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Reinforcement Learning Behavioral control for Nonlinear Autonomous System

IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1561-1573页

作者： Zhenyi Zhang Zhibin Mo Yutao Chen Jie Huang the College of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Key Laboratory of Industrial Automation Control Technology and Information Processing Education Department of Fujian ProvinceFuzhou 350108 G+Industrial Internet Institute Fuzhou UniversityFuzhou 350108China

Behavior-based autonomous systems rely on human intelligence to resolve multi-mission conflicts by designing mission priority rules and nonlinear *** this work,a novel twolayer reinforcement learning behavioral control(RLBC)method is proposed to reduce such dependence by trial-and-error ***,in the upper layer,a reinforcement learning mission supervisor(RLMS)is designed to learn the optimal mission *** with existing mission supervisors,the RLMS improves the dynamic performance of mission priority adjustment by maximizing cumulative rewards and reducing hardware storage demand when using neural *** the lower layer,a reinforcement learning controller(RLC)is designed to learn the optimal control *** with existing behavioral controllers,the RLC reduces the control cost of mission priority adjustment by balancing control performance and *** error signals are proved to be semi-globally uniformly ultimately bounded(SGUUB).Simulation results show that the number of mission priority adjustment and the control cost are significantly reduced compared to some existing mission supervisors and behavioral controllers,respectively.

关键词： Behavioral control mission supervisor nonlinear autonomous system reinforcement learning

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Outer delocalized electron aggregation of bromide bridged core–shell CuBr@C for hydrogen evolution reaction

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Nano Research 2023年第5期16卷 6608-6614页

作者： Tianyi Xu Ruoyu Li Lei Zhang Dongxu Jiao Yilong Dong Ming Gong Dantong Zhang Jinchang Fan Dewen Wang Yanhua Liu Xiao Zhao Wei Zhang Weitao Zheng Xiaoqiang Cui State Key Laboratory of Automotive Simulation and Control School of Materials Science and EngineeringKey Laboratory of Automobile Materials of MOEJilin Provincial International Cooperation Key Laboratory of High-Efficiency Clean Energy MaterialsElectron Microscopy CenterJilin UniversityChangchun 130012China College of Chemistry Jilin UniversityChangchun 130012China Center of Multiscale Crystal Materials Research Institute of Advanced Materials Science and EngineeringShenzhen Intitute of Advanced TechnologyChinese Academy of ScienceShenzhen 518055China

Modulation of the surface electron distribution is a challenging problem that determines the adsorption ability of catalytic ***,we address this challenge by bridging the inner and outer layers of the core–shell structure through the bridge Br *** shell wrapped copper bromide nanorods(CuBr@C)are constructed for the first time by chemical vapour deposition with hexabromobenzene(HBB).HBB pyrolysis provides both bridge Br atom and C *** C shell protects the stability of the internal halide structure,while the bridge Br atom triggers the rearrangement of the surface electrons and exhibits excellent electrocatalytic ***,the hydrogen evolution reaction(HER)activity of CuBr@C is significantly better than that of commercial N-doped carbon nanotubes,surpassing commercial Pt/C at over 200 mA·cm^(−2).Density functional theory(DFT)calculations reveal that bridge Br atoms inspire aggregation of delocalized electrons on C-shell surfaces,leading to optimization of hydrogen adsorption energy.

关键词： bridge Br atoms delocalized electron aggregation core–shell nanorods C-shell wrapped CuBr hydrogen evolution reaction

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Fabricating sustainable lignin-derived porous carbon as electrode for high-performance supercapacitors

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Frontiers of Chemical science and engineering 2023年第8期17卷 1065-1074页

作者： Wei Liu Zhikun Li Ranran Sang Jinsong Li Xueping Song Qingxi Hou Guangxi Key Laboratory of Clean Pulp&Papermaking and Pollution Control College of Light Industry and Food EngineeringGuangxi UniversityNanning 530004China Tianjin Key Laboratory of Pulp&Paper Tianjin University of Science&TechnologyTianjin 300457China Mudanjiang Hengfeng Paper Co. Ltd.Mudanjiang 157013China

Lignocellulosic biomass such as plants and agricultural waste are ideal to tackle the current energy crisis and energy-related environmental ***-rich lignin is abundant in lignocellulosic biomass,whose high-value transformation and utilization has been the most urgent problem to be ***,we propose a method for the preparation of porous carbon from lignin employing an H_(3)PO_(4)-assisted hydrothermal *** characterize the as-prepared lignin-derived porous carbon and investigate its potential for energy *** assisted hydrothermal treatment followed by carbonization at 800℃,the lignin-derived porous carbon displays a high specific capacitance(223.6 F·g^(–1) at 0.1 A·g^(–1))and excellent cycling ability with good capacitance *** this present study,the resultant lignin-derived porous carbon was used as the electrode of a supercapacitor,illustrating yet another potential high-value use for lignin,namely as a candidate for the sustainable fabrication of main supercapacitor components.

