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Spatio-temporal decision-making and trajectory planning framework with flexible constraints in closed-loop dynamic traffic

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IET intelligent Transport systems 2023年第4期17卷 704-715页

作者： Zhang, Ting Fu, Mengyin Liu, Tong Song, Wenjie State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China Nanjing University of Science and Technology Nanjing China

Driving in interactive dynamic traffic is a huge challenge for autonomous vehicles, especially for motion planning. The autonomous vehicle not only needs to predict the future states of the social vehicles to avoid a collision but also realizes the comfort and continuous plan. To deal with the problem, a spatio-temporal decision-making and motion planning framework with flexible constraints based on previous work is proposed. Improvements can be highlighted in three aspects. First, a neural network for trajectory prediction is trained and it is integrated into the framework, which can learn the social vehicles' reactions in the negotiation better and give more accurate predictions. Second, instead of setting the fixed local targets, the flexible-constraint mechanism is introduced to increase the success rate of continuous planning, specifically, the local planning target is determined conditioned on the situation with an elastic factor. Third, two popular simulators with randomly disposed traffic participants are exploited, where vehicles are mutually influenced, more similar to real-world traffic. The closed-loop tests with zero crashes and the comparative experiments with traditional models demonstrate the superior performance and practical significance of the proposed framework. © 2022 The Authors. IET intelligent Transport systems published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology.

关键词： Autonomous vehicles

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Constructing a Medical Domain Functional Knowledge Graph with Large Language Models 6

Constructing a Medical Domain Functional Knowledge Graph wit...

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6th IEEE International Conference on Power, intelligent Computing and systems, ICPICS 2024

作者： Ji, Lintian Du, Shuxin Qiu, Yi Xu, Hongyi Guo, Xiaorui School of Engineering Huzhou University Huzhou Key Laboratory of Intelligent Sensing and Optimal Control for Industrial Systems Huzhou China School of Engineering Huzhou University Huzhou Key Laboratory of Intelligent Sensing and Optimal Control for Industrial Systems Huzhou China

ISBN: (纸本)9798350374315

The integration of medicine and artificial intelligence is creating novel opportunities to gather, analyze, and generate groundbreaking medical insights from the vast expanse of medical literature. Although these advancements hold great promise, difficulties including manual annotation and precise data retrieval, and transparency persist. Advanced natural language processing (NLP) techniques and large language models (LLMs) have shown potential in addressing these issues. This paper introduces the Medical Knowledge Graph (MedKG), a comprehensive and multidisciplinary medical knowledge graph. By utilizing advanced NLP algorithms, MedKG extracts millions of entities and converts them into triples from a corpus of superior medical research papers published over the last decade. It categorizes unstructured medical information into nine distinct tags, including disease names, treatments, diagnoses, symptoms, genetics, cellular structures of diseases, patient data, medical procedures, and treatment applications, while seamlessly integrating the digital object identifier (DOI) of each paper. As the latest structured database of medical knowledge, MedKG serves as a powerful tool for accelerating medical research and lays the groundwork for constructing a more extensive medical knowledge graph using full-text medical articles. Moreover, our research establishes a foundation for practical knowledge management systems based on text mining, applicable not only to complex medical systems but also to other professional domains. © 2024 IEEE.

关键词： Knowledge graph

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Theoretical study on magnetocaloric effect and its electric-field regulation in CrI_(3)/metal heterostructure

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Science China(Physics,Mechanics & Astronomy) 2024年第2期67卷 134-141页

作者： Weiwei He Ziming Tang Qihua Gong Min Yi Wanlin Guo State Key Laboratory of Mechanics and Control for Aerospace Structures Key Laboratory for Intelligent Nano Materials and Devices of Ministry of EducationInstitute for Frontier ScienceNanjing University of Aeronautics and AstronauticsNanjing 210016China MIIT Key Laboratory of Aerospace Information Materials and Physics College of PhysicsNanjing University of Aeronautics and AstronauticsNanjing 211106China

