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Multi-UAVs Collaborative Path Planning in the Cramped Environment

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 529-538页

作者： Siyuan Feng Linzhi Zeng Jining Liu Yi Yang Wenjie Song School of Automation Beijing Institute of TechnologyNanjing 210039China Nanjing Research Institute of Electronics technology Nanjing 210039China Yichang Testing Technique Research Institute Yichang 443003China IEEE

Due to its flexibility and complementarity, the multiUAVs system is well adapted to complex and cramped workspaces, with great application potential in the search and rescue(SAR) and indoor goods delivery fields. However, safe and effective path planning of multiple unmanned aerial vehicles(UAVs)in the cramped environment is always challenging: conflicts with each other are frequent because of high-density flight paths, collision probability increases because of space constraints, and the search space increases significantly, including time scale, 3D scale and model scale. Thus, this paper proposes a hierarchical collaborative planning framework with a conflict avoidance module at the high level and a path generation module at the low level. The enhanced conflict-base search(ECBS) in our framework is improved to handle the conflicts in the global path planning and avoid the occurrence of local deadlock. And both the collision and kinematic models of UAVs are considered to improve path smoothness and flight safety. Moreover, we specifically designed and published the cramped environment test set containing various unique obstacles to evaluating our framework performance thoroughly. Experiments are carried out relying on Rviz, with multiple flight missions: random, opposite, and staggered, which showed that the proposed method can generate smooth cooperative paths without conflict for at least 60 UAVs in a few *** benchmark and source code are released in https://***/inin-xingtian/multi-UAVs-path-planner.

关键词： Collision avoidance conflict resolution multi-unmanned aerial vehicles(UAVs)system path planning

Exploration of instantaneous frequency for local control assessment in real-time hybrid simulation

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Earthquake Engineering and Engineering Vibration 2024年第4期23卷 995-1008页

作者： Xu Weijie Peng Changle Guo Tong Chen Cheng Key Laboratory of Concrete and Prestressed Concrete Structures of the Ministry of Education Southeast UniversityNanjing 211189China School of Engineering San Francisco State UniversitySan Francisco 94132-1722USA

Local control parameters such as instantaneous delay and instantaneous amplitude play an essential role in evaluating the performance and maintaining the stability of real-time hybrid simulation(RTHS).However,existing methods have limitations in obtaining this local assessment in either the time domain or frequency *** this study,the instantaneous frequency is introduced to determine local control parameters for actuator tracking assessment in a real-time hybrid *** properties,including amplitude,delay,frequency and phase,are then calculated based on analytic signals translated from actuator tracking signals through the Hilbert *** issues are discussed and solutions are proposed for calculation of local control *** simulations are first conducted for sinusoidal and chirp signals with time varying amplitude error and delay to demonstrate the potential of the proposed *** tests also are conducted for a predefined random signal as well as the RTHS of a single degree of freedom structure with a self-centering viscous damper to experimentally verify the effectiveness of the proposed use of the instantaneous *** from the ensuing analysis clearly demonstrate that the instantaneous frequency provides great potential for local control assessment,and the proposed method enables local tracking parameters with good accuracy.

关键词： real-time hybrid simulation tracking assessment instantaneous frequency Hilbert transform

Multifunctional electroactive bio-adhesive for robustly-integrated wound therapy and postoperative wound-status warning and assessment

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Nano Research 2024年第5期17卷 4359-4370页

作者： Ouyang Yue Xuechuan Wang Mengdi Hou Siwei Sun Manhui Zheng Xiaoliang Zou Zhongxue Bai Chunlin Liu Xinhua Liu College of Bioresources Chemical and Materials Engineering Shaanxi University of Science&TechnologyXi’an 710021China College of Pharmacy Shaanxi University of Chinese MedicineXi’an 710021China Institute of Basic and Translational Medicine Xi’an Medical UniversityXi’an 710021China School of Mechanical Engineering Chengdu UniversityChengdu 610000China

