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。

颈椎前路Hybrid手术和颈椎后路单开门椎管扩大成形术治疗多节段脊髓型颈椎病临床疗效分析

目的:分析颈椎前路Hybrid手术和颈椎后路单开门椎管扩大成形术(EODL)治疗多节段脊髓型颈椎病的疗效,探讨多节段脊髓型颈椎病患者手术方式的选择。方法:对2017年7月—2020年7月在首都医科大学附属北京中医医院手术治疗的70例多节段脊髓型颈椎病患者进行回顾性分析,根据手术方式不同,分为前路组35例和后路组35例,前路组患者行Hybrid手术[颈椎前路椎间盘切除融合术(ACDF)联合人工颈椎间盘置换术(ACDR)],后路组患者行EODL。记录2组患者住院时间、手术时间、术中出血量和术后引流量,通过日本骨科协会(JOA)评分、JOA改善率、颈椎残障功能指数(NDI)、疼痛视觉模拟评分(VAS)和术后满意度评分进行疗效评价,统计2组患者术后并发症发生情况。结果:与后路组比较,前路组患者术中出血量、术后引流量、住院时间和手术时间均明显减少(P<0.01),术前各项评分差异无统计学意义(P>0.05)。末次随访时,与后路组比较,前路组患者JOA评分和JOA改善率明显升高(P<0.01),NDI评分和VAS评分明显降低(P<0.01)。与术前比较,末次随访时2组患者JOA评分明显升高(P<0.01),NDI和VAS评分均明显降低(P<0.01)。按术后满意度评分评价,2组患者术后满意度均较高。2组患者术后并发症发生率比较差异无统计学意义(P>0.05)。结论:颈椎前路Hybrid手术和EODL在治疗多节段脊髓型颈椎病方面均取得了较为满意的疗效。Hybrid手术具有出血量少和手术时间短等优点,临床上应根据患者实际情况选择最适宜的术式。

Group Hybrid Coordination Control of Multi-Agent Systems With Time-Delays and Additive Noises

A new kind of group coordination control problemgroup hybrid coordination control is investigated in this paper.The group hybrid coordination control means that in a whole multi-agent system(MAS)that consists of two subgroups with communications between them,agents in the two subgroups achieve consensus and containment,respectively.For MASs with both time-delays and additive noises,two group control protocols are proposed to solve this problem for the containment-oriented case and consensus-oriented case,respectively.By developing a new analysis idea,some sufficient conditions and necessary conditions related to the communication intensity betw een the two subgroups are obtained for the following two types of group hybrid coordination behavior:1)Agents in one subgroup and in another subgroup achieve weak consensus and containment,respectively;2)Agents in one subgroup and in another subgroup achieve strong consensus and containment,respectively.It is revealed that the decay of the communication impact betw een the two subgroups is necessary for the consensus-oriented case.Finally,the validity of the group control results is verified by several simulation examples.

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.

复杂建设环境下基于Hybrid A^(*)算法的铁路平面线形绿色优化设计

随着“双碳经济下绿色铁路”理念的兴起,将“绿色生态”融入到铁路平面线路优化已成为近年来的研究热点。本文以铁路建设成本与生态破坏成本的协同优化为目标,引入并改进了一种自动驾驶导航算法(Hybrid A^(*)算法),以适应复杂的铁路设计问题,同时考虑最小曲线半径、最大曲线半径、最短曲线长度、最短夹直线长度、缓和曲线长度等铁路线形约束。研究结果表明:(1)改进后算法以离散网格方式整合外部环境因素,实现渐进式全局探索,获取接近全局最优的铁路线路设计结果;(2)该方法在复杂外部环境约束下,无需预设水平交点位置和数量,可自动生成符合线路-环境耦合约束的优化平面线路方案。

Production traits and fertility of reciprocal hybrids between Argopecten irradians irradians and A.i.concentricus

