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A policy gradient algorithm integrating long and short-term rewards for soft continuum arm control

Science China(Technological Sciences) 2022年第10期65卷 2409-2419页

作者： DONG Xiang ZHANG Jing CHENG Long XU WenJun SU Hang MEI Tao School of Electrical Engineering and Automation Anhui UniversityHefei 230601China State Key Laboratory for Control and management of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Robotics Research center Peng Cheng LaboratoryShenzhen 518055China

The soft continuum arm has extensive application in industrial production and human life due to its superior safety and flexibility. Reinforcement learning is a powerful technique for solving soft arm continuous control problems, which can learn an effective control policy with an unknown system model. However, it is often affected by the high sample complexity and requires huge amounts of data to train, which limits its effectiveness in soft arm control. An improved policy gradient method, policy gradient integrating long and short-term rewards denoted as PGLS, is proposed in this paper to overcome this issue. The shortterm rewards provide more dynamic-aware exploration directions for policy learning and improve the exploration efficiency of the algorithm. PGLS can be integrated into current policy gradient algorithms, such as deep deterministic policy gradient(DDPG). The overall control framework is realized and demonstrated in a dynamics simulation environment. Simulation results show that this approach can effectively control the soft arm to reach and track the targets. Compared with DDPG and other model-free reinforcement learning algorithms, the proposed PGLS algorithm has a great improvement in convergence speed and performance. In addition, a fluid-driven soft manipulator is designed and fabricated in this paper, which can verify the proposed PGLS algorithm in real experiments in the future.

关键词： soft arm control Cosserat rod deep reinforcement learning policy gradient algorithm high sample complexity

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Roof greening in major Chinese cities possibly afford a large potential carbon sink

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Science Bulletin 2024年第20期69卷 3216-3220页

作者： Chao Yang Yinghui Zhang Min Chen Song Zhu Yuzhi Tang Zhixin Zhang Wei Ma Huizeng Liu Junyi Chen Bohui Tang Dejin Zhang Zhengdong Huang Xuqing Wang Wei Tu Cuiling Liu Tiezhu Shi Haiying Xu Aihong Cui Fanyi Meng Tianhong Zhao Kai Guo Wenhao Guo Bi Fan Quande Qin Wuyang Hong Haishan Wu Bing Wang Jinrong Zeng Ka Wai Wu Qingquan Li Key Laboratory for Geo-Environmental Monitoring of Great Bay Area Ministry of Natural Resources&Guangdong Key Laboratory of Urban InformaticsShenzhen UniversityShenzhen 518060China School of Architecture and Urban planning Shenzhen UniversityShenzhen 518060China Key Laboratory of Virtual Geographic Environment Ministry of EducationNanjing Normal UniversityNanjing 210023China Jiangsu center for Collaborative Innovation in Geographical Information Resource Development and Application Nanjing 210023China International Research center of Big data for Sustainable Development Goals Beijing 100094China shenzhen Zhiyuan Space Innovation Technology Co. LtdShenzhen 518060China Guangdong Laboratory of Artificial Intelligence and Digital Economy(SZ) Shenzhen 518107China School of Geography and Ocean Science Nanjing UniversityNanjing 210008China School of Geography Nanjing Normal UniversityNanjing 210023China School of Civil Engineering Chongqing Jiaotong UniversityChongqing 400074China Institute for Advanced Study&shenzhen University Shenzhen 518060China Tiandu-shenzhen University Deep Space Joint Laboratory Shenzhen UniversityShenzhen 518060China Faculty of Land Resource Engineering Kunming University of Science and TechnologyKunming 650093China center for Hydrogeology and Environmental Geology China Geological SurveyBaoding 071051China Department of Landscape Architecture and Urban planning Texas A&M UniversityTX 77840USA Department of Geography Hong Kong Baptist UniversityHong Kong 999077China College of Civil and Transportation Engineering Shenzhen UniversityShenzhen 518060China College of Big data and Internet Shenzhen Technology UniversityShenzhen 518118China Faculty of Geosciences and Environmental Engineering Southwest Jiaotong UniversityChengdu 611756China College of management Shenzhen UniversityShenzhen 518060China WeBank(shenzhen)Co. LtdShenzhen 518060China Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic UniversityHong Kong 100872China Esri C

China is experiencing accelerated urbanisation,with a large number of people moving from rural to urban areas[1].It has resulted in large losses in the net primary production(NPP),biodiversity and carbon stocks and an increase in environmental pollution and CO_(2)emissions[2–4].In 2015,196 countries signed the Paris Agreement and committed to setting long-term goals to jointly manage climate change and reduce their individual emissions,aiming to control the increase in global average temperature from the pre-industrial level to below 2℃and to curtail the temperature rise within 1.5℃till the end of the 21st century[5].China is bolstering its efforts to achieve the climate change mitigation goals and has announced a plan for achieving carbon neutrality by 2060[6].The carbon neutrality goal poses a challenge to the current policies promoting rapid urbanisation across China.

