Computation Tree Logic Model Checking of Multi-Agent Systems Based on Fuzzy Epistemic Interpreted Systems

Model checking is an automated formal verification method to verify whether epistemic multi-agent systems adhere to property specifications.Although there is an extensive literature on qualitative properties such as safety and liveness,there is still a lack of quantitative and uncertain property verifications for these systems.In uncertain environments,agents must make judicious decisions based on subjective epistemic.To verify epistemic and measurable properties in multi-agent systems,this paper extends fuzzy computation tree logic by introducing epistemic modalities and proposing a new Fuzzy Computation Tree Logic of Knowledge(FCTLK).We represent fuzzy multi-agent systems as distributed knowledge bases with fuzzy epistemic interpreted systems.In addition,we provide a transformation algorithm from fuzzy epistemic interpreted systems to fuzzy Kripke structures,as well as transformation rules from FCTLK formulas to Fuzzy Computation Tree Logic(FCTL)formulas.Accordingly,we transform the FCTLK model checking problem into the FCTL model checking.This enables the verification of FCTLK formulas by using the fuzzy model checking algorithm of FCTL without additional computational overheads.Finally,we present correctness proofs and complexity analyses of the proposed algorithms.Additionally,we further illustrate the practical application of our approach through an example of a train control system.

Robust adaptive leaderless consensus of unknown non-minimum phase linear multi-agent systems subject to disturbances and/or unmodeled dynamics

This article investigates the problem of robust adaptive leaderless consensus for heterogeneous uncertain nonminimumphase linear multi-agent systems over directed communication graphs. Each agent is assumed tobe of unknown nominal dynamics and also subject to external disturbances and/or unmodeled dynamics. Anovel distributed robust adaptive control strategy is proposed. It is shown that the robust adaptive leaderlessconsensus problem is solved with the proposed control strategy under some sufficient conditions. Two examplesare provided to demonstrate the efficacy of the proposed control strategy.

基于Multi-Agent的无人机集群体系自主作战系统设计

针对无人集群自主作战体系设计中的关键问题,提出基于Multi-Agent的无人集群自主作战系统设计方法。建立无人集群各节点的Agent模型及其推演规则;对于仿真系统模块化和通用化的需求,设计系统互操作式接口和无人集群自主作战的交互关系;开展无人集群系统仿真推演验证。仿真结果表明,所提设计方案不仅能够有效开展并完成自主作战网络生成-集群演化-效能评估的全过程动态演示验证,而且能够通过重复随机试验进一步评估无人集群的协同作战效能,最后总结了集群协同作战的策略和经验。

基于Multi-Agent的水电站变压器故障诊断系统

为了精准、快速完成水电站变压器的故障诊断,设计基于Multi-Agent的水电站变压器故障诊断系统。变压器状态监控agent将检测到的变压器故障信息发送给系统管理agent,系统管理agent通过通信agent将变压器故障信息发送给变压器故障诊断agent,变压器故障诊断agent利用小波变换方法提取变压器故障特征,并将其作为IFOA-SVM模型输入,完成变压器故障分类后,获取变压器故障诊断结果,该结果通过通信agent显示给用户。实验表明,该系统可有效诊断变压器故障诊断,诊断成功率受系统故障信息丢失率的影响较小,诊断耗时、耗能小,并具有较高故障诊断成功率。

UAV-Assisted Dynamic Avatar Task Migration for Vehicular Metaverse Services: A Multi-Agent Deep Reinforcement Learning Approach

