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。

A frequency servo SoC with output power stabilization loop technology for miniaturized atomic clocks

A frequency servo system-on-chip(FS-SoC)featuring output power stabilization technology is introduced in this study for high-precision and miniaturized cesium(Cs)atomic clocks.The proposed power stabilization loop(PSL)technique,incorporating an off-chip power detector(PD),ensures that the output power of the FS-SoC remains stable,mitigating the impact of power fluctuations on the atomic clock's stability.Additionally,a one-pulse-per-second(1PPS)is employed to syn-chronize the clock with GPS.Fabricated using 65 nm CMOS technology,the measured phase noise of the FS-SoC stands at-69.5 dBc/Hz@100 Hz offset and-83.9 dBc/Hz@1 kHz offset,accompanied by a power dissipation of 19.7 mW.The Cs atomic clock employing the proposed FS-SoC and PSL obtains an Allan deviation of 1.7×10^(-11) with 1-s averaging time.

量子Loop代数U_(q)(L(sl_(2)))的单权模

用构造的方法解决量子Loop代数U_(q)(L(sl_(2)))具有一个一维权空间的单权模的结构问题,得到了任意一个具有一维权空间的单权模必同构于U_(q)(L(sl_(2)))的四类单权模之一.此外,还构造了一类权空间维数为2的既非最高权也非最低权的量子Loop代数U_(q)(L(sl_(2)))的单权模.

Advancing neuroscience through real-time processing of big data:Transition from open-loop to closed-loop paradigms

The brain functions as a closed-loop system that continuously generates behavior in response to the external environment and adjusts actions based on the outcomes.Traditional research methodologies in neuroscience,especially those employed in brain imaging experiments,have mainly adopted an open-loop paradigm(Grosenick et al.,2015).Functional neural circuits are analyzed offline and subsequently tested through manipulation of neuronal activities within specific regions or with genetic markers.By establishing a closed-loop research paradigm,functional ensembles can be detected and tested in real time with temporal sequences.These functional ensembles,rather than brain regions or genetically labeled neural populations,serve as fundamental units of neural networks,offering valuable insights into the dissection of neural circuits.The closed-loop research paradigm also enables the capture of high-dimensional activities of internal brain dynamics and precise elucidation of physiological processes such as learning,decision-making,and sleep.

庆阳驴mtDNA D-loop区遗传多样性及起源分析

[目的]研究庆阳驴养殖群体的遗传多样性与母系起源,了解其遗传信息,为保护庆阳驴种质资源、选育和遗传改良工作提供理论依据。[方法]随机选取133头庆阳驴,对其线粒体DNA(mitochondrial DNA,mtDNA)D-loop区序列进行PCR扩增、测序及比对,并探讨庆阳驴的遗传多样性与母系起源。[结果]在获得的520 bp D-loop碱基序列中,AT含量(57.3%)高于GC含量(42.8%),表现出碱基的偏倚性;检测到38个变异位点,包含8个碱基对的转换;其核苷酸多样性(Pi)、单倍型多样性(Hd)、平均核苷酸差异(K)分别为0.01591、0.895和8.274,与欧洲家驴和中国家驴研究的平均值相比较低,说明该驴品种核苷酸变异较为贫乏。庆阳驴mtDNA D-loop区存在35个单倍型,单倍型之间的遗传距离为0.002~0.042。系统进化结果显示,庆阳驴存在2个线粒体支系,表明其具有2个母系起源,且遗传距离表明,庆阳驴与克罗地亚家驴之间的遗传距离较近。[结论]本研究从分子水平初步揭示庆阳驴核苷酸变异比较贫乏,杂交程度高,mtDNA遗传多态性正逐步丧失,应加强庆阳驴品种的遗传资源保护工作。

A Robust Approach for Multi Classification-Based Intrusion Detection through Stacking Deep Learning Models

Intrusion detection is a predominant task that monitors and protects the network infrastructure.Therefore,many datasets have been published and investigated by researchers to analyze and understand the problem of intrusion prediction and detection.In particular,the Network Security Laboratory-Knowledge Discovery in Databases(NSL-KDD)is an extensively used benchmark dataset for evaluating intrusion detection systems(IDSs)as it incorporates various network traffic attacks.It is worth mentioning that a large number of studies have tackled the problem of intrusion detection using machine learning models,but the performance of these models often decreases when evaluated on new attacks.This has led to the utilization of deep learning techniques,which have showcased significant potential for processing large datasets and therefore improving detection accuracy.For that reason,this paper focuses on the role of stacking deep learning models,including convolution neural network(CNN)and deep neural network(DNN)for improving the intrusion detection rate of the NSL-KDD dataset.Each base model is trained on the NSL-KDD dataset to extract significant features.Once the base models have been trained,the stacking process proceeds to the second stage,where a simple meta-model has been trained on the predictions generated from the proposed base models.The combination of the predictions allows the meta-model to distinguish different classes of attacks and increase the detection rate.Our experimental evaluations using the NSL-KDD dataset have shown the efficacy of stacking deep learning models for intrusion detection.The performance of the ensemble of base models,combined with the meta-model,exceeds the performance of individual models.Our stacking model has attained an accuracy of 99%and an average F1-score of 93%for the multi-classification scenario.Besides,the training time of the proposed ensemble model is lower than the training time of benchmark techniques,demonstrating its efficiency and robustness.