关键词： jointly carbon goals

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LISC Catalog of Open ClustersⅢ.83 Newly Found Galactic Disk Open Clusters Using Gaia EDR3

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Research in Astronomy and Astrophysics 2023年第6期23卷 74-85页

作者：迟焕斌王锋李忠木 School of management and Economics Kunming University of Science and TechnologyKunming 650031China center for Astrophysics Guangzhou UniversityGuangzhou 510006China Peng Cheng Laboratory Shenzhen 518000China Institute of Astronomy Dali UniversityDali 671003China

As groups of coeval stars born from the same molecular cloud,an open cluster(OC)is an ideal laboratory for studying the structure and dynamical evolution of the Milky *** release of high-precision Gaia Early data Release 3(Gaia EDR3)and modern machine-learning methods offer unprecedented opportunities to identify *** this study,we extended conventional HDBSCAN(e-HDBSCAN)for searching for new OCs in Gaia EDR3.A pipeline was developed based on the parallel computing technique to blindly search for OCs from Gaia EDR3within Galactic latitudes∣b∣<25°.As a result,we obtained 3787 star clusters,of which 83 new OCs were reported after cross-match and visual *** the same time,the main star cluster parameters are estimated by color-magnitude diagram *** study significantly increases the sample size and physical parameters of OCs in the catalog of *** shows the incompleteness of the census of OCs across our Galaxy.

关键词： techniques:photometric galaxies:star clusters:individual(... ...) galaxies:star clusters:general

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Ontology-Based BERT Model for Automated Information Extraction from Geological Hazard Reports

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Journal of Earth Science 2023年第5期34卷 1390-1405页

作者： Kai Ma Miao Tian Yongjian Tan Qinjun Qiu Zhong Xie Rong Huang Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering China Three Gorges UniversityYichang 443002China College of Computer and Information Technology China Three Gorges UniversityYichang 443002China Hubei Engineering Technology Research center for Farmland Environment Monitoring China Three Gorges UniversityYichang 443002China School of Computer Science China University of GeosciencesWuhan 430074China Key Laboratory of Urban Land resources Monitoring and Simulation Ministry of Natural ResourcesShenzhen 518034China Beijing Key Laboratory of Urban Spatial Information Engineering Beijing 100045China College of Economics and management China Three Gorges UniversityYichang 443002China

Geological knowledge can provide support for knowledge discovery, knowledge inference and mineralization predictions of geological big data. Entity identification and relationship extraction from geological data description text are the key links for constructing knowledge graphs. Given the lack of publicly annotated datasets in the geology domain, this paper illustrates the construction process of geological entity datasets, defines the types of entities and interconceptual relationships by using the geological entity concept system, and completes the construction of the geological corpus. To address the shortcomings of existing language models(such as Word2vec and Glove) that cannot solve polysemous words and have a poor ability to fuse contexts, we propose a geological named entity recognition and relationship extraction model jointly with Bidirectional Encoder Representation from Transformers(BERT) pretrained language model. To effectively represent the text features, we construct a BERT-bidirectional gated recurrent unit network(BiGRU)-conditional random field(CRF)-based architecture to extract the named entities and the BERT-BiGRU-Attention-based architecture to extract the entity relations. The results show that the F1-score of the BERT-BiGRU-CRF named entity recognition model is 0.91 and the F1-score of the BERT-BiGRU-Attention relationship extraction model is 0.84, which are significant performance improvements when compared to classic language models(e.g., word2vec and Embedding from Language Models(ELMo)).

