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An Improved Method for Approximating the Infinite-Horizon Value Function of the Discrete-Time Switched LQR Problem

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Journal of Systems Science & Complexity 2024年第1期37卷 22-39页

作者： HOU Tan LI Yuanlong LIN Zongli Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System control and information Processing Ministry of Education of ChinaShanghai 200240China shanghai Engineering Research center of Intelligent control and Management Shanghai 200240China Charles L.Brown Department of Electrical and Computer Engineering University of VirginiaCharlottesvilleVA 22904-4743USA

This paper considers the problem of approximating the infinite-horizon value function of the discrete-time switched LQR *** particular,the authors propose a new value iteration method to generate a sequence of monotonically decreasing functions that converges exponentially to the value *** method facilitates us to use coarse approximations resulting from faster but less accurate algorithms for further value iteration,and thus,the proposed approach is capable of achieving a better approximation for a given computation time compared with the existing *** numerical examples are presented in this paper to illustrate the effectiveness of the proposed method.

关键词： Optimal control switched linear systems switched LQR problem.

Cognitive Navigation for Intelligent Mobile Robots:A Learning-Based Approach With Topological Memory Configuration

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IEEE/CAA Journal of Automatica Sinica 2024年第9期11卷 1933-1943页

作者： Qiming Liu Xinru Cui Zhe Liu Hesheng Wang Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China MoE Key Laboratory of Artificial Intelligence AI InstituteShanghai Jiao Tong UniversityShanghai 200240China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of EducationKey Laboratory of Marine Intelligent Equipment and System of Ministry of EducationShanghai Engineering Research Center of Intelligent Control and ManagementShanghai Jiao Tong UniversityShanghai 200240China

Autonomous navigation for intelligent mobile robots has gained significant attention,with a focus on enabling robots to generate reliable policies based on maintenance of spatial *** this paper,we propose a learning-based visual navigation pipeline that uses topological maps as memory *** introduce a unique online topology construction approach that fuses odometry pose estimation and perceptual similarity *** tackles the issues of topological node redundancy and incorrect edge connections,which stem from the distribution gap between the spatial and perceptual ***,we propose a differentiable graph extraction structure,the topology multi-factor transformer(TMFT).This structure utilizes graph neural networks to integrate global memory and incorporates a multi-factor attention mechanism to underscore elements closely related to relevant target cues for policy *** from photorealistic simulations on image-goal navigation tasks highlight the superior navigation performance of our proposed pipeline compared to existing memory *** validation through behavior visualization,interpretability tests,and real-world deployment further underscore the adapt-ability and efficacy of our method.

关键词： Graph neural networks(GNNs) spatial memory topological map visual navigation

Multi-Channel Based on Attention Network for Infrared Small Target Detection

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Journal of shanghai Jiaotong university(Science) 2024年第3期29卷 414-427页

作者：张彦军王碧云蔡云泽 Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China shanghai Institute of Aerospace control Technology Shanghai 201109China Infrared Detection Technology R&D center of China Aerospace Science and Technology Corporation Shanghai 201109China Key Laboratory of System control and information Processing Ministry of Education of ChinaShanghai 200240China shanghai Engineering Research center of Intelligent control and Management Shanghai 200240China Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China Institute of Marine Equipment Shanghai Jiao Tong UniversityShanghai 200240China

Infrared detection technology has the advantages of all-weather detection and good concealment,which is widely used in long-distance target detection and tracking ***,the complex background,the strong noise,and the characteristics of small scale and weak intensity of targets bring great difficulties to the detection of infrared small targets.A multi-channel based on attention network is proposed in this paper,aimed at the problem of high missed detection rate and false alarm rate of traditional algorithms and the problem of large model,high complexity and poor detection performance of deep learning ***,given the difficulty in extracting the features of infrared multiscale and small dim targets,the multiple channels are designed based on dilated convolution to capture multiscale target ***,the coordinate attention block is incorporated in each channel to suppress background clutters adaptively and enhance target *** addition,the fusion of shallow detail features and deep abstract semantic features is realized by synthesizing the contextual attention fusion ***,it is verified that,compared with other state-of-the-art methods based on the datasets SIRST and MDFA,the proposed algorithm further improves the detection effect,and the model size and computational complexity are smaller.

