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Robust reinforcement learning with UUB guarantee for safe motion control of autonomous robots

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Science china(Technological Sciences) 2024年第1期67卷 172-182页

作者： ZHANG RuiXian HAN YiNing SU Man LIN ZeFeng LI HaoWei ZHANG LiXian School of Astronautics Harbin Institute of TechnologyHarbin 150001China School of Management Harbin Institute of TechnologyHarbin 150001China Beijing institute of Tracking and Telecommunication Technology Beijing 100094China

This paper addresses the issue of safety in reinforcement learning(RL)with disturbances and its application in the safety-constrained motion control of autonomous *** tackle this problem,a robust Lyapunov value function(rLVF)is *** rLVF is obtained by introducing a data-based LVF under the worst-case disturbance of the observed *** the rLVF,a uniformly ultimate boundedness criterion is *** criterion is desired to ensure that the cost function,which serves as a safety criterion,ultimately converges to a range via the policy to be ***,to mitigate the drastic variation of the rLVF caused by differences in states,a smoothing regularization of the rLVF is *** train policies with safety guarantees under the worst disturbances of the observed states,an off-policy robust RL algorithm is *** proposed algorithm is applied to motion control tasks of an autonomous vehicle and a cartpole,which involve external disturbances and variations of the model parameters,*** experimental results demonstrate the effectiveness of the theoretical findings and the advantages of the proposed algorithm in terms of robustness and safety.

关键词： motion control reinforcement learning robustness stability

A high-performance lithium anode based on N-doped composite graphene

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Rare Metals 2024年第3期43卷 1030-1036页

作者： Can Jiao Hao-Bo Sun Li Zhang Shang-Qian Zhao Guo-Yao Pang Chun-Rong Zhao Shi-Gang Lu General Research institute for Nonferrous Metals Beijing100088China china Automotive Battery Research institute Co.Ltd Beijing101407China

Lithium(Li)metal is the most promising electrode for next-gene ration rechargeable *** order to push the commercialization of the lithium metal batteries,a kind of nitrogen(N)-doped composite graphene(NCG)adopted as the Li plating host was prepared to regulate Li metal nucleation and suppress dendrite ***,a new kind of sandwich-type composite lithium metal(STCL)electrode was developed to improve its *** STCL electrode can be used as convenient as a piece of Li foil but no dendrite *** a symmetric battery,the STCL electrode cycled for more than 4500 h with the overpotential of less than 40 *** due to the creative design,the STCL promises the Li-S battery with a prolonged cycling lifespan.

关键词： Lithium metal anode Lithiophilic N-doped composite graphene Sandwich-type composite lithium metal electrode

Computing-aware network (CAN): a systematic design of computing and network convergence

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Frontiers of Information Technology & Electronic Engineering 2024年第5期25卷 633-644页

作者： Xiaoyun WANG Xiaodong DUAN Kehan YAO Tao SUN Peng LIU Hongwei YANG Zhiqiang LI china Mobile Communications Corporation Beijing 100032China china Mobile Research institute Beijing 100053China

The coverage of network resources is increasingly extensive,and computing resources have likewise gradually become fundamental infrastructures,providing ubiquitous computing ***,in wide area networks(WANs),the underlying network and computing resources are not closely investigated or co-designed,and there are still problems reflected in slow computing service scheduling,inflexible data distribution,and inefficient data transmission.

关键词： computing network service

Recent advances and future prospects on Ni_(3)S_(2)-Based electrocatalysts for efficient alkaline water electrolysis

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Green Energy & Environment 2024年第4期9卷 659-683页

作者： Shiwen Wang Zhen Geng Songhu Bi Yuwei Wang Zijian Gao Liming Jin Cunman Zhang Clean Energy Automotive Engineering Center School of Automotive StudiesTongji UniversityShanghai201804China

Green hydrogen(H_(2))produced by renewable energy powered alkaline water electrolysis is a promising alternative to fossil fuels due to its high energy density with zero-carbon ***,efficient and economic H_(2) production by alkaline water electrolysis is hindered by the sluggish hydrogen evolution reaction(HER)and oxygen evolution reaction(OER).Therefore,it is imperative to design and fabricate high-active and low-cost non-precious metal catalysts to improve the HER and OER performance,which affects the energy efficiency of alkaline water ***_(3)S_(2) with the heazlewoodite structure is a potential electrocatalyst with near-metal conductivity due to the Ni–Ni metal ***,the review comprehensively presents the recent progress of Ni_(3)S_(2)-based electrocatalysts for alkaline water ***,the HER and OER mechanisms,performance evaluation criteria,preparation methods,and strategies for performance improvement of Ni_(3)S_(2)-based electrocatalysts are *** challenges and perspectives are also analyzed.

