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A memetic algorithm for path planning of curvature-constrained UAVs performing surveillance of multiple ground targets

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Chinese Journal of Aeronautics 2014年第3期27卷 622-633页

作者： Zhang Xing Chen Jie Xin Bin Peng Zhihong School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

The problem of generating optimal paths for curvature-constrained unmanned aerial vehicles （UAVs） performing surveillance of multiple ground targets is addressed in this paper. UAVs are modeled as Dubins vehicles so that the constraints of UAVs＇ minimal turning radius can be taken into account. In view of the effective surveillance range of the sensors equipped on UAVs, the problem is formulated as a Dubins traveling salesman problem with neighborhood （DTSPN）. Considering its prohibitively high computational complexity, the Dubins paths in the sense of terminal heading relaxation are introduced to simplify the calculation of the Dubins distance, and a boundary-based encoding scheme is proposed to determine the visiting point of every target neighborhood. Then, an evolutionary algorithm is used to derive the optimal Dubins tour. To further enhance the quality of the solutions, a local search strategy based on approximate gradient is employed to improve the visiting points of target neighborhoods. Finally, by a minor modification to the individual encoding, the algorithm is easily extended to deal with other two more sophisticated DTSPN variants （multi-UAV scenario and multiple groups of targets scenario）. The performance of the algorithm is demonstrated through comparative experiments with other two state-of-the-art DTSPN algorithms identified in literature. Numerical simulations exhibit that the algorithm proposed in this paper can find high-quality solutions to the DTSPN with lower computational cost and produce significantly improved performance over the other algorithms.

关键词： Approximate gradient Dubins traveling salesmanproblem with neighborhood Local search Memetic algorithm Unmanned aerial vehicles

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A-STC: auction-based spanning tree coverage algorithm for motion planning of cooperative robots

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Frontiers of Information Technology & Electronic Engineering 2019年第1期20卷 18-31页

作者： Guan-qiang GAO Bin XIN School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems

The multi-robot coverage motion planning(MCMP) problem in which every reachable area must be covered is common in multi-robot systems. To deal with the MCMP problem, we propose an efficient, complete, and off-line algorithm, named the "auction-based spanning tree coverage(A-STC)" algorithm. First, the configuration space is divided into mega cells whose size is twice the minimum coverage range of a robot. Based on connection relationships among mega cells, a graph structure can be obtained. A robot that circumnavigates a spanning tree of the graph can generate a coverage trajectory. Then, the proposed algorithm adopts an auction mechanism to construct one spanning tree for each robot. In this mechanism, an auctioneer robot chooses a suitable vertex of the graph as an auction item from neighboring vertexes of its spanning tree by heuristic rules. A bidder robot submits a proper bid to the auctioneer according to the auction vertexes' relationships with the spanning tree of the robot and the estimated length of its trajectory. The estimated length is calculated based on vertexes and edges in the spanning tree. The bidder with the highest bid is selected as a winner to reduce the makespan of the coverage task. After auction processes, acceptable coverage trajectories can be planned rapidly. Computational experiments validate the effectiveness of the proposed MCMP algorithm and the method for estimating trajectory lengths. The proposed algorithm is also compared with the state-of-the-art algorithms. The comparative results show that the A-STC algorithm has apparent advantages in terms of the running time and the makespan for large crowded configuration spaces.

关键词： Coverage motion planning Multi-robot system Auction algorithm Spanning tree coverage algorithm

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Online adaptive Q-learning method for fully cooperative linear quadratic dynamic games

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Science China(Information Sciences) 2019年第12期62卷 164-177页

作者： Xinxing LI Zhihong PENG Lei JIAO Lele XI Junqi CAI School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

A model-based offline policy iteration(PI) algorithm and a model-free online Q-learning algorithm are proposed for solving fully cooperative linear quadratic dynamic games. The PI-based adaptive Q-learning method can learn the feedback Nash equilibrium online using the state samples generated by behavior policies, without sending inquiries to the system model. Unlike the existing Q-learning methods, this novel Q-learning algorithm executes both policy evaluation and policy improvement in an adaptive *** prove the convergence of the offline PI algorithm by proving its equivalence to Newton's method while solving the game algebraic Riccati equation(GARE). Furthermore, we prove that the proposed Q-learning method will converge to the Nash equilibrium under a small learning rate if the method satisfies certain persistence of excitation conditions, which can be easily met by suitable behavior policies. Our simulation results demonstrate the good performance of the proposed online adaptive Q-learning algorithm.