Wound abnormalities such as secondary wound laceration and inflammation are common postoperative health hazards during clinical *** continuous treatment,healing induction,and real-time visualization of wound status and complications,including wound re-tearing,inflammation,and morphology,are key focal points for comprehensive ***,an on-demand quadruple energy dissipative strategy was proposed for the nanoengineering of a physically and chemically synergistic double-layer gelatin-based bio-adhesive(DLGel)by combining a multi-network adhesive layer and a versatile electroactive energy dissipative layer based on contrivable interlocking micro-pillar arrays and crosslinked polymer *** subtly multiple energy dissipation designs enable DLGel with robust adhesive strength to omnipotently wet and dynamic tissue,providing a basis for reliable wound *** achieves comprehensive wound-healing induction through electrical stimulation and possesses reversible underwater light/thermal adhesion,excellent hemostatic performance,outstanding antimicrobial properties,and self-repair ***,a novel deep-learning strategy is creatively established to respond to mechanical deformation due to wound *** strategy translates biological information into visual graphics,providing real-time early warning and assessment of postoperative wound-abnormality/-morphology,such as laceration,inflammation,and ***,DLGel and its associated signal collection and processing protocol enable the integration of reliable wound closure,wound healing,and real-time postoperative wound-status warning and assessment within the unobservable and undetectable“black box”regions in a context of non-clinical comprehensive therapy.

关键词： electroactive bio-adhesive quadruple energy dissipation comprehensive wound therapy postoperative wound-status warning and assessment

Retaining the self-released chalcogenate at reconstructed cobalt sites by self-transformed carbonate regulation for boosted oxygen evolution

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Journal of Energy Chemistry 2024年第10期97卷 46-54,I0002页

作者： Jingxuan Zhao Zhe Xue Qing Wang Xiangyang Li Shoujie Liu Xu Zhao School of Chemical Engineering and technology Xi'an Jiaotong UniversityXi'an 710049ShaanxiChina Key Laboratoryof Materials Physics Instituteof Solid State PhysicsHefei Institutes of Physical Science(HFIPS)Chinese Academy of SciencesHefei 23031 Anhui China School of Materials science and Engineering Anhui UniversityHefei 230601AnhuiChina

The in-situ generated oxyanions at electrochemically reconstructed catalysts from metal-based nonoxide compounds have been proven to significantly accelerate oxygen evolution reaction(OER)***,it remains a challenge to retain these self-released oxyanions at reconstructed catalysts,hindering its utilization as a tool to develop efficient OER ***,we demonstrate a versatile selftransformed carbonate regulation strategy to efficiently retain the self-released chalcogenate at Co oxyhydroxides reconstructed from carbon-incorporated Co selenides under OER *** selftransformed CO_(3)^(2-)can induce electron accumulation and narrow d bond at Co sites to facilitate the Co3d-O 2p orbital hybridization between Co sites and SeO_(x)^(2-)for enhanced SeO_(x)^(2-)retention,which can accelerate the rate-limiting step for^(*)OOH formation during *** to CoOOH-SeO_(x)^(2-)with limited SeO_(x)^(2-)residues,CoOOH-CO_(3)^(2-)/SeO_(x)^(2-)with elevated SeO_(x)^(2-)retention by CO_(3)^(2-)regulation exhibited a 5.6-fold increase in current density and a remarkable lower Tafel slope towards *** strategy paves a rational avenue to design efficient catalysts for electrooxidation reactions through finely regulating self-released oxyanions at reconstructed structures.

