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Relative Localizability and Localization for Multirobot systems

IEEE Transactions on Robotics 2025年 41卷 2931-2949页

作者： Chen, Liangming Liang, Chenyang Yuan, Shenghai Cao, Muqing Xie, Lihua Southern University of Science and Technology School of System Design and Intelligent Manufacturing Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Southern University of Science and Technology School of System Design and Intelligent Manufacturing Shenzhen518055 China Nanyang Technological University School of Electrical and Electronic Engineering 639798 Singapore Carnegie Mellon University Robotics Institute PittsburghPA15213 United States

Inter-robot relative positions are crucial for executing various multirobot missions, such as formation maneuvering and collaborative inspection. However, the current sensing technology usually provides part of relative position information, such as inter-robot distances, bearings and angles. This prompts the study of determining inter-robot relative positions, i.e., relative localization, from these partial measurements. Based on the existing results of static networks' localizability and mobile robots' relative localization, we propose a novel concept, relative localizability to describe whether a multirobot system is relatively localizable. Given each robot's self-displacement measurements and inter-robot partial measurements in d (d ≤ 4) sampling instants, we show that a multirobot system's relative localization can be achieved in a purely algebraic and distributed manner, in which the multirobot system is said to be d-step relatively localizable. To make the results more general, we consider that the multirobot system consists of landmarks, leaders, and followers, and that the inter-robot measurements can be distances, bearings or angles. When robots' coordinate frames have different orientations, we show that the given local measurements can be used to determine robots' relative positions and their coordinate frames' relative orientations simultaneously. Simulations and experiments of relative localization for ground robots are conducted to validate the obtained results. © 2004-2012 IEEE.

关键词： Multipurpose robots

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Advancements in graphene-based composites: A review of the emerging applications in healthcare

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Smart Materials in Medicine 2025年第1期6卷 120-138页

作者： Batool, Farwa Muhammad, Saz Muazzam, Rabia Waqas, Muhammad Ullah, Zia Roy, Shubham Zhang, Yinghe Wang, Ke Guo, Bing Department of Chemistry Lahore Garrison University DHA Phase VI Lahore Pakistan School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen518055 China School of Science Shenzhen Key Laboratory of Flexible Printed Electronics Technology Shenzhen Key Laboratory of Advanced Functional Carbon Materials Research and Comprehensive Application Harbin Institute of Technology Shenzhen518055 China Government Queen Mary Graduate College Lahore Pakistan

Graphene and related materials are emerging revolutionary materials due to fascinating stimuli-responsive physiochemical properties having widespread applications in developing advanced nano-systems for detection, diagnostics, and therapeutics in biomedical fields. Various materials like metal nanoparticles, polymers, dyes, drugs, and proteins could be combined yielding graphene-based composite materials (GBCMs) to synergistically fulfill different biomedical requirements. The 2D conjugated structure, easy surface functionalization via covalent or van der Waal interactions, and combination with different components for versatile functionalities altogether contribute to the development of GBCM for healthcare applications. This review specifically focuses on GBCMs and discusses specific material properties relevant to their material applications in healthcare. Furthermore, the synthesis, toxicity, and biocompatibility of these GBCMs, and their interactions with biological materials are thoroughly discussed. Importantly, the recent cutting-edge applications in the field of healthcare, including its role in the development of antibacterial, anti-viral, and photothermal therapies, wound healing, drug delivery, neurodegenerative disease therapy, and biosensing based on GBCMs are well-updated. Additionally, the applications of GBCMs in point-of-care devices, wearable electronics, and tissue engineering are well summarized. We hope this review opens up more possibilities to design more innovative healthcare materials derived from graphene. © 2025 The Authors

关键词： Biocompatibility

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A Memetic Algorithm Based Feature Weighting for Metabolomics Data Classification

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Chinese Journal of Electronics 2025年第4期23卷 706-711页

