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Robust cooperative multi-agent reinforcement learning via multi-view message certification

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Science China(Information Sciences) 2024年第4期67卷 131-145页

作者： Lei YUAN Tao JIANG Lihe LI Feng CHEN Zongzhang ZHANG Yang YU national Key Laboratory for Novel Software Technology Nanjing University Polixir Technologies

Many multi-agent scenarios require message sharing among agents to promote coordination,hastening the robustness of multi-agent communication when policies are deployed in a message perturbation environment. Major relevant studies tackle this issue under specific assumptions, like a limited number of message channels would sustain perturbations, limiting the efficiency in complex scenarios. In this paper,we take a further step in addressing this issue by learning a robust cooperative multi-agent reinforcement learning via multi-view message certification, dubbed CroMAC. Agents trained under CroMAC can obtain guaranteed lower bounds on state-action values to identify and choose the optimal action under a worst-case deviation when the received messages are perturbed. Concretely, we first model multi-agent communication as a multi-view problem, where every message stands for a view of the state. Then we extract a certificated joint message representation by a multi-view variational autoencoder(MVAE) that uses a product-of-experts inference network. For the optimization phase, we do perturbations in the latent space of the state for a certificate guarantee. Then the learned joint message representation is used to approximate the certificated state representation during training. Extensive experiments in several cooperative multi-agent benchmarks validate the effectiveness of the proposed CroMAC.

关键词： multi-agent reinforcement learning robust communication adversarial training multi-view learning message certification

Operational requirements analysis method based on question answering of WEKG

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Journal of Systems Engineering and Electronics 2024年第2期35卷 386-395页

作者： ZHANG Zhiwei DOU Yajie XU Xiangqian MA Yufeng JIANG Jiang TAN Yuejin College of Systems Engineering National University of Defense TechnologyChangsha 410073China

The weapon and equipment operational requirement analysis(WEORA) is a necessary condition to win a future war,among which the acquisition of knowledge about weapons and equipment is a great challenge. The main challenge is that the existing weapons and equipment data fails to carry out structured knowledge representation, and knowledge navigation based on natural language cannot efficiently support the WEORA. To solve above problem, this research proposes a method based on question answering(QA) of weapons and equipment knowledge graph(WEKG) to construct and navigate the knowledge related to weapons and equipment in the WEORA. This method firstly constructs the WEKG, and builds a neutral network-based QA system over the WEKG by means of semantic parsing for knowledge navigation. Finally, the method is evaluated and a chatbot on the QA system is developed for the WEORA. Our proposed method has good performance in the accuracy and efficiency of searching target knowledge, and can well assist the WEORA.

关键词： operational requirement analysis weapons and equipment knowledge graph(WEKG) question answering(QA) neutral network

CFD-based hull optimization in calm water using adaptive grid deformation method

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Journal of Hydrodynamics 2024年第2期36卷 241-262页

作者： Shuguang Wang Yonghwan Kim Department of Naval Architecture and Ocean Engineering Seoul National UniversitySeoulKorea

This paper presents an adaptive grid deformation technique for optimizing ship hull forms using computational fluid dynamics(CFD).The proposed method enables accurate and smooth updates of the hull surface and 3-D CFD grids in response to design *** technique incorporates a two-level point-transformation approach to move the grid points by a few design ***,generic B-splines are utilized to transform grid points according to the displacements of the control points within a defined control *** ensures surface modification accuracy and smoothness,similar to those provided by non-uniform rational ***,radial basis functions are used to interpolate the movements of the control points with a limited set of design *** developed method effectively maintains the mesh quality and simulation *** applying this method to surface and grid adaptation,a regression model is proposed in the form of a second-order polynomial to represent the relationship between the geometric parameters and design *** polynomial is then used to introduce geometric ***,a radial basis function surrogate model for the calm-water resistance is constructed to approximate the objective *** enhanced optimization framework is proposed for CFD–based hull optimization and applied to KVLCC2 to validate its feasibility and efficiency.

关键词： Hull-form optimization adaptive grid deformation ship resistance OpenFOAM radial basis function(RBF)surrogate model

Influence of contact curvature on frictional energy dissipation under varying tangential loads

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Friction 2024年第2期12卷 363-374页

作者： Sumin BAEK Seunghun BAEK School of Mechanical Engineering Pusan National UniversityPusan 46241Republic of Korea

This study investigates the effect of contact surface curvatures on the friction response under varying tangential loadings using a finite element(FE)*** results showed that the geometry of the surface influences the contact force at the interface and reduces the friction effect through an unsteady distribution of the contact *** relationship between the friction effect,excitation,and contact surface shape was also examined,revealing a linear inverse relationship between the friction and *** findings provide a comprehensive understanding of the frictional interactions between elastic bodies and highlight the role of curvature as a design parameter for regulating the friction effect.