The extraordinary properties of a heterostructure by stacking atom-thick van der Waals(vdW)magnets have been extensively ***,the magnetocaloric effect(MCE)of heterostructures that are based on monolayer magnets remains to be ***,we deliberate MCE of vd W heterostructure composed of a monolayer CrI_(3)and metal atomic layers(Ag,Hf,Au,and Pb).It is revealed that heterostructure engineering by introducing metal substrate can improve MCE of CrI_(3),particularly boosting relative cooling power to 471.72μJ m^(-2)and adiabatic temperature change to 2.1 K at 5 T for CrI_(3)/*** improved MCE is ascribed to the enhancement of magnetic moment and intralayer exchange coupling in CrI_(3)due to the CrI_(3)/metal heterointerface induced charge *** field is further found to tune MCE of CrI_(3)in heterostructures and could shift the peak temperature by around 10 K in CrI_(3)/Hf,thus manipulating the working temperature window of *** theoretical results could enrich the research on low-dimensional magnetocaloric materials.

关键词： magnetocaloric effect heterostructure metal substrate

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Analog spatiotemporal feature extraction for cognitive radio-frequency sensing with integrated photonics

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Light(Science & Applications) 2024年第3期13卷 478-487页

作者： Shaofu Xu Binshuo Liu Sicheng Yi Jing Wang Weiwen Zou State Key Laboratory of Advanced Optical Communication Systems and Networks Intelligent Microwave Lightwave Integration Innovation Center(imLic)Department of Electronic EngineeringShanghai Jiao Tong UniversityShanghaiChina

Analog feature extraction(AFE)is an appealing strategy for low-latency and efficient cognitive sensing systems since key features are much sparser than the Nyquist-sampled ***,applying AFE to broadband radio-frequency(RF)scenarios is challenging due to the bandwidth and programmability bottlenecks of analog electronic ***,we introduce a photonics-based scheme that extracts spatiotemporal features from broadband RF signals in the analog *** feature extractor structure inspired by convolutional neural networks is implemented on integrated photonic circuits to process RF signals from multiple antennas,extracting valid features from both temporal and spatial *** of the tunability of the photonic devices,the photonic spatiotemporal feature extractor is trainable,which enhances the validity of the extracted ***,a digital-analog-hybrid transfer learning method is proposed for the effective and low-cost training of the photonic feature *** validate our scheme,we demonstrate a radar target recognition task with a 4-GHz instantaneous *** results indicate that the photonic analog feature extractor tackles broadband RF signals and reduces the sampling rate of analog-to-digital converters to 1/4 of the Nyquist sampling while maintaining a high target recognition accuracy of 97.5%.Our scheme offers a promising path for exploiting the AFE strategy in the realm of cognitive RF sensing,with the potential to contribute to the efficient signal processing involved in applications such as autonomous driving,robotics,and smart factories.

关键词： scheme driving smart

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Spectral Properties of Graph Matrices via Convergence Analysis of Linear Dynamical systems 43

Spectral Properties of Graph Matrices via Convergence Analys...

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43rd Chinese control Conference, CCC 2024

作者： Wang, Zhiyu Liu, Tao Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen China

ISBN: (纸本)9789887581581

This paper studies the spectral properties of two important graph matrices in the literature, known as the leader-follower matrices. These two matrices arise from various cooperative control problems of multi-agent systems in a leader-follower architecture, and in most cases, they are the keys to the solvability of these cooperative control problems. In contrast with the existing results, which appeal to the algebraic graph theory and matrix analysis tools, we reveal the spectral properties from the viewpoint of dynamical systems. In particular, the spectral properties of the two graph matrices are derived by analyzing the convergence of a continuous-time and a discrete-time linear system, respectively. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Continuous time systems

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Data-Driven control of Distributed Event-Triggered Network systems

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 351-364页

作者： Xin Wang Jian Sun Gang Wang Frank Allgower Jie Chen the National Key Laboratory of Autonomous Intelligent Unmanned Systems School of AutomationBeijing Institute of TechnologyBeijing 100081 the Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China IEEE the Institute for Systems Theory and Automatic Control University of StuttgartStuttgart 70550Germany the Department of Control Science and Engineering Tongji UniversityShanghai 201804 the National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China

