作者：
Qiming LiuXinru CuiZhe LiuHesheng WangDepartment 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-b...
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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.
The hydrogen fuel cell vehicle is rapidly developing in China for carbon reduction and *** paper evaluated the life-cycle cost and carbon emission of hydrogen energy via lots of field surveys,including hydrogen produc...
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The hydrogen fuel cell vehicle is rapidly developing in China for carbon reduction and *** paper evaluated the life-cycle cost and carbon emission of hydrogen energy via lots of field surveys,including hydrogen production and packing in chlor-alkali plants,transport by tube trailers,storage and refueling in hydrogen refueling stations(HRSs),and application for use in two different *** also conducted a comparative study for battery electric vehicles(BEVs)and internal combustion engine vehicles(ICEVs).The result indicates that hydrogen fuel cell vehicle(FCV)has the best environmental performance but the highest energy ***,a sufficient hydrogen supply can significantly reduce the carbon intensity and FCV energy cost of the current *** carbon emission for FCV application has the potential to decrease by 73.1%in City A and 43.8%in City *** only takes 11.0%–20.1%of the BEV emission and 8.2%–9.8%of the ICEV *** cost of FCV driving can be reduced by 39.1%in City *** improvement can be obtained with an economical and“greener”hydrogen production pathway.
The baseline path following algorithm based on PID controller for horizontal movement of the MiddleAUV is constructed. The MiddleAUV is small autonomous underwater vehicle designed to study the control algorithms. Thi...
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The article is devoted to the problem of assessing the risk of the presence of an autonomous underwater vehicle in a position limited by a given course angle at every moment of the system's operation. These risky ...
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In this paper, continuous time-varying stabilizing controllers for the type of general nonholonomic systems proposed and treated in part 1 are designed using the fully actuated system(FAS) approach. The key step is to...
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In this paper, continuous time-varying stabilizing controllers for the type of general nonholonomic systems proposed and treated in part 1 are designed using the fully actuated system(FAS) approach. The key step is to differentiate the first scalar equation, and by control of the obtained second-order scalar system, a proportional plus integral feedback form for the first control variable is obtained. With the solution to this designed second-order scalar system, the rest equations in the nonholonomic system form an independent time-varying subsystem which is then handled by the FAS approach. The overall designed controller contains an almost arbitrarily chosen design parameter, and is proven to guarantee the uniformly and globally exponential stability of the closed-loop system. The proposed approach is simple and effective,and is demonstrated with a practical example of ship control.
What is already known about this topic?The emergence of rare multidrug-resistant Salmonella serovars is increasingly common in developing countries,posing a significant public health *** is added by this report?This r...
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What is already known about this topic?The emergence of rare multidrug-resistant Salmonella serovars is increasingly common in developing countries,posing a significant public health *** is added by this report?This report identified five rare Salmonella serovars in China for the first time and using whole-genome sequencing,identified their hidden spread among healthy ***,antibiotic resistance genes and virulence genes were *** are the implications for public health practice?Healthy individuals,especially food handlers,may be sources of hidden Salmonella ***,monitoring Salmonella prevalence in healthy individuals is important for understanding and managing the risks of foodborne illness.
What is already known about this topic?A 20-month-old boy was admitted to the hospital with a maximum temperature of 40°C and a single ***,blood culture detected Francisella tularensis(***)using the VITEK 2 Compa...
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What is already known about this topic?A 20-month-old boy was admitted to the hospital with a maximum temperature of 40°C and a single ***,blood culture detected Francisella tularensis(***)using the VITEK 2 Compact *** is added by this report?After incubation of the patient’s blood for 48 hours,the cultured strain was identified as Campylobacter jejuni,named L8,excluding *** the genome sequence of L8,we found a novel Type VI Secretion System(T6SS),of which the conserved C-terminal VgrG domain from positions 561 to 884 showed significant *** are the implications for public health practice?It should be underscored that relying solely on automatic bacterial identification instruments for accurate strain identification is ***,our study suggests that the potential effect of T6SS should be considered when studying the genetic features of a patient’s clinical phenotypes.
Objective Genotypes(G)1,3,and 5 of the Japanese encephalitis virus(JEV)have been isolated in China,but the dominant genotype circulating in Chinese coastal areas remains *** searched for G5 JEV-infected cases and atte...
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Objective Genotypes(G)1,3,and 5 of the Japanese encephalitis virus(JEV)have been isolated in China,but the dominant genotype circulating in Chinese coastal areas remains *** searched for G5 JEV-infected cases and attempted to elucidate which JEV genotype was most closely related to human Japanese encephalitis(JE)in the coastal provinces of *** In this study,we collected serum specimens from patients with JE in three coastal provinces of China(Guangdong,Zhejiang,and Shandong)from 2018 to 2020 and conducted JEV cross-neutralization tests against G1,G3,and *** Acute serum specimens from clinically reported JE cases were obtained for laboratory confirmation from hospitals in Shandong(92 patients),Zhejiang(192 patients),and Guangdong(77 patients),China,from 2018 to *** of the 361 serum specimens were laboratory-confirmed to be infected with *** cases were confirmed to be infected with G1 JEV,32 with G3 JEV,and two with G5 *** G3 was the primary infection genotype among JE cases with a definite infection genotype,and the infection caused by G5 JEV was confirmed serologically in China.
This paper investigates the robust bounded-H8 stabilization for a class of high-order fully actuated systems (FASs) with time-varying uncertainty and disturbance. Based on the FAS approaches and the H8 control, a robu...
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Dear Editor, This letter provides a simple framework to generalized zero-shot learning for fault diagnosis. For industrial process monitoring, supervised learning and zero-shot learning(ZSL) can only deal with seen an...
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Dear Editor, This letter provides a simple framework to generalized zero-shot learning for fault diagnosis. For industrial process monitoring, supervised learning and zero-shot learning(ZSL) can only deal with seen and unseen faults, respectively. However, in the online monitoring stage of the actual industrial process, both seen and unseen faults may occur. This makes supervised learning and zero-shot learning impractical in industrial process monitoring.
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