关键词： Alkaline water electrolysis Hydrogen Electrocatalysts Ni_(3)S_(2)

Climatic impacts induced by winter wheat irrigation over North china simulated by the nonhydrostatic RegCM4.7

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Advances in Climate Change Research 2024年第2期15卷 197-210页

作者： Jia WU Zhen-Yu HAN Xue-Jie GAO Zheng-Jia LIU National Climate Centre China Meteorological AdministrationBeijing 100081China Key Laboratory for Climate studies China Meteorological AdministrationBeijing 100081China Climate Change Research Center Institute of Atmospheric PhysicsChinese Academy of SciencesBeijing 100029China Collaborative Innovation Center on Forecast and Evaluation of Meteorological Disasters Nanjing University of Information Science and TechnologyNanjing 210044China institute of Geographic Sciences and Natural Resources Research Chinese Academy of SciencesBeijing 100101China

Quantification of the impact of winter wheat irrigation on the climate and the occurrence of extreme climatic events over North china is crucial for regional adaptation *** related studies mainly focused on the impact on surface processes;however,few focused on the effects of extreme events using high-resolution nonhydrostatic regional climate ***,the 9-km-resolution nonhydrostatic RegCM4.7 was coupled with a crop irrigation scheme and an updated winter wheat irrigation dataset to better simulate irrigation *** experiments were conducted with and without winter wheat irrigation to isolate the effects of *** showed that irrigation simulation reduces the model biases in temperature,precipitation,latent heat flux,soil moisture,sensitive heat flux,and top-layer soil ***,it also reduces the bias and increases the correlation with observations obtained in irrigated areas,especially in summer,indicating better representation of irrigation *** wheat irrigation tends to cause substantial cooling of the local surface maximum,minimum,and mean air temperatures(by-1.68,-0.34,and-0.79℃,respectively)over irrigated areas of North china,with the largest changes observed in relation to maximum ***,precipitation is found to increase during spring and summer,which is strongly related to water vapor transport in the lower levels of the *** analyses indicated that the number of annual mean hot days decrease(-13.9 d),whereas the number of both comfort days(+10.2 d)and rainy days(days with total precipitation greater than 1 mm:+6.6 d)increase over irrigated areas,demonstrating beneficial feedback to human perception and ***,although the heat wave risk increases(number of annual mean heat wave days:+5.8 d),the impact is limited to small areas within irrigated ***,no notable change was found in terms of heavy rainfall events and precipitation intensity

关键词： Nonhydrostatic regional climate model Irrigation effect Extreme events North china

Performance and mechanism of La-Fe metal-organic framework as a highly efficient adsorbent for fluoride removal from mine water

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Journal of Environmental Sciences 2024年第5期139卷 245-257页

作者： Chaomin Jia Jianbing Wang Huijiao Wang Sichao Zhu Xiaohui Zhang Yuxiang Wang School of Chemical&Environmental Engineering China University of Mining&Technology-BeijingBeijing 100083China Beijing Polytechnic Beijing 100176China Chinese Society for Urban studies Beijing 100835China

Water fluoride pollution has caused non-negligible harm to the environment and humans,and thus it is crucial to find a suitable treatment *** this study,La-Fe@PTA adsorbent was synthesized for the defluoridation of mine *** results showed that the optimum conditions for defluoridation by La-Fe@PTA were p H close to 7.0,the initial F-concentration of 10 mg/L,the dosage of 0.5 g/L and the adsorption time of 240 *** with SO_4^(2-),Cl^(-),NO_(3)^(-),Ca^(2+)and Mg^(2+),CO_(3)^(2-)and HCO_(3)^(-)presented severer inhibition on fluoride uptake by La-Fe@*** adsorption process fits well with the pseudo-second-order kinetic model and Freundlich model,and the maximum adsorption capacity of Langmuir model was 95 mg/***-bed adsorption results indicated that fluoride in practical fluorinated mine water could be effectively removed from 3.6 mg/L to less than 1.5 mg/L within130 bed volume(BV)by using 1.5 g La-Fe@***,the adsorbent still had good adsorption capacity after regeneration,which confirms the great application potential of La-Fe@PTA as a fluoride ion *** mechanism analysis showed that La-Fe@PTA adsorption of fluorine ions is a physicochemical reaction driven by electrostatic attraction and ion exchange.