关键词： lignin porous carbon electrode supercapacitor

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High energy storage performance in AgNbO_(3) relaxor ferroelectric films induced by nanopillar structure

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Journal of Materials science & technology 2023年第24期155卷 160-166页

作者： Xiang Li Jing Wang Xingyuan San Ning Wang Lei Zhao Key Laboratory of High-precision Computation and Application of Quantum Field Theory of Hebei Province College Physics Science and Technology Hebei University Baoding 071002 China State Key Laboratory of Mechanics and Control of Mechanical Structures College of Aerospace Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China Huangpu Hydrogen Energy Innovation Center School of Chemistry and Chemical Engineering Guangzhou University Guangzhou 510006 China

Inspired by the increasing demand for energy-storage capacitors in electrical and electronic systems, dielectrics with high energy-storage performance have attracted more and more attention. AgNbO_(3) -based lead-free ceramics serve as one of the most promising environmental-friendly candidates. However, their energy storage optimization is seriously limited by the low breakdown strength. Fortunately, thin film as a form of AgNbO3 materials can effectively improve the breakdown strength. In this work, AgNbO_(3)film with ∼550 nm in thickness was deposited on SrRuO_(3 )/(001)SrTiO_(3) using pulsed laser deposition. The AgNbO_(3) film reveals typical relaxor ferroelectric hysteresis loops due to the new nanopillar structure, which contributes to high breakdown strength of up to 1200 kV cm^(-1) . Benefiting from the high breakdown strength, a recoverable energy storage density of 10.3 J cm^(-3) and an energy efficiency of 72.2% are obtained in the AgNbO_(3) film, which demonstrates the promising prospect of AgNbO_(3) film for energy storage applications.

关键词： AgNbO3 film Relaxor ferroelectrics Energy storage performance Nanopillar structure

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Phenolic compounds from Chaenomeles speciosa alleviate inflammation in lipopolysaccharide-treated RAW264.7 macrophages via the NF-κB and MAPK pathways

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Food science and Human Wellness 2023年第4期12卷 1071-1080页

作者： Fuxia Hu Chao Liu Fengqin Wang Changxin Zhou Maotong Zhu Dongxiao Sun-Waterhouse Zhaosheng Wang Key Laboratory of Food Processing Technology and Quality Control in Shandong Province College of Food Science and EngineeringShandong Agricultural UniversityTaian 271018China Key Laboratory of Novel Food Resources Processing Ministry of Agriculture and Rural AffairsKey Laboratory of Agro-Products Processing Technology of Shandong ProvinceInstitute of Agro-Food Science and TechnologyJinan 250100China School of Chemical Sciences The University of AucklandPrivate Bag 92019New Zealand

Chaenomeles speciosa(Sweet)Nakai cultivated widely in temperate regions possesses anti-inflammatory properties,however,the underlying molecular mechanisms remain not fully *** this study,a purified phenolic extract of *** rich in chlorogenic acid,procyanidin B1 and catechin(determined by HPLC-Q-TOF-MS/MS)exhibited dose-dependent anti-inflammatory effects on lipopolysaccharide(LPS)-treated RAW264.7 *** extract at 30μg/mL was most potent and enabled most cells in normal morphology under LPS stimulation without causing *** extract suppressed the levels of nitric oxide(NO),tumor necrosis factor-α(TNF-α),interleukin-6(IL-6)and interleukin-1β(IL-1β),and the mRNA and protein expressions of nitric oxide synthase(iNOS)and cyclooxygenase-2(COX-2).The mechanisms underlying such anti-inflammatory actions included the regulation of phosphorylation of related proteins to monitor the expressions of inflammatory mediators and genes in the nuclear factor kappa-B(NF-κB)and mitogen-activated protein kinase(MAPK)signaling ***,the phenolic extract from *** is a desirable anti-inflammatory agent for inflammatory conditions to meet the rising demand for natural and cost-effective therapeutics.