The two bay scallop subspecies,Argopecten irradians irradians(NN)and A.i.concentricus(SS),are fast growing and major cultured bivalves in China.However,their relatively small sizes and decreasing production traits caused by long-term inbreeding have been major concerns to the industry in the last two decades.Hybridization between the two bay scallop subspecies may provide a new approach to breed a new variety with superior production traits for the industry.For this end,in this study,we hybridized the two bay scallop subspecies in order to obtain a new strain that incorporates the genes of both subspecies.No significant difference was found in fertilization rate,hatching rate and metamorphosis rate between the purebred and crossbred cohorts(NN♀×SS♂,denoted as NS;SS♀×NN♂,denoted as SN).Both mating strategy(intra-vs.inter-population crosses)and egg origin had significant effects on growth and survival at the larval stage.Heterosis was observed in the crossbred and was more pronounced in older stages.Genetic diversity of the reciprocal hybrids,especially that of SN,was increased compared with the purebred cohorts.Almost all hybrids were completely fertile and able to reproduce by selffertilization or by backcrossing with either parent.Apparently,male sterile individuals whose gonads were fully occupied by the ovary part at mature stage were found in the hybrids for the first time.The hybrids,especially SN,may provide precious germplasm resources for the production of ternary hybrids with the Peruvian scallop,A.purpuratus.

Total Fat, Fatty Acid Composition, Tocopherol and Tocotrienol Profiles in Fermented Beans of Ten Controlled Pollinated Cocoa (Theobroma cacao L.) Hybrids from Cameroon

This study aimed to discriminate ten Cameroonian cocoa hybrids according to their total fat, fatty acid composition, tocopherol and tocotrienol profiles. Six cocoa clones from the gene banks of the Cameroon Cocoa Development Corporation were used to create hybrids. The determination of fatty acid composition was carried out by using a gas chromatography (GC) apparatus coupled by a flame ion detector (FID). Tocopherol and tocotrienol analysis was performed by upper high-performance liquid chromatography (UHPLC). Information on the impact of the genotype on the cocoa fat composition was provided. The major fatty acids (FA) in fermented samples are stearic (34.57%), palmitic (26.13%), oleic (34.13%) and linoleic (3.16%) acids. (35.05% to 35.6%). SCA12 × ICS40, SCA12 × SNK13, SNK13 × T79/501 have the least hard cocoa butters. Tocopherols analysis showed a predominance of γ-tocopherols (94.64 ± 1.51 to 292.16 ± 3.17 µg∙g−1), whereas only a small amount of β and δ-tocopherol (from 0.46 to 2.78 µg∙g−1 and 0.12 to 5.82 respectively) was observed. No γ-tocotrienol was found in fermented samples. A differentiation in terms of total fat and tocopherol content was observed amongst hybrids with the same mother-clone, suggesting an impact of pollen on these compounds.

Recent progress of hybrid cathode interface layer for organic solar cells

Organic solar cells(OSCs)have gained conspicuous progress during the past few decades due to the development of materials and upgrading of the device structure.The power conversion efficiency(PCE)of the single-junction device had surpassed 19%.The cathode interface layer(CIL),by optimizing the connection between the active layer and the cathode electrode,has become a momentous part to strengthen the performances of the OSCs.Simultaneously,CIL is also indispensable to illustrating the working mechanism of OSCs and enhancing the stability of the OSCs.In this essay,hybrid CILs in OSCs have been summarized.Firstly,the advancement and operating mechanism of OSCs,and the effects and relevant design rules of CIL are briefly concluded;secondly,the significant influence of CIL on enhancing the stability and PCE of OSCs is presented;thirdly,the characteristics of organic hybrid CIL and organic-inorganic hybrid CIL are introduced.Finally,the conclusion and outlook of CIL are summarized.

Hybrid Skin-Topological Effect Induced by Eight-Site Cells and Arbitrary Adjustment of the Localization of Topological Edge States

Hybrid skin-topological effect(HSTE)in non-Hermitian systems exhibits both the skin effect and topological protection,offering a novel mechanism for localization of topological edge states(TESs)in electrons,circuits,and photons.However,it remains unclear whether the HSTE can be realized in quasicrystals.