Avatars, as promising digital representations and service assistants of users in Metaverses, can enable drivers and passengers to immerse themselves in 3D virtual services and spaces of UAV-assisted vehicular Metaverses. However, avatar tasks include a multitude of human-to-avatar and avatar-to-avatar interactive applications, e.g., augmented reality navigation,which consumes intensive computing resources. It is inefficient and impractical for vehicles to process avatar tasks locally. Fortunately, migrating avatar tasks to the nearest roadside units(RSU)or unmanned aerial vehicles(UAV) for execution is a promising solution to decrease computation overhead and reduce task processing latency, while the high mobility of vehicles brings challenges for vehicles to independently perform avatar migration decisions depending on current and future vehicle status. To address these challenges, in this paper, we propose a novel avatar task migration system based on multi-agent deep reinforcement learning(MADRL) to execute immersive vehicular avatar tasks dynamically. Specifically, we first formulate the problem of avatar task migration from vehicles to RSUs/UAVs as a partially observable Markov decision process that can be solved by MADRL algorithms. We then design the multi-agent proximal policy optimization(MAPPO) approach as the MADRL algorithm for the avatar task migration problem. To overcome slow convergence resulting from the curse of dimensionality and non-stationary issues caused by shared parameters in MAPPO, we further propose a transformer-based MAPPO approach via sequential decision-making models for the efficient representation of relationships among agents. Finally, to motivate terrestrial or non-terrestrial edge servers(e.g., RSUs or UAVs) to share computation resources and ensure traceability of the sharing records, we apply smart contracts and blockchain technologies to achieve secure sharing management. Numerical results demonstrate that the proposed approach outperforms the MAPPO approach by around 2% and effectively reduces approximately 20% of the latency of avatar task execution in UAV-assisted vehicular Metaverses.

Finite-time Prescribed Performance Time-Varying Formation Control for Second-Order Multi-Agent Systems With Non-Strict Feedback Based on a Neural Network Observer

This paper studies the problem of time-varying formation control with finite-time prescribed performance for nonstrict feedback second-order multi-agent systems with unmeasured states and unknown nonlinearities.To eliminate nonlinearities,neural networks are applied to approximate the inherent dynamics of the system.In addition,due to the limitations of the actual working conditions,each follower agent can only obtain the locally measurable partial state information of the leader agent.To address this problem,a neural network state observer based on the leader state information is designed.Then,a finite-time prescribed performance adaptive output feedback control strategy is proposed by restricting the sliding mode surface to a prescribed region,which ensures that the closed-loop system has practical finite-time stability and that formation errors of the multi-agent systems converge to the prescribed performance bound in finite time.Finally,a numerical simulation is provided to demonstrate the practicality and effectiveness of the developed algorithm.

Discovering Latent Variables for the Tasks With Confounders in Multi-Agent Reinforcement Learning

Efficient exploration in complex coordination tasks has been considered a challenging problem in multi-agent reinforcement learning(MARL). It is significantly more difficult for those tasks with latent variables that agents cannot directly observe. However, most of the existing latent variable discovery methods lack a clear representation of latent variables and an effective evaluation of the influence of latent variables on the agent. In this paper, we propose a new MARL algorithm based on the soft actor-critic method for complex continuous control tasks with confounders. It is called the multi-agent soft actor-critic with latent variable(MASAC-LV) algorithm, which uses variational inference theory to infer the compact latent variables representation space from a large amount of offline experience.Besides, we derive the counterfactual policy whose input has no latent variables and quantify the difference between the actual policy and the counterfactual policy via a distance function. This quantified difference is considered an intrinsic motivation that gives additional rewards based on how much the latent variable affects each agent. The proposed algorithm is evaluated on two collaboration tasks with confounders, and the experimental results demonstrate the effectiveness of MASAC-LV compared to other baseline algorithms.