The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems(*** systems).To this end,we start by putting forth a novel distributed event-triggering transmission strategy based on periodic sampling,under which a model-based stability criterion for the closed-loop network system is derived,by leveraging a discrete-time looped-functional *** the model-based criterion with a data-driven system representation recently developed in the literature,a purely data-driven stability criterion expressed in the form of linear matrix inequalities(LMIs)is ***,the data-driven stability criterion suggests a means for co-designing the event-triggering coefficient matrix and the feedback control gain matrix using only some offline collected state-input ***,numerical results corroborate the efficacy of the proposed distributed data-driven event-triggered network system(ETS)in cutting off data transmissions and the co-design procedure.

关键词： Data-driven control distributed event-triggered network system(ETS) linear matrix inequalitie(LMI) looped-functional stability

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Improving aircraft nose wheel steering stability based on control continuation method

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Science China(Technological Sciences) 2025年第3期68卷 258-277页

作者： Qiaozhi YIN Dexu KONG Jiawei WANG Hong NIE Xiaohui WEI National Key Laboratory of Helicopter Aeromechanics Nanjing210016China State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing210016China Key Laboratory of Fundamental Science for National Defense-Advanced Design Technology of Flight Vehicle Nanjing210016China AVIC Nanjing Engineering Institute of Aircraft Systems Nanjing211106China

Aircraft steering instability during the taxiing process sometimes occurs resulting from the unstable bifurcation phenomena of the nonlinear steering dynamic system,which may lead to severe *** this study,the control parameter design of an aircraft nose wheel steering control system based on the control continuation method is proposed to reduce the number of unstable bifurcation points and enlarge the system stable region area in a certain parameter ***,the aircraft turning performance can be improved ***,a nonlinear aircraft rollout dynamic model is constructed,and the aircraft ground steering bifurcation characteristics are obtained under the open-loop steering control ***,the bifurcation performances under three closed-loop nose wheel steering controllers based on the feedback control method are compared,and the control parameter of the quadratic nonlinear controller with a better bifurcation control effect is selected as a second bifurcation parameter to analyze the directional system stability via two-parameter bifurcation ***,the influence of a crosswind on the aircraft ground steering bifurcation performance is studied for various control parameter ***,the control effects of a traditional proportional-integral-derivative(PID)nose wheel steering control law and the designed feedback controller are compared and ***,a semi-physical experiment of the aircraft nose wheel steering system is carried out,and different control parameter values are selected for test verification,which can further verify the control effect of the designed nonlinear feedback *** results indicate that the feedback control method is unable to vary the system bifurcation types,but appropriate control parameter design can effectively shrink the system instability region and even eliminate the unstable Hopf bifurcation points under some specific working conditions,improving the aircraft ground turning stability re

关键词： aircraft taxiing dynamics and stability nose wheel steering control system control continuation steering bifurcation characteristics quadratic feedback control

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Integrating reduced graphene oxides and PPy nanoparticles for enhanced electricity from water evaporation

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International Journal of Smart and Nano Materials 2023年第2期14卷 230-242页

作者： Bingkun Tian Xiaofeng Jiang Weicun Chu Chunxiao Zheng Wanlin Guo Zhuhua Zhang State Key Laboratory of Mechanics and Control for Aerospace Structures Key Laboratory for Intelligent Nano Materials and Devices of Ministry of Educationand Institute for Frontier ScienceNanjing University of Aeronautics and AstronauticsNanjingChina

Developing high-performance nanostructured materials is key to deliver the potential of hydrovoltaic technology into practical *** single-component materials have approached its limit in generating hydrovoltaic electricity,the development of multi-component hydrovoltaic materials has been necessary in continuously boosting the electricity ***,we report a hydrovoltaic material by integrating reduced graphene oxides and polypyrrole nanoparticles(rGO/PPy),where the rGO contributes improved conductivity and large specific surface area while PPy nanoparticles enable enhanced interaction with *** device fabricated with this material generates a short-circuit current of 6μA as well as a maximum power density of over 1μW/cm3 from natural evaporation of *** the substantial ion-PPy interaction enables robust voltage generation from evaporation of various salt ***,an outstanding scaling ability is demonstrated by connecting 10 devices in series that generate a sustainable voltage of up to~2.5 V,sufficing to power many commercial devices,*** bulb and LCD screen.