Hyperbolic Tangent Function-Based Protocols for Global/Semi-Global Finite-Time Consensus of Multi-Agent Systems

This paper investigates the problem of global/semi-global finite-time consensus for integrator-type multi-agent sys-tems.New hyperbolic tangent function-based protocols are pro-posed to achieve global and semi-global finite-time consensus for both single-integrator and double-integrator multi-agent systems with leaderless undirected and leader-following directed commu-nication topologies.These new protocols not only provide an explicit upper-bound estimate for the settling time,but also have a user-prescribed bounded control level.In addition,compared to some existing results based on the saturation function,the pro-posed approach considerably simplifies the protocol design and the stability analysis.Illustrative examples and an application demonstrate the effectiveness of the proposed protocols.

Designing Proportional-Integral Consensus Protocols for Second-Order Multi-Agent Systems Using Delayed and Memorized State Information

This paper is concerned with consensus of a secondorder linear time-invariant multi-agent system in the situation that there exists a communication delay among the agents in the network.A proportional-integral consensus protocol is designed by using delayed and memorized state information.Under the proportional-integral consensus protocol,the consensus problem of the multi-agent system is transformed into the problem of asymptotic stability of the corresponding linear time-invariant time-delay system.Note that the location of the eigenvalues of the corresponding characteristic function of the linear time-invariant time-delay system not only determines the stability of the system,but also plays a critical role in the dynamic performance of the system.In this paper,based on recent results on the distribution of roots of quasi-polynomials,several necessary conditions for Hurwitz stability for a class of quasi-polynomials are first derived.Then allowable regions of consensus protocol parameters are estimated.Some necessary and sufficient conditions for determining effective protocol parameters are provided.The designed protocol can achieve consensus and improve the dynamic performance of the second-order multi-agent system.Moreover,the effects of delays on consensus of systems of harmonic oscillators/double integrators under proportional-integral consensus protocols are investigated.Furthermore,some results on proportional-integral consensus are derived for a class of high-order linear time-invariant multi-agent systems.

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.

Targeted multi-agent communication algorithm based on state control

As an important mechanism in multi-agent interaction,communication can make agents form complex team relationships rather than constitute a simple set of multiple independent agents.However,the existing communication schemes can bring much timing redundancy and irrelevant messages,which seriously affects their practical application.To solve this problem,this paper proposes a targeted multiagent communication algorithm based on state control(SCTC).The SCTC uses a gating mechanism based on state control to reduce the timing redundancy of communication between agents and determines the interaction relationship between agents and the importance weight of a communication message through a series connection of hard-and self-attention mechanisms,realizing targeted communication message processing.In addition,by minimizing the difference between the fusion message generated from a real communication message of each agent and a fusion message generated from the buffered message,the correctness of the final action choice of the agent is ensured.Our evaluation using a challenging set of Star Craft II benchmarks indicates that the SCTC can significantly improve the learning performance and reduce the communication overhead between agents,thus ensuring better cooperation between agents.

MXene-based hybrid materials for electrochemical and photoelectrochemical H_(2) generation

The conversion of solar energy to produce clean hydrogen fuel through water splitting is an emerging strategy for efficiently storing solar energy in the form of solar fuel.This aligns with the increasing global demand for the development of an ideal energy alternative to fossil fuels that does not emit greenhouse gases.Electrochemical(EC) and photoelectrochemical(PEC) water splitting technologies have garnered significant attention worldwide for advanced hydrogen solar fuel production in recent decades.To achieve sustainable green H_(2) production,it is essential to create efficient catalyst materials that are low-cost and can replace expensive noble metal-based catalysts.These characteristics make them an ideal catalyst material for the process.Two-dimensional MXenes with M_(n+1)X_(n) structure have been identified as a promising option for EC and PEC water splitting due to their superior hydrophilicity,metal-like conductivity,large surface area,and adjustable surface chemistry.Here,we present a summary of recent advancements in the synthesis and performance enhancement methods for MXene hybrid materials in hydrogen production through EC and PEC water splitting.Furthermore,we examine the challenges and insights associated with the rational design of MXene-based hybrid materials to facilitate efficient water splitting for sustainable solar fuel production.

