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Time-varying formation control and disturbance rejection for UAV-UGV heterogeneous swarm system

Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica 2020年 41卷

作者： Zhou, Siquan Dong, Xiwang Li, Qingdong Ren, Zhang School of Automation Science and Electrical Engineering Beihang University Beijing100083 China Science and Technology on Aircraft Control Laboratory Beihang University Beijing100083 China Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100083 China

This paper studies the time-varying formation control and disturbance rejection problems for heterogeneous UAV-UGV swarm system. The UAV-UGV swarm system is designed to achieve the desired time-varying output formation under unknown external disturbances. First, the kinetic and dynamic mathematical models of each UAV/UGV are established. In addition, the cooperative control models for heterogeneous swarm system are constructed by using the algebraic graph theory. Then, a distributed time-varying output formation controller is designed based on the internal model theory. The distributed formation center estimator and disturbance rejection compensator are designed and added to the formation controller. Third, an algorithm is presented to design the formation control parameters, where the feasibility conditions for achieving the time-varying output formation are given. The stability of the closed-loop UAV-UGV swarm system is proved. Finally, a simulation example is provided to demonstrate the effectiveness of the proposed formation control approach. © 2020, Beihang University Aerospace Knowledge Press. All right reserved.

关键词： Unmanned aerial vehicles (UAV)

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Comparative analysis of SIMILAR to RCD ONE(SRO) family from tetraploid cotton species and their diploid progenitors depict their significance in cotton growth and development

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Journal of Cotton Research 2024年第4期 438页

作者： SHABAN Muhammad TABASSUM Riaz RANA Iqrar Ahmad ATIF Rana Muhammad AZMAT Muhammad Abubakkar IQBAL Zubair MAJEED Sajid AZHAR Muhammad Tehseen Department of Plant Breeding and Genetics University of Agriculture Faisalabad Sub-Campus Burewala Department of Chemistry and Biochemistry University of AgricultureFaisalabad Centre of Agricultural Biochemistry and Biotechnology University of AgricultureFaisalabad Department of Plant Breeding and Genetics University of AgricultureFaisalabad Precision Agriculture and Analytics Lab National Centre in Big Data and Cloud Computing Centre for Advanced Studies in Agriculture and Food Security University of Agriculture Faisalabad Department of Plant Pathology University of California State Key Laboratory of Cotton Biology Institute of Cotton ResearchChinese Academy of Agricultural Sciences Federal Seed Certification and Registration Department Ministry of National Food Security and Research School of Agriculture Sciences Zhengzhou University

Background SRO(Similar to RCD1) genes family is largely recognized for their importance in the growth,development,and in responding to environmental ***,genome-wide identification and functional characterization of SRO genes from cotton species have not been reported so *** A total of 36 SRO genes were identified from four cotton *** analysis divided these genes into three groups with distinct *** and chromosomal distribution analysis indicated uneven distribution of GaSRO,GrSRO,GhSRO,and GbSRO genes on A2,D5 genomes,Gh-At,Gh-Dt,Gb-At,and Gb-Dt subgenomes,*** duplication analysis revealed the presence of six duplicated gene pairs among GhSRO *** promoter analysis,several elements responsive to the growth,development and hormones were found in GhSRO genes,implying gene induction during cotton growth and *** miRNAs responsive to plant growth and abiotic stress were predicted to target12 GhSRO ***-specific expression profiling demonstrated the roles of GhSRO genes in one or more *** addition,specific expression pattern of some GhSRO genes during ovule development depicted their involvement in these developmental *** The data presented in this report laid a foundation for understanding the classification and functions of SRO genes in cotton.

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Practical adaptive time-varying output formation tracking for high-order nonlinear multi-agent systems using neural networks

Practical adaptive time-varying output formation tracking fo...