关键词： infrared image small target detection deep learning attention mechanism feature fusion

Algorithm for Solving Traveling Salesman Problem Based on Self-Organizing Mapping Network

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Journal of shanghai Jiaotong university(Science) 2024年第3期29卷 463-470页

作者：朱江辉叶航航姚莉秀蔡云泽 Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System control and information Processing Ministry of EducationShanghai 200240China shanghai Engineering Research center of Intelligent control and Management Shanghai 200240China Key Laboratory of Marine Intelligent Equipment and System Ministry of EducationShanghai 200240China Huawei Technologies Co. Ltd.Shanghai 201206China

Traveling salesman problem(TSP)is a classic non-deterministic polynomial-hard optimization *** on the characteristics of self-organizing mapping(SOM)network,this paper proposes an improved SOM network from the perspectives of network update strategy,initialization method,and parameter *** paper compares the performance of the proposed algorithms with the performance of existing SOM network algorithms on the TSP and compares them with several heuristic *** show that compared with existing SOM networks,the improved SOM network proposed in this paper improves the convergence rate and algorithm *** with iterated local search and heuristic algorithms,the improved SOM net-work algorithms proposed in this paper have the advantage of fast calculation speed on medium-scale TSP.

关键词： traveling salesman problem(TSP) self-organizing mapping(SOM) combinatorial optimization neu-ral network

Polarization-dependent photoinduced metal–insulator transitions in manganites

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Science Bulletin 2024年第2期69卷 183-189页

作者： Lina Deng Weiye Zhang Hanxuan Lin Lifen Xiang Ying Xu Yadi Wang Qiang Li Yinyan Zhu Xiaodong Zhou Wenbin Wang Lifeng Yin Hangwen Guo Chuanshan Tian Jian Shen State Key Laboratory of Surface Physics Institute for Nanoelectronic Devices and Quantum Computingand Department of PhysicsFudan UniversityShanghai 200433China shanghai Research center for Quantum Sciences Shanghai 201315China Zhangjiang Fudan International Innovation center Fudan UniversityShanghai 201210China Collaborative Innovation center of Advanced Microstructures Nanjing 210093China shanghai Branch CAS Center for Excellence and Synergetic Innovation Center in Quantum Information and Quantum PhysicsShanghai 201315China

In correlated oxides,collaborative manipulation on light intensity,wavelength,pulse duration and polarization has yielded many exotic discoveries,such as phase transitions and novel quantum *** view of potential optoelectronic applications,tailoring long-lived static properties by light-induced effects is highly *** far,the polarization state of light has rarely been reported as a control parameter for this ***,we report polarization-dependent metal-to-insulator transition(MIT)in phaseseparated manganite thin films,introducing a new degree of freedom to control static ***,we observed giant photoinduced resistance jumps with striking features:(1)a single resistance jump occurs upon a linearly polarized light incident with a chosen polarization angle,and a second resistance jump occurs when the polarization angle changes;(2)the amplitude of the second resistance jump depends sensitively on the actual change of the polarization *** transmittance measurements reveal that the origin of the above phenomena is closely related to the coexistence of anisotropic *** results represent a first step to utilize light polarization as an active knob to manipulate static phase transitions,pointing towards new pathways for nonvolatile optoelectronic devices and sensors.

关键词： Metal-insulator phase transitions Polarization of light Electronic phase separation Selective domain controllability

Aβ-Aggregation-Generated Blue Autofluorescence Illuminates Senile Plaques as well as Complex Blood and Vascular Pathologies in Alzheimer’s Disease

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Neuroscience Bulletin 2024年第8期40卷 1115-1126页

作者： Hualin Fu Jilong Li Chunlei Zhang Peng Du Guo Gao Qiqi Ge Xinping Guan Daxiang Cui Institute of Nano Biomedicine and Engineering School of Sensing Science and EngineeringSchool of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Institute of Marine Equipment Shanghai Jiao Tong UniversityShanghai 200240China National center for Translational Medicine Shanghai Jiao Tong UniversityShanghai 200240China Department of Colorectal Surgery School of MedicineXinhua HospitalShanghai Jiao Tong UniversityShanghai 200092China Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China The Key Laboratory of System control and information Processing Ministry of EducationShanghai 200240China

Senile plaque blue autofluorescence was discovered around 40 years ago,however,its impact on Alzheimer’s disease(AD)pathology has not been fully *** analyzed senile plaques with immunohistochemistry and fluorescence imaging on AD brain sections and also Aβ aggregation in *** DAPI or Hoechst staining,the nuclear blue fluorescence could only be correctly assigned after subtracting the blue plaque *** flower-like structures wrapping dense-core blue fluorescence formed by cathepsin D staining could not be considered central-nucleated neurons with defective lysosomes since there was no nuclear staining in the plaque core when the blue autofluorescence was *** Aβ self-oligomers and Aβ/hemoglobin heterocomplexes generated blue *** Aβ amyloid blue autofluorescence not only labels senile plaques but also illustrates red cell aggregation,hemolysis,cerebral amyloid angiopathy,vascular plaques,vascular adhesions,and *** summary,we conclude that Aβ-aggregation-generated blue autofluorescence is an excellent multi-amyloidosis marker in Alzheimer’s disease.