关键词： Chaenomeles speciosa Phenolic extract Purification Anti-inflammatory

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Autonomous Implicit Indoor Scene Reconstruction with Frontier Exploration

Autonomous Implicit Indoor Scene Reconstruction with Frontie...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jing Zeng Yanxu Li Jiahao Sun Qi Ye Yunlong Ran Jiming Chen College of Control Science and Engineering Zhejiang University Hangzhou China College of Control Science and Engineering the State Key Laboratory of Industrial Control Technology Zhejiang University and the Key Key Lab of CS&AUS of Zhejiang Province

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Implicit neural representations have demonstrated significant promise for 3D scene reconstruction. Recent works have extended their applications to autonomous implicit reconstruction through the Next Best View (NBV) based method. However, the NBV method cannot guarantee complete scene coverage and often necessitates extensive viewpoint sampling, particularly in complex scenes. In the paper, we propose to 1) incorporate frontier-based exploration tasks for global coverage with implicit surface uncertainty-based reconstruction tasks to achieve high-quality reconstruction. and 2) introduce a method to achieve implicit surface uncertainty using color uncertainty, which reduces the time needed for view selection. Further with these two tasks, we propose an adaptive strategy for switching modes in view path planning, to reduce time and maintain superior reconstruction quality. Our method exhibits the highest reconstruction quality among all planning methods and superior planning efficiency in methods involving reconstruction tasks. We deploy our method on a UAV and the results show that our method can plan multi-task views and reconstruct a scene with high quality.

关键词： Surface reconstruction Uncertainty Three-dimensional displays Pose estimation Switches Path planning Planning

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Terahertz Refractive Index Sensor Based on Tunable Graphene Metamaterial Absorber 3

Terahertz Refractive Index Sensor Based on Tunable Graphene ...

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3rd International Symposium on Sensor technology and control, ISSTC 2024

作者： Fu, Maixia Zhang, Tiantian Liu, Zhonghao Liu, Mengyi Wang, Dongdong Ministry of Education Henan University of Technology Key Laboratory of Grain Information Processing and Control Zhengzhou450001 China Henan University of Technology College of Information Science and Engineering Zhengzhou450001 China

ISBN: (纸本)9798331541637

A terahertz refractive index sensor constructed with graphene metamaterial absorber has been proposed. The sensor features a patterned graphene structure, consisting of an independent circular ring and a special structure formed by intersecting cross and square patterns. Under normal incidence of TM and TE polarized light, the sensor exhibits a low-frequency peak at 1.55 THz with maximum absorption rates of 9 9. 4 5% and a high-frequency peak at 3.83 THz with maximum absorption rates of 9 9. 5 0%. The quality factors (Q factor) of the two peaks are 31 and 65, respectively. Unlike traditional metal sensors, the absorption peaks of this sensor can achieve dynamic tunability through adjusting the graphene's Fermi level. By varying the analyte's thickness and refractive index, the maximum sensitivity of the two absorption peaks can reach 495 GHz RIU and 895 GHz/ RIU. The corresponding figures of merit (FOM) are 9.9 and 15.2, respectively. The sensor proposed here are applied to detect hemoglobin biomolecule content and has shown excellent sensing performance in our simulations. Therefore, the present work has broad potential for applications in biomedical and medical diagnostic fields. © 2024 IEEE.

关键词： Q factor measurement

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NO reduction by carbon-based gases based on coal gasification fractions:NO reduction intermediate identification and kinetic analysis

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Frontiers of Environmental science & engineering 2025年第3期19卷 175-189页

作者： Xiang Zhang Jian Tian Tanghui Hu Guangyong Yue Xianlong Liu Wen Zhou Xiaohong Liu Xinye Wang Ministry-of-Education Key Laboratory for the Green Preparation and Application of Functional Materials Hubei Engineering Research Center for Green Industrialization Technology of Industrial WasteSchool of Materials Science and EngineeringHubei UniversityWuhan 430062China Hubei Huda Tianshu New Energy Materials Industrial Research and Design Institute Co. Ltd.Wuhan 430062China Wuhan Tianshu Dust Removal Equipment Co. Ltd.Wuhan 430062China Engineering Laboratory for Energy System Process Conversion&Emission Control Technology of Jiangsu Province School of Energy and Mechanical EngineeringNanjing Normal UniversityNanjing 210042China