Gigahertz frequency hopping in an optical phase-locked loop for Raman lasers

Raman lasers are essential in atomic physics,and the development of portable devices has posed requirements for time-division multiplexing of Raman lasers.We demonstrate an innovative gigahertz frequency hopping approach of a slave Raman laser within an optical phase-locked loop(OPLL),which finds practical application in an atomic gravimeter,where the OPLL frequently switches between near-resonance lasers and significantly detuned Raman lasers.The method merges the advantages of rapid and extensive frequency hopping with the OPLL’s inherent low phase noise,and exhibits a versatile range of applications in compact laser systems,promising advancements in portable instruments.

Optimizing the sulfur-resistance and activity of perovskite oxygen carrier for chemical looping dry reforming of methane

Perovskite oxides has been attracted much attention as high-performance oxygen carriers for chemical looping reforming of methane,but they are easily inactivated by the presence of trace H_(2)S.Here,we propose to modulate both the activity and resistance to sulfur poisoning by dual substitution of Mo and Ni ions with the Fe-sites of LaFeO_(3)perovskite.It is found that partial substitution of Ni for Fe substantially improves the activity of LaFeO_(3)perovskite,while Ni particles prefer to grow and react with H_(2)S during the long-term successive redox process,resulting in the deactivation of oxygen carriers.With the presence of Mo in LaNi_(0.05)Fe_(0.95)O_(3−σ)perovskite,H_(2)S preferentially reacts with Mo to generate MoS_(2),and then the CO_(2)oxidation can regenerate Mo via removing sulfur.In addition,Mo can inhibit the accumulation and growth of Ni,which helps to improve the redox stability of oxygen carriers.The LaNi_(0.05)Mo_(0.07)Fe_(0.88)O_(3−σ)oxygen carrier exhibits stable and excellent performance,with the CH_(4)conversion higher than 90%during the 50 redox cycles in the presence of 50 ppm H_(2)S at 800℃.This work highlights a synergistic effect in the perovskite oxides induced by dual substitution of different cations for the development of high-performance oxygen carriers with excellent sulfur tolerance.

Chemical looping reforming of the micromolecular component from biomass pyrolysis via Fe_(2)O_(3)@SBA-16

To solve the problems of low gasification efficiency and high tar content caused by solid–solid contact between biomass and oxygen carrier in traditional biomass chemical looping gasification process.The decoupling strategy was adopted to decouple the biomass gasification process,and the composite oxygen carrier was prepared by embedding Fe_(2)O_(3) in molecular sieve SBA-16 for the chemical looping reforming process of pyrolysis micromolecular model compound methane,which was expected to realize the directional reforming of pyrolysis volatiles to prepare hydrogen-rich syngas.Thermodynamic analysis of the reaction system was carried out based on the Gibbs free energy minimization method,and the reforming performance was evaluated by a fixed bed reactor,and the kinetic parameters were solved based on the gas–solid reaction model.Thermodynamic analysis verified the feasibility of the reaction and provided theoretical guidance for experimental design.The experimental results showed that the reaction performance of Fe_(2)O_(3)@SBA-16 was compared with that of pure Fe_(2)O_(3) and Fe_(2)O_(3)@SBA-15,and the syngas yield was increased by 55.3%and 20.7%respectively,and it had good cycle stability.Kinetic analysis showed that the kinetic model changed from three-dimensional diffusion to first-order reaction with the increase of temperature.The activation energy was 192.79 kJ/mol by fitting.This paper provides basic data for the directional preparation of hydrogen-rich syngas from biomass and the design of oxygen carriers for pyrolysis of all-component chemical looping reforming.