关键词： adaptive dynamic programming reinforcement learning Q-learning fully cooperative linear quadratic dynamic games policy iteration off-policy

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Further results on cloud control systems

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Science China(Information Sciences) 2016年第7期59卷 232-236页

作者： Yuanqing XIA Yongming QIN Di-Hua ZHAI Senchun CHAI School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology

This paper is devoted to further investigating the cloud control systems(CCSs). The benefits and challenges of CCSs are provided. Both new research results of ours and some typical work made by other researchers are p... 详细信息

关键词： cloud control systems cloud computing cyber-physical systems networked control systems big data

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Osteoclasts drive bone formation in ectopic and orthotopic environments

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Biomaterials 2025年 322卷 123377-123377页

作者： Zhang, Yang Yu, Taozhao Xiang, Qianfeng van den Tillaart, Femke Ma, Jinling Zhuang, Zhumei Stessuk, Talita Wang, Huanan van den Beucken, Jeroen J.J.P. School of Dentistry Shenzhen University Medical School Shenzhen518055 China Regenerative Biomaterials Department of Dentistry Radboudumc Nijmegen6525GA Netherlands School of Stomatology Capital Medical University Beijing100029 China MOE Key Laboratory of Bio-Intelligent Manufacturing Dalian Key Laboratory of Artificial Organ and Regenerative Medicine School of Bioengineering Dalian University of Technology Dalian116024 China Institute for Complex Molecular Systems Eindhoven University of Technology Eindhoven5612AZ Netherlands

To date, cell-based approaches to stimulate bone formation have primarily focused on mesenchymal stromal cells (MSCs) for their supposed osteogenic potential, but despite some pre-clinical successes, clinical outcomes have remained unsatisfactory. Emerging data suggest that osteoclasts play crucial roles in stimulating bone formation beyond their catabolic function in bone resorption. Interestingly, osteoclastic activity precedes osteoblastic bone formation in the physiological bone remodeling cycle. To explore the role of osteoclasts in bone formation further, we prepared osteoclast-based constructs and implanted them (i) ectopically to evaluate their potential to induce bone formation, and (ii) orthotopically to evaluate effects on bone regeneration. Remarkably, constructs containing primary mouse osteoclasts showed consistent and robust de novo bone formation, which presented comparable osteogenic efficacy to BMP-2 treatment. Additionally, we observed de novo bone marrow formation upon ectopic implantation of osteoclast-based constructs (incidence 73 %) and BMP-2 loaded controls (incidence 91 %). Importantly, constructs containing macrophages (MФs) or scaffold only (negative control) showed neither bone nor bone marrow formation. Further, a mouse cranial defect model confirmed the stimulatory bone regeneration capabilities of Osteoclast-based constructs, evidenced by 2.5-fold increased bone formation compared to scaffold only. These findings demonstrate the osteoinduction and osteogenesis capacity of osteoclasts, reshaping our understanding of their role in bone formation and opening new avenues for the design and development of cell-based constructs for bone repair. © 2025 The Author(s)

关键词： Osteoblasts

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Cramér-Rao Bound Minimization for a Passive Sensing Multi-ISAC System

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IEEE Transactions on Vehicular Technology 2025年

作者： Chen, Jian Chen, Qikai Deng, Yansha Jia, Jie Yin, Baoxin Wang, Xingwei Northeastern University School of Computer Science and Engineering Shenyang110819 China Northeastern University Engineering Research Center of Security Technology of Complex Network System Ministry of Education Shenyang110819 China Northeastern University Key Laboratory of Intelligent Computing in Medical Image Ministry of Education Shenyang110819 China King's College London LondonWC2R 2LS United Kingdom

The integrated sensing and communication (ISAC) system can simultaneously provide communication and radar sensing, effectively improving spectrum utilization. However, existing research mainly focuses on the mono-static sensing ISAC system, which has shortcomings in limited sensing range and accuracy. We thus investigate a passive sensing multi-ISAC system with multiple communication users and sensing targets, and consider two cases for multi-target sensing without and with prior target knowledge at the base stations (BSs), in which the BSs are interested in estimating the targets' response matrix and channel coefficients, respectively. We also formulate a joint beamforming problem to minimize the Cramér-Rao bound (CRB) of the worst estimation constrained by communication requirements, and obtain the optimal solution with semidefinite relaxation (SDR) assisted transformation. To verify the advantages of our proposed scheme, we consider the bi-static BSs system (B-B) and beamforming with sensing interference cancellation (W-S) as two benchmark schemes. Numerical results illustrate that the proposed scheme obtains better sensing performance and effectively alleviates the effect caused by sensing interference. © 1967-2012 IEEE.

关键词： Cramer-Rao bounds

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On Real Reward Testing

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Journal of Shanghai Jiaotong university(Science) 2011年第4期16卷 479-484页

作者：杨伟忠邓玉欣 MOE-MS Key Laboratory for Intelligent Computing and Intelligent Systems Shanghai Jiaotong University

We extend the traditional nonnegative reward testing with negative *** this new testing framework,may preorder and must preorder are the inverse of each *** surprisingly,it turns out that the real reward must testing is no more powerful than the nonnegative reward testing,at least for finite processes. In order to prove that result,we exploit an important property of failure simulation about the inclusion of the testing outcomes between two related processes.