关键词： Hydrovoltaic generator water evaporation reduced graphene oxide Ppy nanoparticles

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control of 2-D Semi-Markov Jump systems:A View from Mode Generation Mechanism

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 258-260页

作者： Yunzhe Men Jian Sun Jie Chen the National Key Laboratory of Autonomous Intelligent Unmanned Systems the School of AutomationBeijing Institute of TechnologyBeijing 100081 the Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China the Department of Control Science and Engineering Tongji UniversityShanghai 201804 the National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China

Dear Editor,Two-dimensional(2-D) systems have wide applications in image data processing,gas absorption and fluid dynamics analysis [1]-[3].When there exist abrupt changes in 2-D systems,they are usually modeled by 2-D Markov jump systems(MJSs) or 2-D semi-Markov jump systems(SMJSs).This letter investigates the control of 2-D SMJSs based on a novel mode generation mechanism,which could avoid mode ambiguousness phenomenon caused by the evolution of system mode in two different *** criterion that guarantees the almost surely exponential stability of the system is obtained.A thermal process is studied to demonstrate the availability of the proposed method.

关键词： Markov mode system

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Metallo-supramolecular complexes enantioselectively target monkeypox virus RNA G-quadruplex and bolster immune responses against MPXV

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国家科学评论（英文版） 2025年第1期12卷 160-169页

作者： Jie Yang Geng Qin Baoying Huang Hualong Song Jiewei Sun Miles Postings Peter Scott Chuanqi Zhao Chunyu Wang Wenjie Tan Jinsong Ren Xiaogang Qu Laboratory of Chemical Biology and State Key Laboratory of Rare Earth Resource Utilization Changchun Institute of Applied ChemistryChinese Academy of SciencesChangchun 130022China School of Applied Chemistry and Engineering University of Science and Technology of ChinaHefei 230026China NHC Key Laboratory of Biosafety National Institute for Viral Disease Control and PreventionChinese Center for Disease Control and PreventionNational Key Laboratory of Intelligent Tracking and Forecasting for Infectious Diseases(NITFID)Beijing 102206China Department of Chemistry University of WarwickCoventry CV4 7ALUK NHC Key Laboratory of Biosafety National Institute for Viral Disease Control and PreventionChinese Center for Disease Control and PreventionNational Key Laboratory of Intelligent Tracking and Forecasting for Infectious Diseases(NITFID)Beijing 102206China School of Pharmacy Xinxiang Medical UniversityXinxiang 453003China State Key Laboratory of Supramolecular Structure and Materials Jilin UniversityChangchun 130012China

The Mpox virus(MPXV)has emerged as a formidable orthopoxvirus,posing an immense challenge to global public *** understanding of the regulatory mechanisms of MPXV infection,replication and immune evasion will benefit the development of novel antiviral *** the involvement of G-quadruplexes(G4s)in modulating the infection and replication processes of multiple viruses,their roles in the MPXV life cycle remain largely ***,we found a highly conservative and stable G4 in MPXV that acts as a positive regulatory element for viral immunodominant protein ***,by screening 42 optically pure chiral metal complexes,we identified the A enantiomer of a pair of chiral helical compounds that can selectively target mRNA G4 and enhance expression of the 39-kDa core protein encoded by the MPXV A5L ***,RNA G4-specific helicase DHX36 inhibits A5L protein expression by unwinding *** contrast,MH3 A enhanced mRNA stability by specifically targeting G4 structures and subsequently increased protein ***,given the pivotal role of the 39-kDa core protein in activating immune responses and facilitating virion maturation,modulation of MPXV G4 folding by MH3 A exhibited inhibitory effects on MPXV replication through enhancing the immune *** findings underscore the critical involvement of G4 in the MPXV life cycle and offer potential avenues for developing antiviral drugs that target G4.

关键词： G-quadruplex ligand binding Mpox virus chirality supramolecular chemistry

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