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第三十八届中国控制会议

作者： Jianglong Yu Xiwang Dong Qingdong Li Zhang Ren Ming Ma School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Shananxi Key Laboratory of Integrated and Intelligent Navigation Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Xi'an Research Institute of Navigation Technology

Practical adaptive time-varying output formation tracking problems for high-order nonlinear strict-feedback multiagent systems are investigated in this paper. The time-varying output formation tracking requires the followers' output vectors to track the output vector of the leader while achieving a time-varying formation. The dynamics of the leader and the followers can have uncertain mismatched nonlinearities while the leader's control input is also unknown. To deal with the mismatched nonlinearities, the backstepping techniques are utilized to construct the protocols. Firstly, visual controllers are designed to overcome the effects of the uncertainties while guaranteeing the stability of each layer. The complicated visual controllers are estimated by the neural networks. A full adaptive protocol is constructed with adaptive gains to avoid using the global information of the interaction topology. Then, an algorithm is presented to design the protocol, whose parameters are much less. Besides, the stability of the algorithm is proved by Lyapunov theories. Finally, simulation results are presented to prove the effectiveness.

关键词： Practical time-varying formation tracking Adaptive control High-order nonlinear dynamics Multi-agent systems Neural networks

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Applications of Game Theory in Vehicular Networks: A Survey

arXiv

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arXiv 2021年

作者： Sun, Zemin Liu, Yanheng Wang, Jian Li, Guofa Anil, Carie Li, Keqiang Guo, Xinyu Sun, Geng Tian, Daxin Cao, Dongpu College of Computer Science and Technology Jilin University Changchun130012 China Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun130012 China Institute of Human Factors and Ergonomics College of Mechatronics and Control Engineering Shenzhen University Guangdong Shenzhen518060 China School of Computer Science and Engineering VIT-AP Andhra Pradesh Amaravati522237 India College of Engineering Nanjing Agricultural University Nanjing210031 China State Key Laboratory of Automotive Safety and Energy Department of Automotive Engineering Tsinghua University Beijing100084 China Beijing Advanced Innovation Center for Big Data and Brain Computing Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control School of Transportation Science and Engineering Beihang University Beijing100191 China Waterloo Cognitive Autonomous Driving Lab University of Waterloo N2L 3G1 Canada

In the Internet of things (IoT) era, vehicles and other intelligent components in an intelligent transportation system (ITS) are connected, forming vehicular networks (VNs) that provide efficient and safe traffic and ubiquitous access to various applications. However, as the number of nodes in an ITS increases, it is challenging to satisfy a varied and large number of service requests with different quality of service (QoS) and security requirements in highly dynamic VNs. Intelligent nodes in VNs can compete or cooperate for limited network resources to achieve the objective for either an individual or a group. Game theory (GT), a theoretical framework designed for strategic interactions among rational decision makers sharing scarce resources, can be used to model and analyze individual or group behaviors of communicating entities in VNs. This paper primarily surveys the recent developments of GT in solving various challenges of VNs. This survey starts with an introduction to the background of VNs. A review of GT models studied in the VNs is then introduced, including the basic concepts, classifications, and applicable vehicular issues. After discussing the requirements of VNs and the motivation of using GT, a comprehensive literature review on GT applications in dealing with the challenges of current VNs is provided. Furthermore, recent contributions of GT to VNs that are integrated with diverse emerging 5G technologies are surveyed. Finally, the lessons learned are given, and several key research challenges and possible solutions of applying GT in VNs are outlined. Copyright © 2021, The Authors. All rights reserved.

关键词： Quality of service

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An integrated cyberGIS and machine learning framework for fine-scale prediction of Urban Heat Island using satellite remote sensing and urban sensor network data

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Urban informatics 2022年第1期1卷 6页

作者： Fangzheng Lyu Shaohua Wang Su Yeon Han Charlie Catlett Shaowen Wang cyberGIS Center for Advanced Digital and Spatial Studies University of Illinois at Urbana-Champaign Urbana IL USA. Department of Geography and Geographic Information Science University of Illinois at Urbana-Champaign Urbana IL USA. Key Laboratory of Digital Earth Science Aerospace Information Research Institute Chinese Academy of Sciences Beijing 100094 China. International Research Center of Big Data for Sustainable Development Goals Beijing 100094 China. Computing Environment and Life Sciences Argonne National Laboratory Chicago IL USA.