关键词： Electrochemical reconstruction Chalcogenate retention Carbonate regulation Orbital hybridization Oxygen evolution reaction

Aldehyde oxidase mediated enantioselective metabolic health risk of dinotefuran

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science china Chemistry 2024年第6期67卷 2079-2091页

作者： Liwei Xu Xinxin Xu Hua Kuang Chuanlai Xu Xiaoling Wu State Key Laboratory of Food science and Resources Jiangnan UniversityWuxi214122China International Joint Research Laboratory for Biointerface and Biodetection and School of Food science and technology Jiangnan UniversityWuxi214122China Collaborative Innovation center of Food Safety and Quality Control in Jiangsu Province Jiangnan UniversityWuxi214122China

Chiral pollutants often pose significant differential environmental health *** this study,the biotransformation of chiral dinotefuran(DIN)and its enantioselective metabolic toxicity mechanisms have been systemically ***,reversedphase chromatography-high resolution mass spectrometry was developed to quantify the content of DIN R/S chiral enantiomer with pg level sensitivity,revealing a lower elimination rate constant(K_(e))of S-DIN(0.730 h^(-1))than R-DIN(0.746 h^(-1)).Secondly,the interaction mechanism between DIN metabolism and important endogenous bioactive molecules,such as aldehyde oxidase(AOX)and neurotransmitters,was *** DIN nitro-group was converted into a guanidine group by the reducing site of nearby flavin adenine dinucleotide(FAD)in AOX with the preferred higher affinity of ***,the endogenous tryptophan(Trp)aldehyde metabolic intermediate,5-hydroxyindoleacetaldehyde(5-HIAL),provides a persistent electron donor for DIN reduction via the oxidation-catalyzed site in AOX,resulting in remarkable up-regulation of monoamine neurotransmitters such as serotonin and ***,the higher level of neurotransmitters further mediated dysregulation of oxylipin homeostasis via the serotonergic pathway,where S-DIN exhibited more pronounced liver lipid damage and environmental health risk with the accumulated lipid biomarkers,oxidized triglyceride(OxTG)and oxidized sphingomyelin(OxSM).This study elucidates the AOX-mediated enantioselectivity metabolic pathway of DIN,providing a new analytical method for chiral pollutants and paves the way for their health risk assessments.

关键词： neonicotinoid dinotefuran enantiomer aldehyde oxidase metabolomics health risk

Magnesium-L-threonate treats Alzheimer's disease by modulating the microbiota-gut-brain axis

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Neural Regeneration Research 2024年第10期19卷 2281-2289页

作者： Wang Liao Jiana Wei Chongxu Liu Haoyu Luo Yuting Ruan Yingren Mai Qun Yu Zhiyu Cao Jiaxin Xu Dong Zheng Zonghai Sheng Xianju Zhou Jun Liu Department of Neurology The Second Affiliated Hospital of Guangzhou Medical UniversityGuangzhouGuangdong ProvinceChina Special Medical Service Center Neuroscience CenterIntegrated Hospital of Traditional Chinese MedicineSouthern Medical UniversityGuangdongGuangdong ProvinceChina Department of Rehabilitation The Second Affiliated HospitalGuangzhou Medical UniversityGuangzhouGuangdong ProvinceChina Department of Neurology Sun Yat-sen Memorial HospitalSun Yat-sen UniversityGuangzhouGuangdong ProvinceChina Department of Neurology The Affiliated Brain Hospital of Guangzhou Medical UniversityGuangzhouGuangdong ProvinceChina Institute of Biomedical and Health Engineering Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenGuangdong ProvinceChina

Disturbances in the microbiota-gut-brain axis may contribute to the development of Alzheimer's disease. Magnesium-L-threonate has recently been found to have protective effects on learning and memory in aged and Alzheimer's disease model mice. However, the effects of magnesium-L-threonate on the gut microbiota in Alzheimer's disease remain unknown. Previously, we reported that magnesium-L-threonate treatment improved cognition and reduced oxidative stress and inflammation in a double-transgenic line of Alzheimer's disease model mice expressing the amyloid-β precursor protein and mutant human presenilin 1(APP/PS1). Here, we performed 16S r RNA amplicon sequencing and liquid chromatography-mass spectrometry to analyze changes in the microbiome and serum metabolome following magnesium-Lthreonate exposure in a similar mouse model. Magnesium-L-threonate modulated the abundance of three genera in the gut microbiota, decreasing Allobaculum and increasing Bifidobacterium and Turicibacter. We also found that differential metabolites in the magnesiumL-threonate-regulated serum were enriched in various pathways associated with neurodegenerative diseases. The western blotting detection on intestinal tight junction proteins(zona occludens 1, occludin, and claudin-5) showed that magnesium-L-threonate repaired the intestinal barrier dysfunction of APP/PS1 mice. These findings suggest that magnesium-L-threonate may reduce the clinical manifestations of Alzheimer's disease through the microbiota-gut-brain axis in model mice, providing an experimental basis for the clinical treatment of Alzheimer's disease.