关键词： frictional contact curvelinear contact frictional energy dissipation contact curvature

Bio-inspired Design and Inverse Kinematics Solution of an Omnidirectional Humanoid Robotic Arm with Geometric and Load Capacity Constraints

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Journal of Bionic Engineering 2024年第2期21卷 778-802页

作者： Zhichao Zhu Zirong Luo Yiming Zhu Tao Jiang Minghai Xia Shanjun Chen Boyu Jin College of Intelligence Science and Technology National University of Defense TechnologyChangshaChina

Inspired by the driving muscles of the human arm,a 4-Degree of Freedom(DOF)concentrated driving humanoid robotic arm is proposed based on a spatial double parallel four-bar *** four-bar mechanism design reduces the inertia of the elbow-driving unit and the torque by 76.65%and 57.81%,*** the human pose regulation strategy that the human arm picks up a heavy object by adjusting its posture naturally without complicated control,the robotic arm features an integrated position-level closed-form inverse solution method considering both geometric and load capacity *** method consists of a geometric constraint model incorporating the arm angle(φ)and the Global Configuration(GC)to avoid joint limits and singularities,and a load capacity model to constrain the feasible domain of the arm ***,trajectory tracking simulations and experiments are conducted to validate the feasibility of the proposed inverse solution *** simulated maximum output torque,maximum output power and total energy consumption of the robotic arm are reduced by up to 2.0%,13.3%,and 33.3%,*** experimental results demonstrate that the robotic arm can bear heavy loads in a human-like posture,effectively reducing the maximum output torque and energy consumption of the robotic arm by 1.83%and 5.03%,respectively,while avoiding joints beyond geometric and load capacity *** proposed design provides a high payload–weight ratio and an efficient pose control solution for robotic arms,which can potentially broaden the application spectrum of humanoid robots.

关键词： Humanoid robotic arm Bio-inspired design Inverse kinematics solution Load capacity constraint Geometric constraint

Recent progress in functional modification and crosslinking of bioprosthetic heart valves

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Regenerative Biomaterials 2024年第1期3卷 1-16页

作者： Cheng Zheng Li Yang Yunbing Wang national Engineering Research Center for Biomaterials Sichuan UniversityChengdu 610064China

Valvular heart disease(VHD),clinically manifested as stenosis and regurgitation of native heart valve,is one of the most prevalent cardiovascular diseases with high *** valve replacement surgery has been recognized as golden standard for the treatment of *** to the clinical application of transcatheter heart valve replacement technic and the excellent hemodynamic performance of bioprosthetic heart valves(BHVs),implantation of BHVs has been increasing over recent years and gradually became the preferred choice for the treatment of ***,BHVs might fail within 10-15 years due to structural valvular degeneration(SVD),which was greatly associated with drawbacks of glutaraldehyde crosslinked BHVs,including cytotoxicity,calcification,component degradation,mechanical failure,thrombosis and immune *** prolong the service life of BHVs,much effort has been devoted to overcoming the drawbacks of BHVs and reducing the risk of *** this review,we summarized and analyzed the research and progress on:(i)modification strategies based on glutaraldehyde crosslinked BHVs and(ii)nonglutaraldehyde crosslinking strategies for BHVs.

关键词： bioprosthetic heart valves modification crosslinking anticalcification antithrombosis

Adaptive learning-based optimal tracking control system design and analysis of a disturbed nonlinear hypersonic vehicle model

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Science China(Technological Sciences) 2024年第6期67卷 1893-1906页

作者： AN Kai WANG ZhenGuo HUANG Wei Hypersonic Technology Laboratory National University of Defense TechnologyChangsha410073China

We propose an adaptive learning-based optimal control scheme for height-velocity control models considering model uncertainties and external disturbances of hypersonic winged-cone *** longitudinal nonlinear model is first established and transformed into the control-oriented error equations,and the control scheme is organized by a steady-compensation *** overcome and eliminate the impact of model uncertainties and external disturbances,an adaptive radial basis function neural network(RBFNN)is designed by a q-gradient *** the height-velocity error system with estimated uncertainties into account,the adaptive learning-based optimal tracking control(ALOTC)scheme is proposed by combining the critic-only adaptive dynamic programming(ADP)framework and parameter optimization of system settling ***,a novel weight update law is proposed to satisfy the online iteration requirements,and the algorithm convergence and closedloop stability are discussed by the Lyapunov ***,four simulation cases are provided to prove the effectiveness,accuracy,and robustness of the proposed scheme for the hypersonic longitudinal control system.

关键词： optimal tracking control adaptive dynamic programming RBFNN hypersonic vehicle

Requirements ranking based on crowd-sourcing high-end product USs

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Journal of Systems Engineering and Electronics 2024年第1期35卷 94-104页

作者： MA Yufeng DOU Yajie XU Xiangqian JIA Qingyang TAN Yuejin College of Systems Engineering National University of Defense TechnologyChangsha 410003China

Based on the characteristics of high-end products,crowd-sourcing user stories can be seen as an effective means of gathering requirements,involving a large user base and generating a substantial amount of unstructured *** key challenge lies in transforming abstract user needs into specific ones,requiring integration and ***,we propose a topic mining-based approach to categorize,summarize,and rank product requirements from user ***,after determining the number of story categories based on py LDAvis,we initially classify“I want to”phrases within user ***,classic topic models are applied to each category to generate their names,defining each post-classification user story category as a ***,a weighted ranking function is devised to calculate the importance of each ***,we validate the effectiveness and feasibility of the proposed method using 2966 crowd-sourced user stories related to smart home systems.

关键词： high-end product complex system crowd-sourcing user stories topic mining requirements ranking

Overview of radar detection methods for low altitude targets in marine environments

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Journal of Systems Engineering and Electronics 2024年第1期35卷 1-13页

作者： YANG Yong YANG Boyu School of Electronic Science National University of Defense TechnologyChangsha 410073China

In this paper,a comprehensive overview of radar detection methods for low-altitude targets in maritime environments is presented,focusing on the challenges posed by sea clutter and multipath *** performance of the radar detection methods under sea clutter,multipath,and combined conditions is categorized and summarized,and future research directions are outlined to enhance radar detection performance for low-altitude targets in maritime environments.

关键词： radar sea clutter multipath scattering detection low altitude target