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异构无人系统协同控制研究进展

工程科学学报 2025年第1期47卷 66-78页

作者：郭兴李擎姚其家鲁小雅北京科技大学自动化学院北京100083 工业过程知识自动化教育部重点实验室北京100083

面对复杂化、多样化和立体化的任务需求,异构无人系统将空、地、海跨域优势互补,最大化提升系统各方面能力,为未来协同作战和智慧民生提供有力的技术保障.首先,梳理了国内外在跨域协同领域出台的推动性文件,介绍了异构无人系统在军用、... 详细信息

面对复杂化、多样化和立体化的任务需求,异构无人系统将空、地、海跨域优势互补,最大化提升系统各方面能力,为未来协同作战和智慧民生提供有力的技术保障.首先,梳理了国内外在跨域协同领域出台的推动性文件,介绍了异构无人系统在军用、科研院所和民用等三方面的实际应用.其次,针对异构无人系统关键技术之一的协同控制,分别阐述了异构无人系统协同控制在一致性、轨迹跟踪和编队‒合围等三方面的最新进展.此外,还特别讨论了在不同通信条件下协同控制所面临的挑战和解决方案.其中,由于一致性和轨迹跟踪存在上层控制理论性和下层控制可行性的区别,进一步从滑模控制、自适应控制、反步控制和自适应动态规划等四方面对轨迹跟踪研究展开阐述.然后,为了更好地促进异构无人系统协同控制在实际中的应用,通过总结前人相关工作,讨论了其在多约束控制与实时性、多任务切换控制和跨域通信下稳定性等三方面亟需解决的技术瓶颈.最后,综合异构无人系统协同控制研究现状和实际需求来看,指出了其在深度强化学习与分布式博弈、人机交互以及反群体智能等三方面的发展趋势.

关键词：异构无人系统协同控制跨域协同任务需求技术瓶颈

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WAVEFORM RELAXATION METHODS OF NONLINEAR INTEGRAL-DIFFERENTIAL-ALGEBRAIC EQUATIONS

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Journal of Computational Mathematics 2005年第1期23卷 49-66页

作者： yao-linJiang DepartmentofMathematicalSciences Xi'anJiaotongUniversityXi'an710049China

In this paper we consider continuous-time and discrete-time waveform relaxation meth-ods for general nonlinear integral-differential-algebraic equations. For the continuous-time case we derive the convergence condition of the iterative methods by invoking the spec-tral theory on the resulting iterative operators. By use of the implicit difference forms,namely the backward-differentiation formulae, we also yield the convergence condition of the discrete waveforms. Numerical experiments are provided to illustrate the theoretical work reported here.

关键词： nonlinear integral-differential-algebraic equations waveform relaxation parallel solutions convergence of iterative methods engineering applications

Kerosene-fueled supersonic combustion modeling based on skeletal mechanisms

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Acta Mechanica Sinica 2019年第6期35卷 1155-1177页

作者： Wei yao Key Laboratory of High-Temperature Gas Dynamics Institute of MechanicsChinese Academy of ScienceBeijing 100190China School of Engineering Science University of Chinese Academy of ScienceBeijing 100049China

A brief review of the recent advances in kerosene-fueled supersonic combustion modeling is present by comparing the fuels,reviewing the kinetic mechanisms,and introducing recent modeling *** advantages and disadvantages of hydrogen and kerosene for the scramjet combustor are compared to show that kerosene is a more viable fuel option for a Mach number range of ***,detailed kinetic mechanisms for kerosene,which usually contain thousands of elementary reactions,must be significantly reduced for use in *** of this writing,the smallest skeletal kerosene mechanism has only 19 species and 53 reversible *** contrast to pioneer models based on global chemistry,the current kerosene-fueled supersonic combustion models based on reduced/skeletal chemistry are classified as *** influence of kinetic mechanisms,global equivalence ratios,inlet Mach number,geometric shape,and domain symmetry are reviewed based on high-fidelity models and available *** the advances in computational technology,models with accurate descriptions of both flow and chemistry are becoming a promising,indispensable approach for the study of supersonic combustion.