Displacement field reconstruction in landslide physical modeling by using a terrain laser scanner e Part 2:Application and large strain/displacement and water effect analysis

Deformation analysis is fundamental in geotechnical modeling.Nevertheless,there is still a lack of an effective method to obtain the deformation field under various experimental conditions.In this study,we introduce a processebased physical modeling of a pileereinforced reservoir landslide and present an improved deformation analysis involving large strains and water effects.We collect multieperiod point clouds using a terrain laser scanner and reconstruct its deformation field through a point cloud processing workflow.The results show that this method can accurately describe the landslide surface deformation at any time and area by both scalar and vector fields.The deformation fields in different profiles of the physical model and different stages of the evolutionary process provide adequate and detailed landslide information.We analyze the large strain upstream of the pile caused by the pile installation and the consequent violent deformation during the evolutionary process.Furthermore,our method effectively overcomes the challenges of identifying targets commonly encountered in geotechnical modeling where water effects are considered and targets are polluted,which facilitates the deformation analysis at the wading area in a reservoir landslide.Eventually,combining subsurface deformation as well as numerical modeling,we comprehensively analyze the kinematics and failure mechanisms of this complicated object involving landslides and pile foundations as well as water effects.This method is of great significance for any geotechnical modeling concerning large-strain analysis and water effects.

Research on Maneuver Decision-Making of Multi-Agent Adversarial Game in a Random Interference Environment

The strategy evolution process of game players is highly uncertain due to random emergent situations and other external disturbances.This paper investigates the issue of strategy interaction and behavioral decision-making among game players in simulated confrontation scenarios within a random interference environment.It considers the possible risks that random disturbances may pose to the autonomous decision-making of game players,as well as the impact of participants’manipulative behaviors on the state changes of the players.A nonlinear mathematical model is established to describe the strategy decision-making process of the participants in this scenario.Subsequently,the strategy selection interaction relationship,strategy evolution stability,and dynamic decision-making process of the game players are investigated and verified by simulation experiments.The results show that maneuver-related parameters and random environmental interference factors have different effects on the selection and evolutionary speed of the agent’s strategies.Especially in a highly uncertain environment,even small information asymmetry or miscalculation may have a significant impact on decision-making.This also confirms the feasibility and effectiveness of the method proposed in the paper,which can better explain the behavioral decision-making process of the agent in the interaction process.This study provides feasibility analysis ideas and theoretical references for improving multi-agent interactive decision-making and the interpretability of the game system model.

Predictive modeling for postoperative delirium in elderly patients with abdominal malignancies using synthetic minority oversampling technique

BACKGROUND Postoperative delirium,particularly prevalent in elderly patients after abdominal cancer surgery,presents significant challenges in clinical management.AIM To develop a synthetic minority oversampling technique(SMOTE)-based model for predicting postoperative delirium in elderly abdominal cancer patients.METHODS In this retrospective cohort study,we analyzed data from 611 elderly patients who underwent abdominal malignant tumor surgery at our hospital between September 2020 and October 2022.The incidence of postoperative delirium was recorded for 7 d post-surgery.Patients were divided into delirium and non-delirium groups based on the occurrence of postoperative delirium or not.A multivariate logistic regression model was used to identify risk factors and develop a predictive model for postoperative delirium.The SMOTE technique was applied to enhance the model by oversampling the delirium cases.The model’s predictive accuracy was then validated.RESULTS In our study involving 611 elderly patients with abdominal malignant tumors,multivariate logistic regression analysis identified significant risk factors for postoperative delirium.These included the Charlson comorbidity index,American Society of Anesthesiologists classification,history of cerebrovascular disease,surgical duration,perioperative blood transfusion,and postoperative pain score.The incidence rate of postoperative delirium in our study was 22.91%.The original predictive model(P1)exhibited an area under the receiver operating characteristic curve of 0.862.In comparison,the SMOTE-based logistic early warning model(P2),which utilized the SMOTE oversampling algorithm,showed a slightly lower but comparable area under the curve of 0.856,suggesting no significant difference in performance between the two predictive approaches.CONCLUSION This study confirms that the SMOTE-enhanced predictive model for postoperative delirium in elderly abdominal tumor patients shows performance equivalent to that of traditional methods,effectively addressing data imbalance.