作者： Jiarui Zhou Zexuan Zhu Zhen Ji College of Biomedical Engineering and Instrument Science Zhejiang University Hangzhou China Shenzhen City Key Laboratory of Embedded System Design College of Computer Science and Software Engineering Shenzhen University Shenzhen China

A metaheuristic chain based memetic algorithm namely MCMA is proposed for the classification of metabolomics data. MCMA regards both global evolution and local search as equivalent elemental metaheuristics, and searches with a chain of metaheuristics performed alternatively on the target problem. A hidden Markov model based scheduling mechanism is employed in MCMA for the selection of metaheuristics. By using MCMA for optimizing the linkage weight vector, a feature weighting algorithm for metabolomics data is formed to identify relevant metabolite features and reveal their exact relationships with the given physiological states. An extreme learning machine based classifier is utilized in predicting the physiological states according to the weighted metabolite features. Experimental results on real metabolomics data of clinical liver transplantation demonstrate that the proposed feature weighting and classification method obtains better performance than the other compared algorithms.

关键词： Memetics Metabolomics Metaheuristics Urban areas Liver Prediction algorithms Search problems Physiology Vectors Classification algorithms

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Efficient gene disruption in polyploid genome by Cas9–Trex2 fusion protein

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Journal of Integrative Plant Biology 2025年第1期67卷 7-10页

作者： Wenbo Pan Chunlei Gao De Niu Jinghua Cheng Jiao Zhang Xiying Yan Qiang Long Yao Yao Zhu Wenjing Sun Qi Xie Yuehui He Xing Wang Deng Huawei Zhang Jian Li State Key Laboratory of Wheat Improvement Shandong Laboratory of Advanced Agricultural Sciences in WeifangPeking University Institute of Advanced Agricultural SciencesWeifang 261325China Guangdong Provincial Key Laboratory of Biotechnology for Plant Development Ministry of Education&Guangdong Provincial Key Laboratory of Laser Life ScienceSchool of Life SciencesSouth China Normal UniversityGuangzhou 510631China Shenzhen Tidy field System Biotechnology Co. LtdShenzhen 518107China State Key Laboratory of Plant Genomics Institute of Genetics and Developmental BiologyThe Innovative Academy of Seed DesignChinese Academy of SciencesBeijing 100101China

Despite significant advancements in the efficiency of the CRISPR/Cas9 genome editing system over the past decade,performing gene disruption in polyploid crops such as common wheat(Triticum aestivum L.)remains challeng... 详细信息

关键词： CRISPR/Cas9 crops trait

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Magnitude,distribution and temporal trend of nitrous oxide emissions from China's natural soils over 1980–2022

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Science China Earth Sciences 2025年第4期68卷 1074-1085页

作者： Songbai HONG Zimeng LI Mingsong TANG Fa LI Yitong YAO Yanzi YAN Mingzhu HE Xuhui WANG Hui ZENG Shilong PIAO School of Urban Planning and Design Shenzhen Graduate SchoolPeking UniversityShenzhen518055China Key Laboratory of Earth Surface System and Human-Earth Relations Ministry of Natural Resources of ChinaShenzhen Graduate SchoolPeking UniversityShenzhen518055China Institute of Carbon Neutrality Sino-French Institute for Earth System ScienceCollege of Urban and Environmental SciencesPeking UniversityBeijing100871China Department of Earth System Science Stanford UniversityStanfordCA94305USA Division of Geological and Planetary Sciences California Institute of TechnologyPasadenaCA91125USA Department of Soil and Environment Swedish University of Agricultural SciencesUppsala75007Sweden Joint International Research Laboratory of Catastrophe Simulation and Systemic Risk Governance Beijing Normal UniversityZhuhai519087China School of National Safety and Emergency Management Beijing Normal UniversityZhuhai519807China