关键词： Kerosene Supersonic combustion Large eddy simulation Skeletal mechanism Scramjet

Chiral ligand-protected gold nanoclusters: Considering the optical activity from a viewpoint of ligand dissymmetric field

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Progress in Natural Science:Materials International 2016年第5期26卷 428-439页

作者： Hiroshi yao Graduate School of Material Science University of Hyogo

Chirality is a geometric property of a physical, chemical, or biological object, which is not superimposable on its mirror image. Its significant presence has led to a strong demand in the development of chiral drugs, sensors,catalysts, and photofunctional materials. In recent years, chirality of nanoscale organic/inorganic hybrids has received tremendous attention owing to potential applications in chiral nanotechnology. In particular, with the recent progress in the syntheses and characterizations of atomically precise gold nanoclusters protected by achiral thiolates, atomic level origins of their chirality have been unveiled. On the other hand, chirality or optical activity in metal nanoclusters can also be introduced via the surface chiral ligands, which should be universal for the nanosystems. This tutorial review presents some optically-active metal(gold) nanoclusters protected by chiral thiolates or phosphines, and their chiroptical(or circular dichroism; CD) properties are discussed mostly from a viewpoint of the ligand dissymmetric field scheme. The examples are the gold nanoclusters protected by(R)-/(S)-2-phenylpropane-1-thiol,(R)-/(S)-mercaptosuccinic acid, phenylboronateD/L-fructose complexes, phosphine sulfonate-ephedrinium ion pairs, or glutathione. Some methodologies for versatile asymmetric transformation and chiroptical controls of the nanocluster compounds are also *** the dissymmetric field model as the origin of optical activity, the chiroptical responses of the gold nanoclusters are strongly associated with coupled oscillator and/or CD stealing mechanisms based on the concept of induced CD(ICD) derived from a perturbation theory, so on this basis, some characteristic features of the observed CD responses of chiral ligand-protected gold nanoclusters are presented in detail. We believe that various kinds of origins of chirality found in ligand-protected gold nanoclusters may provide models for understanding those of many related nanomater

关键词： Chiral ligand Monolayer-protected gold nanoclusters Dissymmetric field model Induced CD Asymmetric transformation Alloying effect

Do European Blocking Events Precede North Atlantic Oscillation Events?

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Advances in Atmospheric Sciences 2015年第8期32卷 1106-1118页

作者： yao yao LUO Dehai Key Laboratory of Regional Climate-Environment for Temperate East Asia Institute of Atmospheric Physics Chinese Academy of Science

Using a two-dimensional blocking index, the cause and effect relationship between European blocking （EB） events and North Atlantic Oscillation （NAO） events is investigated. It is shown that the EB event frequency is enhanced over Northern （Southern） Europe for negative （positive） phases of the NAO. Enhanced EB events over Northern Europe precede the establishment of negative phase NAO （NAO-） events, while the enhanced frequency of EB events over Southern Europe lags positive phase NAO （NAO＋） events. The physical explanation for why enhanced EB events over Northern （Southern） Europe lead （lag） NAO （NAO＋） events is also provided. It is found that the lead-lag relationship between EB events in different regions and the phase of NAO events can be explained in terms of the different latitudinal distribution of zonal wind associated with the different phases of NAO events. For NAO＋ events, the self-maintained eastward displacement of intensified midlatitude positive height anomalies owing to the intensified zonal wind can enhance the frequency of EB events over Southern Europe, thus supporting a standpoint that EB events over Southern Europe lag NAO＋ events. Over Northern Europe, EB events lead NAO- events because NAO- events arise from the self-maintained westward migration of intensified blocking anticyclones due to the weakened zonal wind in higher latitudes.