Volume-averaged modeling of multiphase solidification with equiaxed crystal sedimentation in a steel ingot

Macrosegregation is a critical factor that limits the mechanical properties of materials.The impact of equiaxed crystal sedimentation on macrosegregation has been extensively studied,as it plays a significant role in determining the distribution of alloying elements and impurities within a material.To improve macrosegregation in steel connecting shafts,a multiphase solidification model that couples melt flow,heat transfer,microstructure evolution,and solute transport was established based on the volume-averaged Eulerian-Eulerian approach.In this model,the effects of liquid phase,equiaxed crystals,columnar dendrites,and columnar-to-equiaxed transition(CET)during solidification and evolution of microstructure can be considered simultaneously.The sedimentation of equiaxed crystals contributes to negative macrosegregation,where regions between columnar dendrites and equiaxed crystals undergo significant A-type positive macrosegregation due to the CET.Additionally,noticeable positive macrosegregation occurs in the area of final solidification in the ingot.The improvement in macrosegregation is beneficial for enhancing the mechanical properties of connecting shafts.To mitigate the thermal convection of molten steel resulting from excessive superheating,reducing the superheating during casting without employing external fields or altering the design of the ingot mold is indeed an effective approach to control macrosegregation.

Event-triggered robust cooperative output regulation for a class of linear multi-agent systems with an unknown exosystem

This paper investigates the robust cooperative output regulation problem for a class of heterogeneousuncertain linear multi-agent systems with an unknown exosystem via event-triggered control (ETC). By utilizingthe internal model approach and the adaptive control technique, a distributed adaptive internal model isconstructed for each agent. Then, based on this internal model, a fully distributed ETC strategy composed ofa distributed event-triggered adaptive output feedback control law and a distributed dynamic event-triggeringmechanism is proposed, in which each agent updates its control input at its own triggering time instants. It isshown that under the proposed ETC strategy, the robust cooperative output regulation problem can be solvedwithout requiring either the global information associated with the communication topology or the bounds ofthe uncertain or unknown parameters in each agent and the exosystem. A numerical example is provided toillustrate the effectiveness of the proposed control strategy.

Background removal from global auroral images:Data-driven dayglow modeling

Global images of auroras obtained by cameras on spacecraft are a key tool for studying the near-Earth environment.However,the cameras are sensitive not only to auroral emissions produced by precipitating particles,but also to dayglow emissions produced by photoelectrons induced by sunlight.Nightglow emissions and scattered sunlight can contribute to the background signal.To fully utilize such images in space science,background contamination must be removed to isolate the auroral signal.Here we outline a data-driven approach to modeling the background intensity in multiple images by formulating linear inverse problems based on B-splines and spherical harmonics.The approach is robust,flexible,and iteratively deselects outliers,such as auroral emissions.The final model is smooth across the terminator and accounts for slow temporal variations and large-scale asymmetries in the dayglow.We demonstrate the model by using the three far ultraviolet cameras on the Imager for Magnetopause-to-Aurora Global Exploration(IMAGE)mission.The method can be applied to historical missions and is relevant for upcoming missions,such as the Solar wind Magnetosphere Ionosphere Link Explorer(SMILE)mission.

Surrogate modeling for unsaturated infiltration via the physics and equality-constrained artificial neural networks

Machine learning(ML)provides a new surrogate method for investigating groundwater flow dynamics in unsaturated soils.Traditional pure data-driven methods(e.g.deep neural network,DNN)can provide rapid predictions,but they do require sufficient on-site data for accurate training,and lack interpretability to the physical processes within the data.In this paper,we provide a physics and equalityconstrained artificial neural network(PECANN),to derive unsaturated infiltration solutions with a small amount of initial and boundary data.PECANN takes the physics-informed neural network(PINN)as a foundation,encodes the unsaturated infiltration physical laws(i.e.Richards equation,RE)into the loss function,and uses the augmented Lagrangian method to constrain the learning process of the solutions of RE by adding stronger penalty for the initial and boundary conditions.Four unsaturated infiltration cases are designed to test the training performance of PECANN,i.e.one-dimensional(1D)steady-state unsaturated infiltration,1D transient-state infiltration,two-dimensional(2D)transient-state infiltration,and 1D coupled unsaturated infiltration and deformation.The predicted results of PECANN are compared with the finite difference solutions or analytical solutions.The results indicate that PECANN can accurately capture the variations of pressure head during the unsaturated infiltration,and present higher precision and robustness than DNN and PINN.It is also revealed that PECANN can achieve the same accuracy as the finite difference method with fewer initial and boundary training data.Additionally,we investigate the effect of the hyperparameters of PECANN on solving RE problem.PECANN provides an effective tool for simulating unsaturated infiltration.