Multi-scale data joint inversion of minerals and porosity in altered igneous reservoirs—A case study in the South China Sea

There are abundant igneous gas reservoirs in the South China Sea with significant value of research,and lithology classification,mineral analysis and porosity inversion are important links in reservoir evaluation.However,affected by the diverse lithology,complicated mineral and widespread alteration,conventional logging lithology classification and mineral inversion become considerably difficult.At the same time,owing to the limitation of the wireline log response equation,the quantity and accuracy of minerals can hardly meet the exploration requirements of igneous formations.To overcome those issues,this study takes the South China Sea as an example,and combines multi-scale data such as micro rock slices,petrophysical experiments,wireline log and element cutting log to establish a set of joint inversion methods for minerals and porosity of altered igneous rocks.Specifically,we define the lithology and mineral characteristics through core slices and mineral data,and establish an igneous multi-mineral volumetric model.Then we determine element cutting log correction method based on core element data,and combine wireline log and corrected element cutting log to perform the lithology classification and joint inversion of minerals and porosity.However,it is always difficult to determine the elemental eigenvalues of different minerals in inversion.This paper uses multiple linear regression methods to solve this problem.Finally,an integrated inversion technique for altered igneous formations was developed.The results show that the corrected element cutting log are in good agreement with the core element data,and the mineral and porosity results obtained from the joint inversion based on the wireline log and corrected element cutting log are also in good agreement with the core data from X-ray diffraction.The results demonstrate that the inversion technique is applicable and this study provides a new direction for the mineral inversion research of altered igneous formations.

Generalized nth-Order Perturbation Method Based on Loop Subdivision Surface Boundary Element Method for Three-Dimensional Broadband Structural Acoustic Uncertainty Analysis

In this paper,a generalized nth-order perturbation method based on the isogeometric boundary element method is proposed for the uncertainty analysis of broadband structural acoustic scattering problems.The Burton-Miller method is employed to solve the problem of non-unique solutions that may be encountered in the external acoustic field,and the nth-order discretization formulation of the boundary integral equation is derived.In addition,the computation of loop subdivision surfaces and the subdivision rules are introduced.In order to confirm the effectiveness of the algorithm,the computed results are contrasted and analyzed with the results under Monte Carlo simulations(MCs)through several numerical examples.

Improved Scatter Search Algorithm for Multi-skilled Personnel Scheduling of Ship Block Painting

This paper focuses on the optimization method for multi-skilled painting personnel scheduling.The budget working time analysis is carried out considering the influence of operating area,difficulty of spraying area,multi-skilled workers,and worker’s efficiency,then a mathematical model is established to minimize the completion time. The constraints of task priority,paint preparation,pump management,and neighbor avoidance in the ship block painting production are considered. Based on this model,an improved scatter search(ISS)algorithm is designed,and the hybrid approximate dynamic programming(ADP)algorithm is used to improve search efficiency. In addition,the two solution combination methods of path-relinking and task sequence combination are used to enhance the search breadth and depth. The numerical experimental results show that ISS has a significant advantage in solving efficiency compared with the solver in small scale instances;Compared with the scatter search algorithm and genetic algorithm,ISS can stably improve the solution quality. Verified by the production example,ISS effectively shortens the total completion time of the production,which is suitable for scheduling problems in the actual painting production of the shipyard.

Adverse Pregnancy Outcomes Following Cryotherapy, Thermal Ablation and Loop Electrosurgical Excision Procedure for Cervical Intraepithelial Neoplasia Treatment: A Pilot Study among Zambian Women

Background: Cervical Intraepithelial neoplasia treatments have become essential interventions to manage cervical lesions. Majority of the recipients of these treatments are women within the reproductive age group, who according to literature may be at risk of adverse pregnancy outcomes. This pilot study is part of a study investigating adverse pregnancy outcomes among women who received Cryotherapy, Thermal ablation and Loop Electrosurgical Excision Procedure compared to the untreated women in Zambia. Materials and Methods: This descriptive study analyzed records of 886 (n = 443 treated and n = 443 untreated) women aged 15 - 49 years. The women were either screened with Visual Inspection with Acetic Acid or treated for Cervical Intraepithelial neoplasia at the Adult Infectious Disease Centre between January 2010 and December 2020. Women meeting the criteria were identified using the Visual Inspection with Acetic Acid screening records and telephone interviews to obtain the adverse pregnancy outcome experienced. Data were analysed using STATA version 16 to determine the prevalence and obtain frequency distribution of outcomes of interest. Univariate and multivariable binary logistic regression estimated odds of adverse pregnancy outcomes across the three treatments. Results: The respondents were aged 15 to 49 years. Adverse pregnancy outcomes were observed to be more prevalent in the treatment group (18.5%) compared to the untreated group (5.4%). Normal pregnancy outcomes were lower in the treated (46.3%;n = 443) than the untreated (53.7%;n = 443). The treated group accounted for the majority of abortions (85.2%), prolonged labour (85.7%) and low birth weight (80%), whereas, the untreated accounted for the majority of still births (72.7%). Women treated with cryotherapy (aOR = 2.43, 95% CI = 1.32 - 4.49, p = 0.004), thermal ablation (aOR = 6.37, 95% CI = 0.99 - 41.2, p = 0.052) and Loop Electrosurgical Excision Procedure (aOR = 9.67, 95% CI = 2.17 - 43.1, p = 0.003) had two-, six- and ten-times higher odds of adverse pregnancy outcomes respectively, relative to women who required no treatment. Conclusion: Adverse pregnancy outcomes are prevalent among women who have received treatment in Zambia. The findings indicate that treating Cervical Intraepithelial Neoplasia has been linked to higher chances of experiencing abortion, delivering low birth weight babies and enduring prolonged labor that may result in a caesarean section delivery. Cervical neoplasia treatments, particularly Loop Electrosurgical Excision Procedure, are associated with significantly increased odds of adverse pregnancy outcomes. It is essential to include information about prior Cervical Intraepithelial neoplasia treatment outcomes in obstetric care.