关键词： Adsorption La-Fe@PTA Fluoride ion Mine water Mechanism

A novel evasion guidance for hypersonic morphing vehicle via intelligent maneuver strategy

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Chinese Journal of Aeronautics 2024年第5期37卷 441-461页

作者： Xun LI Xiaogang WANG Hongyu ZHOU Yu LI Department of Aerodynamics Harbin Institute of TechnologyHarbin 150001China Beijing Aerospace Technology institute Beijing 100074China

This paper presents a novel evasion guidance law for hypersonic morphing vehicles,focusing on determining the optimized wing's unfolded angle to promote maneuverability based on an intelligent ***,the pursuit-evasion problem is modeled as a Markov decision *** the agent's action consists of maneuver overload and the unfolded angle of wings,which is different from the conventional evasion guidance designed for fixed-shape *** reward function is formulated to ensure that the miss distances satisfy the prescribed bounds while minimizing energy ***,to maximize the expected cumulative reward,a residual learning method is proposed based on proximal policy optimization,which integrates the optimal evasion for linear cases as the baseline and trains to optimize the performance for nonlinear engagement with multiple ***,offline training guarantees improvement of the constructed evasion guidance law over conventional ***,the guidance law for online implementation includes only analytical *** maps from the confrontation state to the expected angle of attack and the unfolded angle while retaining high computational *** show that the proposed evasion guidance law can utilize the change of unfolded angle to extend the maximum overload *** it surpasses conventional maneuver strategies by ensuring better evasion efficacy and higher energy efficiency.

关键词： Hypersonic vehicles Variable-sweep wings Evasion guidance Reinforcement learning Pursuit-evasion problem

Self-supervised recalibration network for person re-identification

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Defence Technology（防务技术） 2024年第1期31卷 163-178页

作者： Shaoqi Hou Zhiming Wang Zhihua Dong Ye Li Zhiguo Wang Guangqiang Yin Xinzhong Wang Shenzhen institute of Information Technology Shenzhen518172China University of Electronic Science and Technology of china Chengdu611731China Kash institute of Electronics and Information Industry Kashi844099China

The attention mechanism can extract salient features in images,which has been proved to be effective in improving the performance of person re-identification(Re-ID).However,most of the existing attention modules have the following two shortcomings:On the one hand,they mostly use global average pooling to generate context descriptors,without highlighting the guiding role of salient information on descriptor generation,resulting in insufficient ability of the final generated attention mask representation;On the other hand,the design of most attention modules is complicated,which greatly increases the computational cost of the *** solve these problems,this paper proposes an attention module called self-supervised recalibration(SR)block,which introduces both global and local information through adaptive weighted fusion to generate a more refined attention *** particular,a special"Squeeze-Excitation"(SE)unit is designed in the SR block to further process the generated intermediate masks,both for nonlinearizations of the features and for constraint of the resulting computation by controlling the number of ***,we combine the most commonly used Res Net-50 to construct the instantiation model of the SR block,and verify its effectiveness on multiple Re-ID datasets,especially the mean Average Precision(m AP)on the Occluded-Duke dataset exceeds the state-of-the-art(SOTA)algorithm by 4.49%.

关键词： Person re-identification Attention mechanism Global information Local information Adaptive weighted fusion

Remote sensing of air pollution incorporating integrated-path differential-absorption and coherent-Doppler lidar

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Defence Technology（防务技术） 2024年第1期31卷 594-601页

作者： Ze-hou Yang Yong Chen Chun-li Chen Yong-ke Zhang Ji-hui Dong Tao Peng Xiao-feng Li Ding-fu Zhou School of Physics Beijing Institute of TechnologyBeijing 100081China Southwest institute of Technical Physics Chengdu 610041SichuanChina School of Optics and Photonics Beijing Institute of TechnologyBeijing 100081China

An innovative complex lidar system deployed on an airborne rotorcraft platform for remote sensing of atmospheric pollution is proposed and *** system incorporates integrated-path differential absorption lidar(DIAL) and coherent-doppler lidar(CDL) techniques using a dual tunable TEA CO_(2)laser in the 9—11 μm band and a 1.55 μm fiber *** combining the principles of differential absorption detection and pulsed coherent detection,the system enables agile and remote sensing of atmospheric *** static tests validate the system’s real-time detection capabilities,including the measurement of concentration-path-length product(CL),front distance,and path wind speed of air pollution plumes over long distances exceeding 4 *** experiments is conducted with the *** of the pollutant concentration and the wind field is carried out in an approximately 1 km slant range over scanning angle ranges from 45°to 65°,with a radial resolution of 30 m and10 *** test results demonstrate the system’s ability to spatially map atmospheric pollution plumes and predict their motion and dispersion patterns,thereby ensuring the protection of public safety.

关键词： Differential absorption LIDAR Coherent Doppler lidar Remoting sensing Atmospheric pollution