关键词： Alzheimer's disease APP/PS1 double-transgenic Alzheimer's disease mouse model inflammation intestinal barrier dysfunction magnesium-L-threonate microbiome microbiota-gut-brain axis oxidative stress serum metabolites

BioTreasury:a community-based repository enabling indexing and rating of bioinformatics tools

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science china(Life sciences) 2024年第2期67卷 221-229页

作者： Qi Zhao Xin Zhou Jingxing Wu Jieyi Cai Xiaoqiong Bao Lin Tang Chaoye Wang Chunlei Liu Yukai Wang Yuyan Teng Mohan Zheng Weiping Mu Zhixiang Zuo Yubin Xie Xiaotong Luo Jian Ren School of Life sciences State Key Laboratory of Oncology in South ChinaCancer CenterGuangdong Provincial Clinical Research Center for CancerSun Yat-sen UniversityGuangzhou 510060China Institute of Precision Medicine The First Affiliated HospitalSun Yat-sen UniversityGuangzhou 510080China Guangdong Institute of Gastroenterology Department of General SurgeryGuangdong Provincial Key Laboratory of Colorectal and Pelvic Floor DiseasesThe Sixth Affiliated HospitalSun Yat-sen UniversityGuangzhou 510275China

The exponential growth of bioinformatics tools in recent years has posed challenges for scientists in selecting the most suitable one for their data analysis ***,to aid scientists in making informed choices,a community-based platform that indexes and rates bioinformatics tools is urgently *** this study,we introduce Bio Treasury(http://***),an integrated communitybased repository that provides an interactive platform for users and developers to share their experiences in various bioinformatics *** Treasury offers a comprehensive collection of well-indexed bioinformatics software,tools,and databases,totaling over 10,000 *** the past two years,we have continuously improved and maintained Bio Treasury,adding several exciting features,including creating structured homepages for every tool and user,a hierarchical category of bioinformatics tools and classifying tools using large language model(LLM).Bio Treasury streamlines the tool submission process with intelligent ***,Bio Treasury provides a wide range of social features,for example,enabling users to participate in interactive discussions,rate tools,build and share tool collections for the *** believe Bio Treasury can be a valuable resource and knowledge-sharing platform for the biomedical *** empowers researchers to effectively discover and evaluate bioinformatics tools,fostering collaboration and advancing bioinformatics research.

关键词： bioinformatics tools index tool database rating system large language model tool collections shari

Rhizoma Drynariae-derived nanovesicles reverse osteoporosis by potentiating osteogenic differentiation of human bone marrow mesenchymal stem cells via targeting ERα signaling

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Acta Pharmaceutica Sinica B 2024年第5期14卷 2210-2227页

作者： Qing Zhao Junjie Feng Fubin Liu Qianxin Liang Manlin Xie Jiaming Dong Yanfang Zou Jiali Ye Guilong Liu Yue Cao Zhaodi Guo Hongzhi Qiao Lei Zheng Kewei Zhao Guangzhou Key Laboratory of Chinese Medicine Research on Prevention and Treatment of Osteoporosis the Third Affiliated Hospital of Guangzhou University of Chinese MedicineGuangzhou 510378China Guangdong Engineering Research Center of Chinese Herbal-derived Vesicles Guangzhou University of Chinese MedicineGuangzhou 510006China Department of Laboratory Medicine Nanfang HospitalSouthern Medical UniversityGuangzhou 510515China Guangdong Engineering and technology Research Center for Rapid Diagnostic Biosensors Nanfang HospitalSouthern Medical UniversityGuangzhou 510515China The Fifth Affiliated Hospital Sun Yat-sen University Zhuhai 519000China Department of Blood Transfusion Guangdong Heyou International HospitalFoshan 528306China School of Pharmacy Nanjing University of Chinese MedicineNanjing 210023China