Due to climate change and rapid urbanization, Urban Heat Island (UHI), featuring significantly higher temperature in metropolitan areas than surrounding areas, has caused negative impacts on urban communities. Temporal granularity is often limited in UHI studies based on satellite remote sensing data that typically has multi-day frequency coverage of a particular urban area. This low temporal frequency has restricted the development of models for predicting UHI. To resolve this limitation, this study has developed a cyber-based geographic information science and systems (cyberGIS) framework encompassing multiple machine learning models for predicting UHI with high-frequency urban sensor network data combined with remote sensing data focused on Chicago, Illinois, from 2018 to 2020. Enabled by rapid advances in urban sensor network technologies and high-performance computing, this framework is designed to predict UHI in Chicago with fine spatiotemporal granularity based on environmental data collected with the Array of Things (AoT) urban sensor network and Landsat-8 remote sensing imagery. Our computational experiments revealed that a random forest regression (RFR) model outperforms other models with the prediction accuracy of 0.45 degree Celsius in 2020 and 0.8 degree Celsius in 2018 and 2019 with mean absolute error as the evaluation metric. Humidity, distance to geographic center, and PM concentration are identified as important factors contributing to the model performance. Furthermore, we estimate UHI in Chicago with 10-min temporal frequency and 1-km spatial resolution on the hottest day in 2018. It is demonstrated that the RFR model can accurately predict UHI at fine spatiotemporal scales with high-frequency urban sensor network data integrated with satellite remote sensing data.

关键词： Machine learning Remote sensing Urban Heat Island Urban sensor network cyberGIS

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On the dynamics of a seventh-order generalized Hénon-Heiles potential

arXiv

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arXiv 2020年

作者： Dubeibe, Fredy L. Zotos, Euaggelos E. Chen, Wei Facultad de Ciencias Humanas y de la Educación Universidad de los Llanos Villavicencio Colombia Department of Physics School of Science Aristotle University of Thessaloniki ThessalonikiGR-541 24 Greece LMIB & School of Mathematics and Systems Science Beihang University Beijing100191 China Peng Cheng Laboratory Shenzhen Guangdong518055 China Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China

This paper deals with the derivation and analysis of a seventh-order generalization of the Hénon-Heiles potential. The new potential has axial and reflection symmetries, and finite escape energy with three channels of escape. Based on SALI indicator and exits basins, the dynamic behavior of the seventh-order system is investigated qualitatively in cases of bounded and unbounded movement. Moreover, a quantitative analysis is carried out through the percentage of chaotic orbits and the basin entropy, respectively. After classifying large sets of initial conditions of orbits for several values of the energy constant in both regimes, we observe that when the energy moves away from the critical value, the chaoticity of the system decreases and the basin structure becomes simpler with sharper and well defined bounds. Our results suggest that when the seventh-order contributions of the potential are taken into account, the system becomes less ergodic in comparison with the classical version of the Hénon-Heiles system. Copyright © 2020, The Authors. All rights reserved.

关键词： Hamiltonians

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Rethinking loss design for large-scale 3D shape retrieval

arXiv

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arXiv 2019年

作者： Li, Zhaoqun Xu, Cheng Leng, Biao School of Computer Science and Engineering Beihang University Beijing100191 Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing100191

Learning discriminative shape representations is a crucial issue for large-scale 3D shape retrieval. In this paper, we propose the Collaborative Inner Product Loss (CIP Loss) to obtain ideal shape embedding that discriminative among different categories and clustered within the same class. Utilizing simple inner product operation, CIP loss explicitly enforces the features of the same class to be clustered in a linear subspace, while inter-class subspaces are constrained to be at least orthogonal. Compared to previous metric loss functions, CIP loss could provide more clear geometric interpretation for the embedding than Euclidean margin, and is easy to implement without normalization operation referring to cosine margin. Moreover, our proposed loss term can combine with other commonly used loss functions and can be easily plugged into existing off-the-shelf architectures. Extensive experiments conducted on the two public 3D object retrieval datasets, ModelNet and ShapeNetCore 55, demonstrate the effectiveness of our proposal, and our method has achieved state-of-the-art results on both datasets. Copyright © 2019, The Authors. All rights reserved.