Soils represent the largest contributor to global nitrous oxide(N_(2)O)***,current research efforts predominantly focus on N_(2)O emissions from agricultural soils,while studies on N_(2)O emissions from natural soils,another significant source,remain *** this study,we explored the magnitude,spatiotemporal dynamics,and drivers of N_(2)O emissions from China's natural soils over the period 1980–2022 via machine learning and a compiled novel dataset of 319 field *** results revealed that the N_(2)O flux per unit area was generally higher in the southeast compared to the northwest,and higher in forests than in *** spatial and biome heterogeneity was strongly regulated by local hydrothermal conditions and nitrogen *** averaged N_(2)O emissions over the study period were 646.2±27 Gg N_(2)O yr^(-1),with approximately equivalent contributions from forests and ***,there exhibited a significant and increasing trend from 1980 to 2022,with a rate of 2.7 Gg N_(2)O yr^(-2).Such an increase was primarily driven by the expansion of forested area and elevated nitrogen *** data-driven study presents a long-term and gridded estimate of N_(2)O emissions from China's natural soils,emphasizing the need for future research on changes of greenhouse gas emissions induced by land use change and nitrogen deposition.

关键词： Nitrous oxide Spatiotemporal dynamics Nitrogen deposition Forests Grasslands Data-driven estimates

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Mechanical properties and microstructure evolution of T2 copper in multimodal ultrasonic vibration assisted micro-compression

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材料科学技术（英文版） 2025年第5期208卷 152-163页

作者： Weiqiang Wan Zidong Yin Guangchao Han Ming Yang Jitao Hu Fuchu Liu Linhong Xu Wei Bai Hui Chen School of Mechanical Engineering and Electronic Information China University of GeosciencesWuhan 430074China Graduate School of System Design Tokyo Metropolitan UniversityTokyo 191-0065Japan Graduate School of System Design Tokyo Metropolitan UniversityTokyo 191-0065Japan School of Mechanical Engineering and Electronic Information China University of GeosciencesWuhan 430074China Shenzhen Research Institute China University of GeosciencesShenzhen 518057China State Key Laboratory of Solidification Processing Northwestern Polytechnical UniversityXi'an 710072China School of Mechanical Engineering and Electronic Information China University of GeosciencesWuhan 430074China School of Mechanical Engineering and Electronic Information China University of GeosciencesWuhan 430074China Shenzhen Research Institute China University of GeosciencesShenzhen 518057China School of Mechanical Engineering and Electronic Information China University of GeosciencesWuhan 430074China Shenzhen Research Institute China University of GeosciencesShenzhen 518057China Shenzhen Huazhong University of Science and Technology Research Institute Shenzhen 518000China State Key Laboratory of Solidification Processing Northwestern Polytechnical UniversityXi'an 710072China

Multimodal ultrasonic vibration(UV)assisted micro-forming has been widely investigated for its advan-tages of further reducing forming loads and improving forming ***,the influence mecha-nism of different UV modes on microstructure evolution and mechanical properties was still ***-timodal UV assisted micro-compression tests on T2 copper with different grains and sample sizes were conducted in this *** microstructure evolution for different UV modes was observed by *** results showed that the true stress reduction caused by UV was increased sequentially with tool ultrasonic vibration(TV),mold ultrasonic vibration(MV)and compound ultrasonic vibration(CV).The region of grain deformation was shifted along the direction of UV,and the MV promoted the uniform distribution of deformation *** grain refinement,fiber streamline density,grain deformation and rotation degree were further enhanced under CV,due to the synergistic effect of TV and ***,a coupled theoretical model considering both acoustic softening effect and size effect was proposed for describing the mechanical *** a physical model of dislocation motion in different UV modes was developed for describing the microstructure *** maximum error between the theoretical and experimental results was only 2.39％.This study provides a theoretical basis for the optimization of UV assisted micro-forming process.