Deep genome skimming reveals the hybrid origin of Pseudosasa gracilis (Poaceae: Bambusoideae)

Pseudosasa gracilis(Poaceae:Bambusoideae)is a temperate woody bamboo species endemic to Southcentral China with a narrow distribution.Previous phylogenetic studies revealed an unexpected,isolated phylogenetic position of Ps.gracilis.Here we conducted phylogenomic analysis by sampling populations of Ps.gracilis and its sympatric species Ps.nanunica and Sinosasa polytricha reflecting different genomic signals,by deep genome skimming.Integrating molecular evidence from chloroplast genes and genome-wide SNPs,we deciphered the phylogenetic relationships of Ps.gracilis.Both plastid and nuclear data indicate that Ps.gracilis is more closely related to Sinosasa,which is discordant with the taxonomic treatment.To further explore this molecular-morphological conflict,we screened 411“perfect-copy”syntenic genes to reconstruct phylogenies using both the concatenation and coalescent methods.We observed extensive discordance between gene trees and the putative species tree.A significant hybridization event was detected based on 411 genes from the D subgenome,showing Ps.gracilis was a hybrid descendant between Sinosasa longiligulata and Ps.nanunica,with 63.56%and 36.44%inheritance probabilities of each parent.Moreover,introgression events were detected in the C subgenome between Ps.gracilis and S.polytricha in the same distribution region.Our findings suggest that sympatric hybridization and introgression play a crucial role in the origin of Ps.gracilis.By providing an empirical example of bamboo of hybrid origin using comprehensive analyses based on genomic data from different inheritance systems and morphological characters,our study represents a step forward in understanding of reticulate evolution of bamboos.

Activation Redistribution Based Hybrid Asymmetric Quantization Method of Neural Networks

The demand for adopting neural networks in resource-constrained embedded devices is continuously increasing.Quantization is one of the most promising solutions to reduce computational cost and memory storage on embedded devices.In order to reduce the complexity and overhead of deploying neural networks on Integeronly hardware,most current quantization methods use a symmetric quantization mapping strategy to quantize a floating-point neural network into an integer network.However,although symmetric quantization has the advantage of easier implementation,it is sub-optimal for cases where the range could be skewed and not symmetric.This often comes at the cost of lower accuracy.This paper proposed an activation redistribution-based hybrid asymmetric quantizationmethod for neural networks.The proposedmethod takes data distribution into consideration and can resolve the contradiction between the quantization accuracy and the ease of implementation,balance the trade-off between clipping range and quantization resolution,and thus improve the accuracy of the quantized neural network.The experimental results indicate that the accuracy of the proposed method is 2.02%and 5.52%higher than the traditional symmetric quantization method for classification and detection tasks,respectively.The proposed method paves the way for computationally intensive neural network models to be deployed on devices with limited computing resources.Codes will be available on https://github.com/ycjcy/Hybrid-Asymmetric-Quantization.

Transcriptomic and metabolomic analysis provides insights into lignin biosynthesis and accumulation and differences in lodging resistance in hybrid wheat

The use of hybrid wheat is one way to improve the yield in the future.However,greater plant heights increase lodging risk to some extent.In this study,two hybrid combinations with differences in lodging resistance were used to analyze the stem-related traits during the filling stage,and to investigate the mechanism of the difference in lodging resistance by analyzing lignin synthesis of the basal second internode(BSI).The stem-related traits such as the breaking strength,stem pole substantial degree(SPSD),and rind penetration strength(RPS),as well as the lignin content of the lodging-resistant combination(LRC),were significantly higher than those of the lodgingsensitive combination(LSC).The phenylpropanoid biosynthesis pathway was significantly and simultaneously enriched according to the transcriptomics and metabolomics analysis at the later filling stage.A total of 35 critical regulatory genes involved in the phenylpropanoid pathway were identified.Moreover,42%of the identified genes were significantly and differentially expressed at the later grain-filling stage between the two combinations,among which more than 80%were strongly up-regulated at that stage in the LRC compared with LSC.On the contrary,the LRC displayed lower contents of lignin intermediate metabolites than the LSC.These results suggested that the key to the lodging resistance formation of LRC is largely the higher lignin synthesis at the later grain-filling stage.Finally,breeding strategies for synergistically improving plant height and lodging resistance of hybrid wheat were put forward by comparing the LRC with the conventional wheat applied in large areas.