A methodology for damage evaluation of underground tunnels subjected to static loading using numerical modeling

We have proposed a methodology to assess the robustness of underground tunnels against potential failure.This involves developing vulnerability functions for various qualities of rock mass and static loading intensities.To account for these variations,we utilized a Monte Carlo Simulation(MCS)technique coupled with the finite difference code FLAC^(3D),to conduct two thousand seven hundred numerical simulations of a horseshoe tunnel located within a rock mass with different geological strength index system(GSIs)and subjected to different states of static loading.To quantify the severity of damage within the rock mass,we selected one stress-based(brittle shear ratio(BSR))and one strain-based failure criterion(plastic damage index(PDI)).Based on these criteria,we then developed fragility curves.Additionally,we used mathematical approximation techniques to produce vulnerability functions that relate the probabilities of various damage states to loading intensities for different quality classes of blocky rock mass.The results indicated that the fragility curves we obtained could accurately depict the evolution of the inner and outer shell damage around the tunnel.Therefore,we have provided engineers with a tool that can predict levels of damages associated with different failure mechanisms based on variations in rock mass quality and in situ stress state.Our method is a numerically developed,multi-variate approach that can aid engineers in making informed decisions about the robustness of underground tunnels.

Artificial intelligence-driven radiomics study in cancer:the role of feature engineering and modeling

Modern medicine is reliant on various medical imaging technologies for non-invasively observing patients’anatomy.However,the interpretation of medical images can be highly subjective and dependent on the expertise of clinicians.Moreover,some potentially useful quantitative information in medical images,especially that which is not visible to the naked eye,is often ignored during clinical practice.In contrast,radiomics performs high-throughput feature extraction from medical images,which enables quantitative analysis of medical images and prediction of various clinical endpoints.Studies have reported that radiomics exhibits promising performance in diagnosis and predicting treatment responses and prognosis,demonstrating its potential to be a non-invasive auxiliary tool for personalized medicine.However,radiomics remains in a developmental phase as numerous technical challenges have yet to be solved,especially in feature engineering and statistical modeling.In this review,we introduce the current utility of radiomics by summarizing research on its application in the diagnosis,prognosis,and prediction of treatment responses in patients with cancer.We focus on machine learning approaches,for feature extraction and selection during feature engineering and for imbalanced datasets and multi-modality fusion during statistical modeling.Furthermore,we introduce the stability,reproducibility,and interpretability of features,and the generalizability and interpretability of models.Finally,we offer possible solutions to current challenges in radiomics research.

Development of Multi-Agent-Based Indoor 3D Reconstruction

Large-scale indoor 3D reconstruction with multiple robots faces challenges in core enabling technologies.This work contributes to a framework addressing localization,coordination,and vision processing for multi-agent reconstruction.A system architecture fusing visible light positioning,multi-agent path finding via reinforcement learning,and 360°camera techniques for 3D reconstruction is proposed.Our visible light positioning algorithm leverages existing lighting for centimeter-level localization without additional infrastructure.Meanwhile,a decentralized reinforcement learning approach is developed to solve the multi-agent path finding problem,with communications among agents optimized.Our 3D reconstruction pipeline utilizes equirectangular projection from 360°cameras to facilitate depth-independent reconstruction from posed monocular images using neural networks.Experimental validation demonstrates centimeter-level indoor navigation and 3D scene reconstruction capabilities of our framework.The challenges and limitations stemming from the above enabling technologies are discussed at the end of each corresponding section.In summary,this research advances fundamental techniques for multi-robot indoor 3D modeling,contributing to automated,data-driven applications through coordinated robot navigation,perception,and modeling.