关键词： Multimodal ultrasonic vibration Microstructure evolution Acoustic softening Size effect Coupling mechanism

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Electric Vehicle Routing Problem with Capacitated Charging Stations and Dynamic Electricity Prices

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IEEE Internet of Things Journal 2025年

作者： He, Zhiye Tian, Yuning Miao, Haoyu Yao, Canqi Yang, Zaiyue Shenzhen Key Laboratory of Control Theory and Intelligent Systems Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities School of System Design and Intelligent Manufacturing Shenzhen518055 China The Hong Kong Polytechnic University Department of Logistics and Maritime Studies Hong Kong Hong Kong

With rapid electrification of transportation systems in recent years, the electric vehicle routing problem (EVRP) has received increasing attention. In order to serve a set of valuable transportation tasks using a fleet of electric vehicles, EVRP intends to jointly determine their routes and the charging schedules, with the aim of optimizing service reward and charging cost under state of charge (SOC) constraints of battery. EVRP is a difficult nonlinear integer program, and due to its intrinsic NP-hardness early EVRP studies often oversimplify the charging process and assume unlimited capacity of charging stations and constant electricity price. The contribution of this paper lies in twofold. First, to better characterize the practical charging process, this paper introduces a new graph model that can take the charging station capacity and dynamic electricity price into full consideration. Second, we design a series of transformation techniques, including reformulation SOC dynamics, Lagrangian relaxation, exact linear programming relaxation, etc, which eventually convert the original EVRP into an approximate linear program. Extensive simulations across 14 instances demonstrate that, the proposed approach is capable of solving large-scale instances over 500 nodes, and is 100 times faster than traditional analytic methods while achieving very close optimality. While comparing with the popular heuristic method ALNS (Adaptive Large Neighborhood Search), our method is several times faster and obtains much better optimality. © 2014 IEEE.

关键词： Charging stations

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CRRL: Contrastive Region Relevance Learning Framework for Cross-city Traffic Prediction

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Information Fusion 2025年 122卷

作者： Dai, Genan Yi, Wenfeng Cao, Jinzhou Gong, Zhaoya Fu, Xianghua Zhang, Bowen College of Big Data and Internet Shenzhen Technology University Shenzhen China China College of Applied Science Shenzhen University Shenzhen China School of Urban Planning & Design Peking University Shenzhen Graduate School Shenzhen China Key Laboratory of Earth Surface System and Human-Earth Relations of Ministry of Natural Resources of China Peking University Shenzhen Graduate School Shenzhen China

Accurate traffic prediction plays a pivotal role in smart urban systems by enabling effective traffic management and improving the quality of life for residents. While intra-city traffic prediction has been extensively studied, cross-city traffic prediction remains a challenging task due to data scarcity in target cities, domain gaps between cities, and the risk of negative transfer. To address these challenges, we propose a novel Contrastive Region Relevance Learning (CRRL) framework. CRRL leverages contrastive learning to align region-level spatiotemporal patterns and transfer high-quality knowledge between cities. Specifically, CRRL integrates three key modules: (1) a Dual-branch Spatiotemporal Encoder (DSE) to capture region-pair and high-order region group relationships, (2) a Pseudo-Label Generation (PLG) module for aligning cross-city embedding similarities, and (3) a Reliable Region Selection (RRS) module for contrastive learning within consistent regions. Extensive experiments on real-world datasets demonstrate that CRRL achieves state-of-the-art performance in cross-city traffic prediction under data-scarce scenarios, showcasing its practicality and effectiveness in addressing urban traffic challenges. © 2025

关键词： Contrastive Learning

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Variable stiffness design optimization of fiber-reinforced composite laminates with regular and irregular holes considering fiber continuity for additive manufacturing

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Chinese Journal of Aeronautics 2025年第3期38卷 334-354页