关键词： Embeddings

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CrypToth: Cryptic Pocket Detection through Mixed-Solvent Molecular Dynamics Simulations-Based Topological data Analysis

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Journal of chemical information and modeling 2025年第11期65卷 2025 May 22页

作者： Jun Koseki Chie Motono Keisuke Yanagisawa Genki Kudo Ryunosuke Yoshino Takatsugu Hirokawa Kenichiro Imai Cellular and Molecular Biotechnology Research Institute National Institute of Advanced Industrial Science and Technology (AIST) Tokyo 135-0064 Japan. Integrated Research Center for Self-Care Technology (irc-sct) National Institute of Advanced Industrial Science and Technology (AIST) Tokyo 135-0064 Japan. Computational Bio Big-Data Open Innovation Laboratory (CBBD-OIL) National Institute of Advanced Industrial Science and Technology (AIST) Waseda University Shinjuku-ku Tokyo 169-8555 Japan. Department of Computer Science School of Computing Institute of Science Tokyo Tokyo 152-8550 Japan. Middle Molecule IT-based Drug Discovery Laboratory (MIDL) Institute of Science Tokyo Tokyo 152-8550 Japan. Physics Department Graduate School of Pure and Applied Sciences University of Tsukuba Ibaraki 305-8571 Japan. Division of Biomedical Science Faculty of Medicine University of Tsukuba Ibaraki 305-8575 Japan. Transborder Medical Research Center University of Tsukuba Ibaraki 305-8577 Japan. Global Research and Development Center for Business By Quantum-AI Technology (G-QuAT) National Institute of Advanced Industrial Science and Technology (AIST) Ibaraki 305-8560 Japan.

Some functional proteins undergo conformational changes to expose hidden binding sites when a binding molecule approaches their surface. Such binding sites are called cryptic sites and are important targets for drug discovery. However, it is still difficult to correctly predict cryptic sites. Therefore, we introduce an advanced method, CrypToth, for the precise identification of cryptic sites utilizing the topological data analysis such as persistent homology method. This method integrates topological data analysis and mixed-solvent molecular dynamics (MSMD) simulations. To identify hotspots corresponding to cryptic sites, we conducted MSMD simulations using six probes with different chemical properties: dimethyl ether, benzene, phenol, methyl imidazole, acetonitrile, and ethylene glycol. Subsequently, we applied our topological data analysis method to rank hotspots based on the possibility of harboring cryptic sites. Evaluation of CrypToth using nine target proteins containing well-defined cryptic sites revealed its superior performance compared with recent machine-learning methods. As a result, in seven of nine cases, hotspots associated with cryptic sites were ranked the highest. CrypToth can explore hotspots on the protein surface favorable to ligand binding using MSMD simulations with six different probes and then identify hotspots corresponding to cryptic sites by assessing the protein's conformational variability using the topological data analysis. This synergistic approach facilitates the prediction of cryptic sites with a high accuracy.