Combining pulverized coal gasifiers with cement kiln production is promising for application in low-cost and efficient NO *** paper presents a pulverized coal gasifier catalytic denitration technique and investigates the homogeneous reduction(by CO and CH_(4))and heterogeneous catalytic reduction(by coke,CaO,MgO,and Fe_(2)O_(3))of NO.A combination of Chemkin simulations and fixed-bed experiments is used to elucidate the reaction pathways and key intermediates of NO reduction by carbon-based *** addition,the activation energies for different catalyst combinations were analyzed via reaction *** results demonstrate that the presence of small amounts of O_(2) inhibits NO reduction by CO but promotes NO reduction by CH_(4).The NCO·radical is essential for the NO reduction process,and the generation of this radical depends on the CH_(4) cleavage intermediate and O·*** and Fe_(2)O_(3) exhibit more significant catalytic effects on NO reduction by carbon-based gases than the other catalysts *** presence of a small amount of O_(2) in the reacting gas mixtures facilitates the NO reduction *** activation energy is reduced to 1.02 kJ/mol,and the NO conversion reaches 99.80%when the catalyst is C+CaO+MgO+Fe_(2)O_(3) and the gas composition is CO+CH_(4)+O_(2).This work provides theoretical support and data recommendations for the use of pulverized coal gasifiers for the denitrification of cement kilns.

关键词： Carbon-based gas Catalytic denitration Coke Kinetic analysis Reaction mechanism

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Effect of Room Temperature Ultrasonic Vibration Compression on the Microstructure Evolution and Mechanical Properties of AZ91 Alloy

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Acta Metallurgica Sinica(English Letters) 2024年第7期37卷 1135-1146页

作者： Ziyue Xu Huan Liu Luyao Li Chao Sun Xi Tan Baishan Chen Qiangsheng Dong Yuna Wu Jinghua Jiang Jiang Ma College of Materials Science and Engineering Hohai UniversityNanjing210000China Suzhou Research Institute of Hohai University Suzhou215000China Shenzhen Key Laboratory of High Performance Nontraditional Manufacturing College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen518060China Institute of Medical Devices(Suzhou) Southeast UniversitySuzhou215163China Institute for Advanced Study Central South UniversityChangsha410083China Jiangsu Key Laboratory of Advanced Structural Materials and Application Technology Nanjing Institute of TechnologyNanjing211167China

To investigate the potential of direct ultrasonic vibration on improving the performance of magnesium alloys,this study first employed the ultrasonic vibration compression(UVC)on the solid solution treated AZ91 alloy,and explored its microstructure evolution and mechanical properties under *** only two seconds,the UVC alloys showed large deformation strains of 34.8–54.4%,and sudden increase of sample temperature to 243℃.Microstructure characterizations proved that UVC promoted the formation of abundant shear bands,fine grains,and the bimodal distribution of Mg17Al12 precipitates consisting of submicron particles located within the shear bands and nano-sized ones within the *** to the unique microstructure,the micro-hardness(and nano-hardness)value of UVC alloy was increased by 37.7%(35%)when compared with the solution-treated ***,the nano-modulus of the developed AZ91 alloy was also significantly increased to 62 GPa by statistical nanoindentation tests,which could be ascribed to increased Mg_(17)Al_(12) precipitates and decreased c/a value to some *** general,this work provides a new insight into the design and preparation of high-performance magnesium alloys by UVC at room temperature.

关键词： AZ91 alloys Ultrasonic vibration compression Precipitation Shear bands Mechanical properties

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Masked Visual-Tactile Pre-training for Robot Manipulation

Masked Visual-Tactile Pre-training for Robot Manipulation

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Qingtao Liu Qi Ye Zhengnan Sun Yu Cui Gaofeng Li Jiming Chen College of Control Science and Engineering Zhejiang University Hangzhou China College of Control Science and Engineering and the State Key Laboratory of Industrial Control Technology Zhejiang University Key Key Lab of CS&AUS of Zhejiang Province

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Recent works on the pretraining for robot manipulation have demonstrated that representations learning from large human manipulation data can generalize well to new manipulation tasks and environments. However, these approaches mainly focus on human vision or natural language, neglecting tactile feedback. In this article, we make an attempt to explore how to pre-train a representation model for robotic manipulation using both human manipulation visual and tactile data. We develop a system for collecting visual and tactile data, featuring a cost-effective tactile glove to capture human tactile data and Hololens2 for capturing visual data. With this system, we collect a dataset of turning bottle caps. Furthermore, we introduce a novel visual-tactile fusion network and learning strategy M 2 VTP, with one key module to tokenize 20 sparse binary tactile signals sensing touch states for the learning of tactile context and the other key module applying the attention and mask mechanism to the interaction of visual and tactile tokens for visual-tactile representation learning. We utilize our dataset to pre-train the fusion model and embed the pre-trained model into a reinforcement learning framework for downstream tasks. Experimental results demonstrate that our pre-trained model significantly aids in learning manipulation skills. Compared to methods without pre-training, our approach achieves a success rate increase of over 60%. Additionally, when compared to current visual pre-training methods, our success rate exceeds them by more than 50%.

关键词： Representation learning Visualization Natural languages Tactile sensors Reinforcement learning Turning Data models

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