作者： Yi LIU Zunyi DUAN Chunping ZHOU Yuan SI Chenxi GUAN Yi XIONG Bin XU Jun YAN Jihong ZHU School of Mechanics Civil Engineering&ArchitectureNorthwestern Polytechnical UniversityXi’an 710072China Research&Development Institute of Northwestern Polytechnical University in Shenzhen Shenzhen 518063China Key Lab for Airborne Hi-performance Electro-magnetic Window RISACJinan 130012China School of System Design and Intelligent Manufacturing Southern University of Science and TechnologyShenzhen 518055China State Key Laboratory of Structural Analysis for Industrial Equipment Department of Engineering MechanicsInternational Research Center for Computational MechanicsDalian University of TechnologyDalian 116024China State IJR Center of Aerospace Design and Additive Manufacturing MIIT Lab of Metal Additive Manufacturing and Innovative DesignNorthwestern Polytechnical UniversityXi’an 710072China

Fiber-reinforced composites are an ideal material for the lightweight design of aerospace structures. Especially in recent years, with the rapid development of composite additive manufacturing technology, the design optimization of variable stiffness of fiber-reinforced composite laminates has attracted widespread attention from scholars and industry. In these aerospace composite structures, numerous cutout panels and shells serve as access points for maintaining electrical, fuel, and hydraulic systems. The traditional fiber-reinforced composite laminate subtractive drilling manufacturing inevitably faces the problems of interlayer delamination, fiber fracture, and burr of the laminate. Continuous fiber additive manufacturing technology offers the potential for integrated design optimization and manufacturing with high structural performance. Considering the integration of design and manufacturability in continuous fiber additive manufacturing, the paper proposes linear and nonlinear filtering strategies based on the Normal Distribution Fiber Optimization (NDFO) material interpolation scheme to overcome the challenge of discrete fiber optimization results, which are difficult to apply directly to continuous fiber additive manufacturing. With minimizing structural compliance as the objective function, the proposed approach provides a strategy to achieve continuity of discrete fiber paths in the variable stiffness design optimization of composite laminates with regular and irregular holes. In the variable stiffness design optimization model, the number of candidate fiber laying angles in the NDFO material interpolation scheme is considered as design variable. The sensitivity information of structural compliance with respect to the number of candidate fiber laying angles is obtained using the analytical sensitivity analysis method. Based on the proposed variable stiffness design optimization method for complex perforated composite laminates, the numerical examples cons

关键词： Variable stiffness composite laminates Discrete material interpolation scheme Normal distribution fiber optimization Discrete fiber continuous filtering strategy Additive manufacturing of composite laminates

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Joint design of Radar Receive Filter and Unimodular ISAC Waveform with Sidelobe Level Control

arXiv

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arXiv 2025年

作者： Zhang, Kecheng Liu, Ya-Feng Wang, Zhongbin Yuan, Weijie Keskin, Musa Furkan Wymeersch, Henk Xia, Shuqiang School of System Design and Intelligent Manufacturing The Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China State Key Laboratory of Scientific and Engineering Computing Institute of Computational Mathematics and Scientific/Engineering Computing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical Engineering Chalmers University of Technology Gothenburg41296 Sweden ZTE Corporation The State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518055 China

Integrated sensing and communication (ISAC) has been considered a key feature of next-generation wireless networks. This paper investigates the joint design of the radar receive filter and dual-functional transmit waveform for the multiple-input multiple-output (MIMO) ISAC system. While optimizing the mean square error (MSE) of the radar receive spatial response and maximizing the achievable rate at the communication receiver, besides the constraints of full-power radar receiving filter and unimodular transmit sequence, we control the maximum range sidelobe level, which is often overlooked in existing ISAC waveform design literature, for better radar imaging performance. To solve the formulated optimization problem with convex and nonconvex constraints, we propose an inexact augmented Lagrangian method (ALM) algorithm. For each subproblem in the proposed inexact ALM algorithm, we custom-design a block successive upper-bound minimization (BSUM) scheme with closed-form solutions for all blocks of variable to enhance the computational efficiency. Convergence analysis shows that the proposed algorithm is guaranteed to provide a stationary and feasible solution. Extensive simulations are performed to investigate the impact of different system parameters on communication and radar imaging performance. Comparison with the existing works shows the superiority of the proposed algorithm. © 2025, CC BY-NC-SA.

关键词： Mean square error

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