关键词： European blocking North Atlantic Oscillation mutual relationship

Skeletal muscle-specific Bambi deletion induces hypertrophy and oxidative switching coupling with adipocyte thermogenesis against metabolic disorders

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Science China Life Sciences 2025年

作者： Xiangping yao Xudong Mai Ye Tian Yifan Liu Guanghui Jin Ze Li Shujie Chen Xiaoshuang Dai Liujing Huang Zijing Fan Guihua Pan Xiaohan Pan Xiangmin Li Michael C Yu Jia Sun Jingxing Ou Hong Chen Liwei Xie College of Life and Health Sciences Guangdong Industry Polytechnic Department of Endocrinology and Metabolism Zhujiang Hospital Southern Medical University State Key Laboratory of Applied Microbiology Southern China Guangdong Provincial Key Laboratory of Microbial Culture Collection and Application Guangdong Open Laboratory of Applied MicrobiologyInstitute of Microbiology Guangdong Academy of Sciences Institute of Aging Research Guangdong Provincial Key Laboratory of Medical Molecular Diagnostics School of Medical Technology Guangdong Medical University Department of Hepatic Surgery and Liver transplantation Center of the Third Affiliated Hospital Organ Transplantation Institute Sun Yat-sen University Organ Transplantation Research Center of Guangdong ProvinceGuangdong province engineering laboratory for transplantation medicine Guangdong Provincial Key Laboratory of Liver Disease Research School of Public Health Xinxiang Medical University BGI Institute of Applied Agriculture BGI-Shenzhen Department of Applied Biology and Chemical Technology The Hong Kong Polytechnic University Department of Biological Sciences State University of New York at Buffalo Department of Internal Medicine Shunde Women and Children's Hospital (Maternity and Child Healthcare Hospital of Shunde Foshan) Guangdong Medical University

Skeletal muscle plays a significant role in both local and systemic energy metabolism. The current investigation aims to explore the role of the Bambi gene in skeletal muscle, focusing on its implications for muscle hypertrophy and systemic metabolism. We hypothesize that skeletal muscle-specific deletion of Bambi induces muscle hypertrophy, improves metabolic performance, and activates thermogenic adipocytes via the reprogramming of progenitor of i WAT, offering potential therapeutic strategies for metabolic syndromes. Leveraging the Chromatin immunoprecipitation(ChIP)-seq and bioinformatics analysis, Bambi gene is shown to be a direct target of HIF2α, which is further confirmed by ChIP-qPCR and promoter luciferase assay. Skeletal muscle-specific Bambi deletion led to significant muscle hypertrophy and improved metabolic parameters, even under high-fat diet conditions. This deletion induced metabolic reprogramming of stromal vascular fractions(SVFs) into thermogenic adipocytes, contributing to systemic metabolic improvements, potentially through the secretory ***, mice with skeletal muscle-specific Bambi deletion demonstrate resistance to high-fat diet-induced metabolic disorders, highlighting a potential therapeutic pathway for metabolic syndrome management. Thus, skeletal muscle-specific deletion of Bambi triggers muscle growth, enhances metabolic performance, and activates thermogenic adipocytes. These findings suggest Bambi as a novel therapeutic target for metabolic syndromes, providing new insights into the interaction between muscle hypertrophy and systemic metabolic improvement. The study underscores the potential of manipulating muscle physiology to regulate whole-body metabolism, offering a novel perspective on treating metabolic disorders.

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叶榭塘节制闸过闸流量计算参数优化研究

水利建设与管理 2025年第1期45卷 15-26页

作者：尧小婷上海市堤防泵闸建设运行中心上海200080

选取叶榭塘水闸2022年7—8月的实测数据,根据闸门开度及闸前水头的变化,其出流状态可分为淹没孔流和淹没堰流。利用传统水力学法、量纲分析法对过闸流量进行计算,通过修正流量系数,得出叶榭塘水闸最佳的过闸流量计算方法及公式。研究分... 详细信息

选取叶榭塘水闸2022年7—8月的实测数据,根据闸门开度及闸前水头的变化,其出流状态可分为淹没孔流和淹没堰流。利用传统水力学法、量纲分析法对过闸流量进行计算,通过修正流量系数,得出叶榭塘水闸最佳的过闸流量计算方法及公式。研究分析建议堰流状态(当e/H>0.65)的过闸流量采用修正系数后的传统水力学公式,而孔流状态(当e/H≤0.65)采用量纲分析法,所推求的公式也可用于推求过闸总水量。