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Gut microbiota and diabetes: From correlation to causality and mechanism

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World Journal of Diabetes 2020年第7期11卷 293-308页

作者： Wei-Zheng Li Kyle Stirling Jun-Jie Yang Lei Zhang Microbiome-X Beijing Advanced Innovation Center for Big Data-Based Precision MedicineSchool of Medicine and EngineeringKey Laboratory of Big Data-Based Precision MedicineBeihang UniversityBeijing 100191China School of Biological Science and Medical Engineering Beihang UniversityBeijing 100191China Luddy School of Informatics Computing and EngineeringIndiana UniversityBloomingtonIN 47408United States The Crisis Technologies Innovation Lab Indiana UniversityThe Information Technology Services and the Pervasive Technology InstituteBloomingtonIN 47408United States Shandong Institute of Industrial Technology for Health Sciences and Precision Medicine Jinan 250000Shandong ProvinceChina College of Life Science Qilu Normal UniversityJinan 250000Shandong ProvinceChina Microbiome Research Center Shandong Institutes for Food and Drug ControlJinan 250000Shandong ProvinceChina Shandong Children’s Microbiome Center Qilu Children's Hospital of Shandong UniversityJinan 250000Shandong ProvinceChina Microbiological Laboratory Lin Yi People’s HospitalLinyi 276000Shandong ProvinceChina Qingdao Human Microbiome Center The Affiliated Central Hospital of Qingdao UniversityQingdao 266000Shandong ProvinceChina Institute for Medical Dataology Cheeloo College of MedicineShandong UniversityJinan 250000Shandong ProvinceChina Department of Biostatistics School of Public HealthCheeloo College of MedicineShandong UniversityJinan 250000Shandong ProvinceChina Shandong Children’s Microbiome Center Research Institute of PediatricsQilu Children's HospitalCheeloo College of MedicineShandong Universityand Jinan Children's HospitalJinan 250022Shandong ProvinceChina

In this review,we summarize the recent microbiome studies related to diabetes disease and discuss the key findings that show the early emerging potential causal roles for *** a global scale,diabetes causes a significant negative impact to the health status of human *** review covers type 1 diabetes and type 2 *** examine promising studies which lead to a better understanding of the potential mechanism of microbiota in diabetes *** appears that the human oral and gut microbiota are deeply interdigitated with *** is that *** studies of the human microbiome are capturing the attention of scientists and healthcare practitioners worldwide by focusing on the interplay of gut microbiome and *** studies focus on the role and the potential impact of intestinal microflora in *** paint a clear picture of how strongly microbes are linked and associated,both positively and negatively,with the fundamental and essential parts of diabetes in *** microflora seems to have an endless capacity to impact and transform *** conclude that there is clear and growing evidence of a close relationship between the microbiota and diabetes and this is worthy of future investments and research efforts.

关键词： Diabetes Microbiota Causality Mechanism Type 1 diabetes Type 2 diabetes Insulin resistance Inflammation Metabolites

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Enhancing 2D Representation via Adjacent Views for 3D Shape Retrieval

Enhancing 2D Representation via Adjacent Views for 3D Shape ...

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International Conference on Computer Vision (ICCV)

作者： Cheng Xu Zhaoqun Li Qiang Qiu Biao Leng Jingfei Jiang School of Computer Science & Engineering Beihang University Duke University Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University State Key Laboratory of Virtual Reality Technology and Systems Beihang University National Laboratory for Parallel and Distributed Processing National University of Defense Technology

ISBN: (数字)9781728148038

ISBN: (纸本)9781728148045

Multi-view shape descriptors obtained from various 2D images are commonly adopted in 3D shape retrieval. One major challenge is that significant shape information are discarded during 2D view rendering through projection. In this paper, we propose a convolutional neural network based method, CenterNet, to enhance each individual 2D view using its neighboring ones. By exploiting cross-view correlations, CenterNet learns how adjacent views can be maximally incorporated for an enhanced 2D representation to effectively describe shapes. We observe that a very small amount of, e.g., six, enhanced 2D views, are already sufficient for a panoramic shape description. Thus, by simply aggregating features from six enhanced 2D views, we arrive at a highly compact yet discriminative shape descriptor. The proposed shape descriptor significantly outperforms state-of-the-art 3D shape retrieval methods on the ModelNet and ShapeNetCore55 benchmarks, and also exhibits robustness against object occlusion.

关键词： Shape Three-dimensional displays Correlation Two dimensional displays Feature extraction Solid modeling Computational modeling

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