关键词： Senile plaque Blue autofluorescence Aβ Amyloid aggregation Hemoglobin Cathepsin D.Microaneurysm Alzheimer's disease

Online Multi-Object Tracking Under Moving Unmanned Aerial Vehicle Platform Based on Object Detection and Feature Extraction Network

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Journal of shanghai Jiaotong university(Science) 2024年第3期29卷 388-399页

作者：刘增敏王申涛姚莉秀蔡云泽 Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System control and information Processing of Ministry of Education Shanghai 200240China shanghai Engineering Research center of Intelligent control and Management Shanghai 200240China Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China JD Business Growth Department Beijing 100176China Institute of Marine Equipment Shanghai Jiao Tong UniversityShanghai 200240China

In order to solve the problem of small object size and low detection accuracy under the unmanned aerial vehicle(UAV)platform,the object detection algorithm based on deep aggregation network and high-resolution fusion module is ***,a joint network of object detection and feature extraction is studied to construct a real-time multi-object tracking *** the problem of object association failure caused by UAV movement,image registration is applied to multi-object tracking and a camera motion discrimination model is proposed to improve the speed of the multi-object tracking *** simulation results show that the algorithm proposed in this study can improve the accuracy of multi-object tracking under the UAV platform,and effectively solve the problem of association failure caused by UAV movement.

关键词： moving unmanned aerial vehicle(UAV)platform small object feature extraction image registration multi-object tracking

Game theory based finite-time formation control using artificial potentials for tethered space net robot

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Chinese Journal of Aeronautics 2024年第8期37卷 358-372页

作者： Yifeng MA Yizhai ZHANG Panfeng HUANG Ya LIU Fan ZHANG The Research center for Intelligent Robotics School of AstronauticsNorthwestern Polytechnical UniversityXi’an 710072China School of Electronic information and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200240China

The Tethered Space Net Robot(TSNR)is an innovative solution for active space debris capture and *** large envelope and simple capture method make it an attractive option for this ***,capturing maneuverable debris with the flexible and elastic underactuated net poses significant *** address this,a novel formation control method for the TSNR is proposed through the integration of differential game theory and robust adaptive control in this ***,the trajectory of the TSNR is obtained through the solution of a real-time feedback pursuit-evasion game with a dynamic target,where the primary condition is to ensure the stability of the ***,to minimize tracking errors and maintain a specific configuration,a robust adaptive formation control scheme with Artificial Potential Field(APF)based on a Finite-Time Convergent Extended State Observer(FTCESO)is *** proposed control method has a key advantage in suppressing complex oscillations by a new adaptive law,thus precisely maintaining the ***,numerical simulations are performed to demonstrate the effectiveness of the proposed scheme.

关键词： Game theory Formation control Artificial potential field Relative distance constraint Tethered space net robot(TSNR)

ARPES investigation of the electronic structure and its evolution in magnetic topological insulator MnBi2+2nTe4+3n family

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National Science Review 2024年第2期11卷 81-93页

作者： Runzhe Xu Lixuan Xu Zhongkai Liu Lexian Yang Yulin Chen State Key Laboratory of Low Dimensional Quantum Physics Department of PhysicsTsinghua University School of Physical Science and Technology Shanghai Tech University and CAS-Shanghai Science Research Center shanghai Tech Laboratory for Topological Physics Frontier Science center for Quantum information Collaborative Innovation center of Quantum Matter Department of Physics Clarendon LaboratoryUniversity of Oxford

In the past 5 years,there has been significant research interest in the intrinsic magnetic topological insulator family compounds MnBi2+2nTe4+3n（where n=0,1,2…）.In particular,exfoliated thin films of MnBi2Te4have led to numerous experimental breakthroughs,such as the quantum anomalous Hall effect,axion insulator phase and high-Chern number quantum Hall effect without Landau ***,despite extensive efforts,the energy gap of the topological surface states due to exchange magnetic coupling,which is a key feature of the characteristic band structure of the system,remains experimentally *** electronic structure measured by using angle-resolved photoemission （ARPES） shows significant deviation from ab initio prediction and scanning tunneling spectroscopy measurements,making it challenging to understand the transport results based on the electronic *** paper reviews the measurements of the band structure of MnBi2+2nTe4+3nmagnetic topological insulators using ARPES,focusing on the evolution of their electronic structures with temperature,surface and bulk doping and film *** aim of the review is to construct a unified picture of the electronic structure of MnBi2+2nTe4+3ncompounds and explore possible control of their topological properties.

关键词： magnetic topological insulator MnBi2Te4 electronic structure angle-resolved photoemission spectroscopy