关键词： ontology BERT model name entity recognition relation extraction knowledge graph

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Delimitation and Zoning of natural Ecological Spatial Boundary Based on GIS

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Asian Agricultural Research 2019年第5期11卷 40-45页

作者： Yonghao WANG Hengji LI Jun REN Gansu Academy of natural resources planning Lanzhou730000China Global Change Research Information center Lanzhou Information CenterChineseAcademy of SciencesLanzhou730000 Qinghai University Xining810016China

In order to improve the control of land use in China,taking Sunan Yugur Autonomous County in the Qilian Mountains area as an example,this paper explores the method of national ecological space delimitation and zoning based on ARCGIS platform. Three kinds of space division techniques are formed to unify natural resources survey data,carry out land spatial suitability evaluation,delimit three kinds of space and optimize natural ecological space division. According to existing laws in China,based on ecological protection red line,natural ecological space is divided into ecological protection red line and general ecological space. According to the regulation requirements and the functional division of various protected areas,the red line area of ecological protection is divided into core protected area,ecological restoration area,traditional utilization and recreation area with the area of 3 947. 28,3 216. 89 and 6 936. 56 km2,respectively. In view of the prominent problems in the process of delimitation and zoning of natural ecological space,some suggestions are put forward,such as unification of chassis,optimization of ecological protection red line and coordination and unification of management boundary.

关键词： Territorial space natural ecological space Ecological protection red line General ecological space

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Multi-objective optimization for assigning reviewers to proposals based on social networks

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Journal of management Science and Engineering 2024年第3期9卷 419-439页

作者： Xing-Gang Luo Hong-Jie Li Zhong-Liang Zhang Wei Jiang School of management Hangzhou Dianzi UniversityHangzhou310018China Experimental center of data Science and Intelligent Decision-Making Hangzhou Dianzi UniversityHangzhou310018China Antai College of Economics and management Shanghai Jiao Tong UniversityShanghai200240China

Most of the literature on reviewer assignment problem(RAP)considers fitness or efficiency as the evaluation criterion of an assignment,e.g.,the degree of matching between reviewers and *** this study,we consider fairness of an assignment and establish two multi-objective linear integer programming models for proposal *** introduce a definition of fairness based on the closeness of social relationships between *** closeness of social relationships is quantified based on social networks among reviewers and serves as part of objective *** improved space-partitioning algorithm is designed to solve the multi-objective models with integer *** the problem size is large,two meta-heuristic algorithms are *** on real and randomly generated cases are provided to illustrate the effectiveness of the proposed models and algorithms.

关键词： Assignment Social network Multi-objective optimization Space-partitioning

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Projection of China’s future runoff based on the CMIP6 mid-high warming scenarios

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Science China Earth Sciences 2023年第3期66卷 528-546页

作者： Jiayue ZHOU Hui LU Kun YANG Ruijie JIANG Yuan YANG Wei WANG Xuejun ZHANG Department of Earth System Science Ministry of Education Key Laboratory of Earth System ModelingInstitute for Global Change StudiesTsinghua UniversityBeijing 100084China National Tibetan Plateau data center State Key Laboratory of Tibetan Plateau Earth System and Resource EnvironmentInstitute of Tibetan Plateau ResearchChinese Academy of SciencesBeijing 100101China center for Western Weather and Water Extremes Scripps Institution of OceanographyUniversity of California San DiegoSan Diego 92037USA Changjiang Institute of Survey PlanningDesign and ResearchWuhan 430010China State Key Laboratory of Simulation and Regulation of Water Cycle in River Basin China Institute of Water Resources and Hydropower ResearchBeijing 100038China Research center on Flood and Drought Disaster Reduction of the Ministry of Water resources Beijing 100038China

The latest Coupled Model Intercomparison Project Phase 6(CMIP6)proposes new shared pathways(SSPs)that incorporate socioeconomic development with more comprehensive and scientific experimental designs;however,few studies have been performed on the projection of future multibasin hydrological changes in China based on CMIP6 *** this paper,we use the Equidistant Cumulative Distribution Function method(EDCDFm)to perform downscaling and bias correction in daily precipitation,daily maximum temperature,and daily minimum temperature for six CMIP6 models based on the historical gridded data from the high-resolution China Meteorological Forcing dataset(CMFD).We use the bias-corrected precipitation,temperature,and daily mean wind speed to drive the variable infiltration capacity(VIC)hydrological model,and study the changes in multiyear average annual precipitation,annual evapotranspiration and total annual runoff depth relative to the historical baseline period(1985–2014)for the Chinese mainland,basins and grid scales in the 21st century future under the SSP2-4.5 and SSP5-8.5 *** study shows that the VIC model accurately simulates runoff in major Chinese basins;the model data accuracy improves substantially after downscaling bias correction;and the future multimodel-mean multiyear average annual precipitation,annual evapotranspiration,and total annual runoff depth for the Chinese mainland and each basin increase relative to the historical period in near future(2020–2049)and far future(2070–2099)under the SSP2-4.5 and *** new CMIP6-based results of this paper can provide a strong reference for extreme event prevention,water resource utilization and management in China in the 21st century.