Modeling time-dependent mechanical behavior of hard rock considering excavation-induced damage and complex 3D stress states

To investigate the long-term stability of deep rocks,a three-dimensional(3D)time-dependent model that accounts for excavation-induced damage and complex stress state is developed.This model comprises three main components:a 3D viscoplastic isotropic constitutive relation that considers excavation damage and complex stress state,a quantitative relationship between critical irreversible deformation and complex stress state,and evolution characteristics of strength parameters.The proposed model is implemented in a self-developed numerical code,i.e.CASRock.The reliability of the model is validated through experiments.It is indicated that the time-dependent fracturing potential index(xTFPI)at a given time during the attenuation creep stage shows a negative correlation with the extent of excavationinduced damage.The time-dependent fracturing process of rock demonstrates a distinct interval effect of the intermediate principal stress,thereby highlighting the 3D stress-dependent characteristic of the model.Finally,the influence of excavation-induced damage and intermediate principal stress on the time-dependent fracturing characteristics of the surrounding rocks around the tunnel is discussed.

A survey on multi-agent reinforcement learning and its application

Multi-agent reinforcement learning(MARL)has been a rapidly evolving field.This paper presents a comprehensive survey of MARL and its applications.We trace the historical evolution of MARL,highlight its progress,and discuss related survey works.Then,we review the existing works addressing inherent challenges and those focusing on diverse applications.Some representative stochastic games,MARL means,spatial forms of MARL,and task classification are revisited.We then conduct an in-depth exploration of a variety of challenges encountered in MARL applications.We also address critical operational aspects,such as hyperparameter tuning and computational complexity,which are pivotal in practical implementations of MARL.Afterward,we make a thorough overview of the applications of MARL to intelligent machines and devices,chemical engineering,biotechnology,healthcare,and societal issues,which highlights the extensive potential and relevance of MARL within both current and future technological contexts.Our survey also encompasses a detailed examination of benchmark environments used in MARL research,which are instrumental in evaluating MARL algorithms and demonstrate the adaptability of MARL to diverse application scenarios.In the end,we give our prospect for MARL and discuss their related techniques and potential future applications.

CoopAI-Route: DRL Empowered Multi-Agent Cooperative System for Efficient QoS-Aware Routing for Network Slicing in Multi-Domain SDN

The emergence of beyond 5G networks has the potential for seamless and intelligent connectivity on a global scale.Network slicing is crucial in delivering services for different,demanding vertical applications in this context.Next-generation applications have time-sensitive requirements and depend on the most efficient routing path to ensure packets reach their intended destinations.However,the existing IP(Internet Protocol)over a multi-domain network faces challenges in enforcing network slicing due to minimal collaboration and information sharing among network operators.Conventional inter-domain routing methods,like Border Gateway Protocol(BGP),cannot make routing decisions based on performance,which frequently results in traffic flowing across congested paths that are never optimal.To address these issues,we propose CoopAI-Route,a multi-agent cooperative deep reinforcement learning(DRL)system utilizing hierarchical software-defined networks(SDN).This framework enforces network slicing in multi-domain networks and cooperative communication with various administrators to find performance-based routes in intra-and inter-domain.CoopAI-Route employs the Distributed Global Topology(DGT)algorithm to define inter-domain Quality of Service(QoS)paths.CoopAI-Route uses a DRL agent with a message-passing multi-agent Twin-Delayed Deep Deterministic Policy Gradient method to ensure optimal end-to-end routes adapted to the specific requirements of network slicing applications.Our evaluation demonstrates CoopAI-Route’s commendable performance in scalability,link failure handling,and adaptability to evolving topologies compared to state-of-the-art methods.