Although various anti-osteoporosis drugs are available,the limitations of these therapies,including drug resistance and collateral responses,require the development of novel anti-osteoporosis *** Drynariae displays a promising anti-osteoporosis effect,while the effective component and mechanism remain ***,we revealed the therapeutic potential of Rhizoma Drynariae-derived nanovesicles(RDNVs)for postmenopausal osteoporosis and demonstrated that RDNVs potentiated osteogenic differentiation of human bone marrow mesenchymal stem cells(hBMSCs)by targeting estrogen receptor-alpha(ERα).RDNVs,a natural product isolated from fresh Rhizoma Drynariae root juice by differential ultracentrifugation,exhibited potent bone tissue-targeting activity and anti-osteoporosis efficacy in an ovariectomized mouse ***,effectively internalized by hBMSCs,enhanced proliferation and ERαexpression levels of hBMSC,and promoted osteogenic differentiation and bone ***,via the ERαsignaling pathway,RDNVs facilitated mRNA and protein expression of bone morphogenetic protein 2 and runt-related transcription factor 2 in hBMSCs,which are involved in regulating osteogenic *** analysis revealed that naringin,existing in RDNVs,was the active component targeting ERαin the osteogenic *** together,our study identified that naringin in RDNVs displays exciting bone tissue-targeting activity to reverse osteoporosis by promoting hBMSCs proliferation and osteogenic differentiation through estrogen-like effects.

关键词： Rhizoma Drynariae-derived nanovesicles Bone marrow mesenchymal stem cells Bone targeting Osteogenic differentiation ERαsignaling Naringin Bone morphogenetic protein 2 Runt-related transcription factor 2

Machine learning enabling prediction in mechanical performance of Ti6Al4V fabricated by large-scale laser powder bed fusion via a stacking model

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Frontiers of Mechanical Engineering 2024年第4期19卷 29-43页

作者： Changjun HAN Fubao YAN Daolin YUAN Kai LI Yongqiang YANG Jiong ZHANG Di WANG School of Mechanical and Automotive Engineering South China University of TechnologyGuangzhou 510641China Department of Mechanical Engineering College of EngineeringCity University of Hong KongHong Kong 999077China

Determining appropriate process parameters in large-scale laser powder bed fusion(LPBF)additive manufacturing pose formidable challenges that necessitate advanced approaches to minimize trial-and-error during *** work proposed a data-driven approach based on stacking ensemble learning to predict the mechanical properties of Ti6Al4V alloy fabricated by large-scale LPBF for the first *** method can adapt to the complexity of large-scale LPBF data distribution and exhibits a more generalized predictive capability compared to base ***,the stacking model utilized artificial neural network(ANN),gradient boosting regressor,kernel ridge regression,and elastic net as base models,with the Lasso model serving as the *** optimization and cross-validation were utilized for model optimization and training based on a limited data set,resulting in higher predictive accuracy compared to traditional artificial neural network *** statistical analysis of the ANN and stacking models indicates that the stacking model exhibits superior performance on the test set,with a coefficient of determination value of 0.944,mean absolute percentage error of 2.51%,and root mean squared error of 27.64,surpassing that of the ANN *** statistical metrics demonstrate superiority over those obtained from the ANN *** results confirm that by integrating the base models,the stacking model exhibits superior predictive stability compared to individual base models alone,thereby providing a reliable assessment approach for predicting the mechanical properties of metal parts fabricated by the LPBF process.

关键词： machine learning laser powder bed fusion ensemble learning stacking algorithm additive manufacturing