Efficient removal of U(VI) from wastewater by a sponge-like 3D porous architecture with hybrid electrospun nanofibers

Removal of uranium(VI)from nuclear wastewater is urgent due to the global nuclear energy exploitation.This study synthesized novel sponge-like 3D porous materials for enhanced uranium adsorption by combining electrospinning and fibrous freeze-shaping techniques.The materials possessed an organic-inorganic hybrid architecture based on the electrospun fibers of polyacrylonitrile(PAN)and SiO_(2).As a sup-porting material,the surface of fibrous SiO_(2) could be further functionalized by cyano groups via(3-cyanopropyl)triethoxysilane.All the cyano groups were turned into amidoxime(AO)groups to obtain a amidoxime-functionalized sponge(PAO/SiO_(2)-AO)through the subsequent ami-doximation process.The proposed sponge exhibited enhanced uranium adsorption performance with a high removal capacity of 367.12 mg/g,a large adsorption coefficient of 4.0×10^(4)mL/g,and a high removal efficiency of 97.59%.The UO_(2)^(2+)adsorption kinetics perfectly conformed to the pseudo-second-order reaction.The sorbent also exhibited an excellent selectivity for UO_(2)^(2+) with other interfering metal ions.2023 Hohai University.Production and hosting by Elsevier B.V.

Degradation and biocompatibility of one-step electrodeposited magnesium thioctic acid/magnesium hydroxide hybrid coatings on ZE21B alloys for cardiovascular stents

Constructing a functional hybrid coating appears to be a promising strategy for addressing the poor corrosion resistance and insufficient endothelialization of Mg-based stents.Nevertheless,the steps for preparing composite coatings are usually complicated and time-consuming.Herein,a novel composite coating,composed of bioactive magnesium thioctic acid(MTA)layer formed by deposition and corrosion-resistant magnesium hydroxide(Mg(OH)_(2))layer grown in situ,is simply fabricated on ZE21B alloys via one-step electrodeposition.Scanning electron microscopy(SEM)shows that the electrodeposited coating has a compact and uniform structure.And the high adhesion of the MTA/Mg(OH)_(2)hybrid coating is also confirmed by the micro-scratch test.Electrochemical test,scanning kelvin probe(SKP),and hydrogen evolution measurement indicate that the hybrid coating effectively reduces the degradation rate of Mg substrates.Haemocompatibility experiment and cell culture trial detect that the composite coating is of fine biocompatibility.Finally,the preparation mechanism of MTA/Mg(OH)_(2)hybrid coatings is discussed and proposed.This coating shows a great potential application for cardiovascular stents.

Cryptic diversity and rampant hybridization in annual gentians on the Qinghai-Tibet Plateau revealed by population genomic analysis

Understanding the evolutionary and ecological processes involved in population differentiation and speciation provides critical insights into biodiversity formation. In this study, we employed 29,865 single nucleotide polymorphisms(SNPs) and complete plastomes to examine genomic divergence and hybridization in Gentiana aristata, which is endemic to the Qinghai-Tibet Plateau(QTP) region. Genetic clustering revealed that G. aristata is characterized by geographic genetic structures with five clusters(West, East, Central, South and North). The West cluster has a specific morphological character(i.e., blue corolla) and higher values of FSTcompared to the remaining clusters, likely the result of the geological barrier formed by the Yangtze River. The West cluster diverged from the other clusters in the Early Pliocene;these remaining clusters diverged from one another in the Early Quaternary. Phylogenetic reconstructions based on SNPs and plastid data revealed substantial cyto-nuclear conflicts. Genetic clustering and D-statistics demonstrated rampant hybridization between the Central and North clusters,along the Bayankala Mountains, which form the geological barrier between the Central and North clusters. Species distribution modeling demonstrated the range of G. aristata expanded since the Last Interglacial period. Our findings provide genetic and morphological evidence of cryptic diversity in G. aristata, and identified rampant hybridization between genetic clusters along a geological barrier.These findings suggest that geological barriers and climatic fluctuations have an important role in triggering diversification as well as hybridization, indicating that cryptic diversity and hybridization are essential factors in biodiversity formation within the QTP region.