeting GAS5 were *** This CDKN2A-related ceRNA network provides innovative insights into the molecular mechanism of HCC formation and ***,GAS5 might be a significant prognostic biomarker and therapeutic target in HCC.

关键词： Hepatocellular carcinoma Competitive endogenous RNA Molecular mechanism Prognosis Biomarker

Characteristics of rural domestic sewage discharge and their driving mechanisms: evidence from the Northern Region, China

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Frontiers of Environmental Science & Engineering 2024年第7期18卷 47-58页

作者： Jianguo Liu Ziyu Zhou Pengyu Li Zixuan Wang ying Yan xuezheng Yu Wenkai Li Tianlong Zheng yingnan Cao Wenjun Wu Wenqian Cai Zhining shi Junxin Liu Key Laboratory of Environmental Pollution Control and Remediation at Universities of Inner Mongolia Autonomous Region College of Resources and Environmental EngineeringInner Mongolia University of TechnologyHohhot 010051China State Key Laboratory of Environmental Aquatic Chemistry Research Center for Eco-Environmental SciencesChinese Academy of SciencesBeijing 100085China University of Chinese Academy of Sciences Beijing 100049China SCEGC No.12 Construction Engineering Group Co. Ltd.Ankang 725000China State Environmental Protection Key Laboratory of Environmental Planning and Policy Simulation Chinese Academy of Environmental PlanningBeijing 100041China Technical Centre for Soil Agriculture and Rural Ecology and EnvironmentMinistry of Ecology and EnvironmentBeijing 100012China Sustainable Infrastructure and Resource Management(SIRM) UniSA STEMUniversity of South AustraliaSouth AustraliaMawson LakesSA 5095Australia

The traits of rural domestic sewage emission are unclear,negatively affecting rural domestic sewage treatment and sewage *** study used data from the Second National Pollution Source Census Bulletin to establish a data *** spatial distribution characteristics and main factors influencing rural sewage discharge in the Northern Region were studied using spatial autocorrelation analysis and structural *** findings demonstrated that(l)a significant Spearman correlation between drainage water volume(DwV),chemical oxygen demand(COD),ammonia nitrogen(NH_(3)-N),total nitrogen(TN),and total phosphorus(TP)and that the correlation coefficients between DWV and COD,NH,-N,TNand TP were 0.87**,1.0**,0.99**,0.99**,respectively;(2)rural sewage discharge showed spatial autocorrelation,and rural domestic sewage discharge in the districts and counties with an administration was significantly higher than in the surrounding areas;and(3)social development was the main driver rural domestic sewage changes(path coefficient was 0.407**),and the main factors influencing rural domestic sewage discharge were the urbanization rate,years of education,and population age *** study obtained the spatial variation law and clarified the main influencing factors of rural domestic sewage to provide data support and a theoretical basis for subsequent rural sewage collection and *** of the Inner Mongolia Autonomous Region in northern China as a typical case,provides a theoretical foundation for scientific decision-making on rural domestic sewage treatment at the national and regional levels and offers new perspectives for managing pollutants.

关键词： Rural domestic sewage Emission characteristics Spatial autocorrelation analysis Influencing factors

Research Progress in the Fabrication of Covalent Organic Framework Membranes for Chemical Separations

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Chinese Journal of Polymer Science 2024年第2期42卷 141-158,I0005页

作者： Cui-Ting Ding Jin-Qiu Yuan Meng-ying Xie Qing-Yuan Liu Zeng-Guang Yao shi-Yu Zhang Run-Nan Zhang Hong Wu Zhong-Yi Jiang Key Laboratory for Green Chemical Technology of Ministry of Education School of Chemical Engineering and TechnologyTianjin UniversityTianjin300072China Zhejiang Institute of Tianjin University NingboZhejiang315201China Haihe Laboratory of Sustainable Chemical Transformations Tianjin300192China Tianjin Key Laboratory of Membrane Science and Desalination Technology Tianjin UniversityTianjin300072China Joint School of National University of Singapore and Tianjin University International Campus of Tianjin UniversityBinhai New CityFuzhou350207China

Membrane technology has become one of the most promising separation technologies for its energy saving, high separation efficiency, environmental friendliness, and economic feasibility. Covalent organic frameworks(COFs) with intrinsically high porosity, controllable pore size, uniform pore size distribution and long-range ordered channel structure, have emerged as next-generation materials to fabricate advanced separation membranes. This feature article summarizes some latest studies in the development of pure COF membranes in our lab, including their fabrication and applications in chemical separations. Finally, current challenges facing high-performance COF separation membranes are discussed.

关键词： Covalent organic frameworks Covalent organic framework membranes Water treatment Organic solvent nanofiltration Gas separation