关键词：叶榭塘水闸过闸流量量纲分析法参数优化

An Asymmetric Spatiotemporal Connection between the Euro-Atlantic Blocking within the NAO Life Cycle and European Climates

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Advances in Atmospheric Sciences 2018年第7期35卷 796-812页

作者： yao yao Dehai LUO Key Laboratory of Regional Climate-Environment for Temperate East Asia Institute of Atmospheric PhysicsChinese Academy of Sciences

This paper examines an asymmetric spatiotemporal connection and climatic impact between the winter atmospheric blocking activity in the Euro-Atlantic sector and the life cycle of the North Atlantic Oscillation（NAO） during the period 1950–2012. Results show that, for positive NAO（NAO＋） events, the instantaneous blocking（IB） frequency exhibits an enhancement along the southwest–northeast（SW–NE） direction from the eastern Atlantic to northeastern Europe（SW–NE pattern, hereafter）, which is particularly evident during the NAO＋decaying stage. By contrast, for negative NAO（NAO-）events, the IB frequency exhibits a spatially asymmetric southeast–northwest（SE–NW） distribution from central Europe to the North Atlantic and Greenland（SE–NW pattern, hereafter）. Moreover, for NAO-（NAO＋） events, the most marked decrease（increase） in the surface air temperature（SAT） in winter over northern Europe is in the decaying stage. For NAO＋events, the dominant positive temperature and precipitation anomalies exhibit the SW–NE-oriented distribution from western to northeastern Europe, which is parallel to the NAO＋-related blocking frequency distribution. For NAO-events, the dominant negative temperature anomaly is in northern and central Europe, whereas the dominant positive precipitation anomaly is distributed over southern Europe along the SW–NE direction. In addition, the downward infrared radiation controlled by the NAO＇s circulation plays a crucial role in the SAT anomaly distribution. It is further shown that the NAO＇s phase can act as an asymmetric impact on the European climate through producing this asymmetric spatiotemporal connection with the Euro-Atlantic IB frequency.

关键词： North Atlantic Oscillation blocking temperature precipitation asymmetry

On the Blocking Flow Patterns in the Euro–Atlantic Sector:A Simple Model Study

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Advances in Atmospheric Sciences 2014年第5期31卷 1181-1196页

作者： LUO Dehai yao yao Physical Oceanography Laboratory College of Physical and Environmental OceanographyOcean University of China Key Laboratory of Regional Climate-Environment for East Asia Chinese Academy of Science

The flow patterns of Euro-Atlantic blocking events in winter are investigated by dividing the sector into three sub- regions： 60°-30°W （Greenland region）; 20°W-30°E [eastern Atlantic-Europe （EAE） region]; and 50°-90°E （Ural region）. It is shown that blocking events in winter are extremely frequent in the three sub-regions. Composite 500-mb geopotential height fields for intense and long-lived blocking events demonstrate that the blocking fields over Greenland and Ural regions exhibit southwest-northeast （SW-NE） and southeast-northwest （SE-NW） oriented dipole-type patterns, respectively, while the composite field over the EAE region exhibits an Ω-type pattern. The type of composite blocking pattern seems to be related to the position of the blocking region relative to the positive center of the climatological stationary wave （CSW） anomaly existing near 10°W. The physical cause of why there are different composite blocking types in the three sub-regions is identified using a nonlinear multiscale interaction model. It is found that when the blocking event is in almost the same position as the positive CSW anomaly, the planetary-scale field can exhibit an Ω-type pattern due to the enhanced positive CSW anomaly. Neverthe- less, a SW-NE （SE-NW） oriented dipole-type block can occur due to the reduced positive CSW anomaly as it is farther in the west （east） of the positive CSW anomaly. The total fields of blocking in the three regions may exhibit a meandering flow comprised of several isolated anticyclonic and cyclonic vortices, which resembles the Berggren-Bolin-Rossby meandering jet type.

关键词： blocking flow pattern synoptic eddies nonlinear multiscale interaction climatological stationary wave anomaly