关键词： CMIP6 VIC model EDCDFm Chinese basins Future hydrological changes

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A Comprehensive Taxi Assessment Index Using Floating Car data

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Journal of Harbin Institute of Technology(New Series) 2014年第1期21卷 7-16页

作者： Dao-Zheng Zhang Daniel (Jian) Sun Zhong-Ren Peng center for UAV Applications and ITS Research Shanghai Jiaotong University Department of Urban and Regional planning University of Florida

With the expansion of urban area and development of taxi system,problems arise,such as low operation efficiency,high taxi idling rate,and long passenger waiting-time. Although various studies have been conducted,only limited overview of the factors towards urban taxi system has been provided. Consequently,a comprehensive evaluation of taxi system is essential for the urban planner to analyze the current situation and take effective measures. This paper,by using Floating Car data( FCD),proposes a Comprehensive Taxi Assessment Index( CTAI) to quantify the quality of existing urban taxi system with the assistance of Geographic Information System( GIS) technology. The proposed index system extracts and classifies key factors,reflecting the taxi system from the perspectives of operation efficiency,customer and taxi-driver satisfaction. The system contributes to improving the organization and operation of urban taxi system. Based on the data obtained from the city of shenzhen,Guangdong Province,China,for both weekday and weekends( Dec.,2011),the proposed CTAI was illustrated by using the Principal Component Analysis( PCA) with ArcGIS 10. 0 platform. The results indicate that the system provides a good multi-dimensional view to delve into the existing urban taxi operation, thus to point out the most sensitive indices towards the entire system,which consequently provides guidelines for future improvement and management of urban taxi system.

关键词： taxi evaluation system principle component analysis(PCA) floating car data(FCD) geographic information system(GIS)

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Freight Vehicle Routing Optimization for Sporadic Orders Using Floating Car data

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Journal of Donghua University(English Edition) 2013年第2期30卷 96-102页

作者：常晶晶彭仲仁孙健 center for ITS and UAV Applications Research Shanghai Jiaotong University Department of Urban and Regional planning University of Florida

The increasing popularity of e-commerce brings large volumes of sporadic orders from different customers,which have to be handled by freight trucks and distribution centers. To improve the level of service and reduce the total shipping cost as well as traffic congestions in urban area, flexible methods and optimal vehicle routing strategies should be adopted to improve the efficiency of distribution effort. An optimization solution for vehicle routing and scheduling problem with time window for sporadic orders (VRPTW- S) was provided based on time-dependent travel time extracted from floating car data (FCD) with ArcGIS platform. A VRPTW-S model derived from the traditional vehicle routing problem was proposed, in which uncertainty of customer orders and travel time were considered. Based on this model, an advanced vehicle routing algorithm was designed to solve the problem. A case study of shenzhen, Guangdong province, China, was conducted to demonstrate the vehicle operation flow,in which process of FCD and efficiency of delivery systems under different situations were discussed. The final results demonstrated a good performance of application of time-dependent travel time information using FCD in solving vehicle routing problems.

关键词： freight routing and scheduling time-dependent travel time floating car data (FCD) sporadic order ArcGIS

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Application of GIS technology in chemical emergency response

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Journal of Environmental Sciences 2000年第2期12卷 47-52页

作者： Wang, Gui-Lian Lu, Yong-Long Xu, Jian Sino-Canadian High-tech center of resources and Environment Research Center for Eco-Environmental Sciences Chinese Academy of Sciences Beijing 100085 China

Responding to concerns raised by the Bhopal accident, more and more attention has been paid to local emergency, especially chemical emergency, prevention and planning worldwide, and many chemical emergency response systems for public response personnel have been built. With the successful application of geographical information system (GIS) technology in many fields, GIS can be an efficient tool for effective response to chemical emergencies. The purpose of this paper is to introduce the application of GIS technology in emergency response. Typical GIS technology is simply introduced and some of its existing applications to emergency, mainly natural disaster, response are summarized. Spatial data and spatial analysis requirements for chemical monitoring and emergency response are also discussed in detail. Finally a chemical monitoring and emergency response system under development by combining GIS and expert system for both chemical distribution centers and public response personnel is presented.

关键词： GIS chemical emergency emergency response chemical management expert system CLC number: X14 Document code: A

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