关键词： probabilistic processes real reward testing nonnegative reward testing failure simulation

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Multimodal Emotion Recognition Based on Multi-Scale Facial Features and Cross-Modal Attention

Multimodal Emotion Recognition Based on Multi-Scale Facial F...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Chengao Bao Luefeng Chen Min Li Min Wu Witold Pedrycz Kaoru Hirota School of Automation China University of Geosciences Wuhan China the Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation and the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton Canada Tokyo Institute of Technology Yokohama Japan Tokyo Institute of Technology Tokyo Japan

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

A multi-modal emotion recognition method based on facial multi-scale features and cross-modal attention (MS-FCA) network is proposed. The MSFCA model improves the traditional single-branch ViT network into a two-branch ViT architecture by using classification tokens in each branch to interact with picture embeddings in the other branch, which facilitates effective interactions between different scales of information. Subsequently, audio features are extracted using ResNet18 network. The cross-modal attention mechanism is used to obtain the weight matrices between different modal features, making full use of inter-modal correlation and effectively fusing visual and audio features for more accurate emotion recognition. Two datasets are used for the experiments: eNTERFACE'05 and REDVESS dataset. The experimental results show that the accuracy of the proposed method on the eNTERFACE'05 and REDVESS datasets is 85.42% and 83.84% respectively, which proves the effectiveness of the proposed method.

关键词： Emotion recognition Visualization Accuracy Service robots Semantics Human-robot interaction Speech recognition Feature extraction Data mining Facial features

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Multi-Objective Cooperative Salvo Attack Against Group Target

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Journal of systems Science & complexity 2018年第1期31卷 244-261页

作者： ZENG Jie DOU Lihua XIN Bin School of Automation State Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology

This paper proposes a solution for the problem of cooperative salvo attack of multiple cruise missiles against targets in a group. Synchronization of the arrival time of missiles to hit their common target, minimizing the time consumption of attack and maximizing the expected damage to group targets are taken into consideration simultaneously. These operational objectives result in a hierarchical mixed-variable optimization problem which includes two types of subproblems, namely the multi-objective missile-target assignment（MOMTA） problem at the upper level and the time-optimal coordinated path planning（TOCPP） problems at the lower level. In order to solve the challenging problem, a recently proposed coordinated path planning method is employed to solve the TOCPP problems to achieve the soonest salvo attack against each target. With the aim of finding a more competent solver for MOMTA, three state-of-the-art multi-objective optimization methods（MOMs）,namely NSGA-II, MOEA/D and DMOEA-εC, are adopted. Finally, a typical example is used to demonstrate the advantage of the proposed method. A simple rule-based method is also employed for comparison. Comparative results show that DMOEA-εC is the best choice among the three MOMs for solving the MOMTA problem. The combination of DMOEA-εC for MOMTA and the coordinated path planning method for TOCPP can generate obviously better salvo attack schemes than the rule-based method.

关键词： Coordinated path planning missile-target assignment multi-missile salvo attack multiobjective optimization

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SARS-CoV-2 Inhibits Exo-Endocytosis and Enhances Short-Term Depression at a Central Synapse

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Neuroscience Bulletin 2025年第1期41卷 165-171页

作者： Jiawei Hu Yuhan Zhang Qingzhuo Liu Jiaqi Hu Yichen Ru Lu Zhang Lixin Xie Lei Xue State Key Laboratory of Medical Neurobiology and MOE Frontiers Center for Brain Science Fudan UniversityShanghai200438China Department of Physiology and Neurobiology School of Life SciencesFudan UniversityShanghai200438China Department of Pulmonary and Critical Care Medicine Ruijin HospitalShanghai Jiao Tong University School of MedicineShanghai200025China Center for Rehabilitation Medicine Department of Pain ManagementZhejiang Provincial People’s HospitalAffiliated People’s HospitalHangzhou Medical CollegeHangzhou310014China Department of Microbiology and Immunology School of Life SciencesFudan UniversityShanghai200438China College of Pulmonary and Critical Care Medicine 8th Medical Center of Chinese PLA General HospitalBeijing100091China Research Institute of Intelligent Complex Systems Fudan UniversityShanghai200433China

Dear Editor,SARS-CoV-2 is the virus that caused the COVID-19 pandemic,leading to more than 774 million cases and 7,037,007 deaths by March 2024(World Health Organization,http://***/).Despite effective treatments,15%-20%of patients experience long-term symptoms,such as breathlessness,fatigue,depression,and cognitive impairment,which are often linked to an excessive immune response[1].All variants of the virus(α,,,Omicron,and BA.1),which can potentially access the brain via the olfactory mucosa,have been found in the brains of Syrian hamsters,triggering inflammation and demonstrating axonal travel[2].

关键词： travel spite fatigue

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