CO_(2)capture costs of chemical looping combustion of biomass:A comparison of natural and synthetic oxygen carrier

Chemical looping combustion has the potential to be an efficient and low-cost technology capable of contributing to the reduction of the atmospheric concentration of CO_(2) in order to reach the 1.5/2°C goal and mitigate climate change.In this process,a metal oxide is used as oxygen carrier in a dual fluidized bed to generate clean CO_(2) via combustion of biomass.Most commonly,natural ores or synthetic materials are used as oxygen carrier whereas both must meet special requirements for the conversion of solid fuels.Synthetic oxygen carriers are characterized by higher reactivity at the expense of higher costs versus the lower-cost natural ores.To determine the viability of both possibilities,a techno-economic comparison of a synthetic material based on manganese,iron,and copper to the natural ore ilmenite was conducted.The synthetic oxygen carrier was characterized and tested in a pilot plant,where high combustion efficiencies up to 98.4%and carbon capture rates up to 98.5%were reached.The techno-economic assessment resulted in CO_(2) capture costs of 75 and 40€/tCO_(2) for the synthetic and natural ore route respectively,whereas a sensitivity analysis showed the high impact of production costs and attrition rates of the synthetic material.The synthetic oxygen carrier could break even with the natural ore in case of lower production costs and attrition rates,which could be reached by adapting the production process and recycling material.By comparison to state-of-the-art technologies,it is demonstrated that both routes are viable and the capture cost of CO_(2) could be reduced by implementing the chemical looping combustion technology.

Integration of Multiple Spectral Data via a Logistic Regression Algorithm for Detection of Crop Residue Burned Areas:A Case Study of Songnen Plain,Northeast China

The burning of crop residues in fields is a significant global biomass burning activity which is a key element of the terrestrial carbon cycle,and an important source of atmospheric trace gasses and aerosols.Accurate estimation of cropland burned area is both crucial and challenging,especially for the small and fragmented burned scars in China.Here we developed an automated burned area mapping algorithm that was implemented using Sentinel-2 Multi Spectral Instrument(MSI)data and its effectiveness was tested taking Songnen Plain,Northeast China as a case using satellite image of 2020.We employed a logistic regression method for integrating multiple spectral data into a synthetic indicator,and compared the results with manually interpreted burned area reference maps and the Moderate-Resolution Imaging Spectroradiometer(MODIS)MCD64A1 burned area product.The overall accuracy of the single variable logistic regression was 77.38%to 86.90%and 73.47%to 97.14%for the 52TCQ and 51TYM cases,respectively.In comparison,the accuracy of the burned area map was improved to 87.14%and 98.33%for the 52TCQ and 51TYM cases,respectively by multiple variable logistic regression of Sentind-2 images.The balance of omission error and commission error was also improved.The integration of multiple spectral data combined with a logistic regression method proves to be effective for burned area detection,offering a highly automated process with an automatic threshold determination mechanism.This method exhibits excellent extensibility and flexibility taking the image tile as the operating unit.It is suitable for burned area detection at a regional scale and can also be implemented with other satellite data.

Microvascular structural changes in esophageal squamous cell carcinoma pathology according to intrapapillary capillary loop types under magnifying endoscopy

BACKGROUND The intrapapillary capillary loop(IPCL)characteristics,visualized using magnifying endoscopy,are commonly assessed for preoperative evaluation of the infiltration depth of esophageal squamous cell carcinoma(ESCC).Japan Esophageal Society(JES)classification is the most widely used classification.Microvascular structural changes are evaluated by magnifying endoscopy for the presence or absence of each morphological factor:tortuosity,dilatation,irregular caliber,and different shapes.However,the pathological characteristics of IPCLs have not been thoroughly investigated,especially the microvascular structures corresponding to the deepest parts of the lesions'infiltration.AIM To investigate differences in pathological microvascular structures of ESCC,which correspond to the deepest parts of the lesions'infiltration.METHODS Patients with ESCC and precancerous lesions diagnosed at Peking University Third Hospital were enrolled between January 2019 and April 2023.Patients first underwent magnified endoscopic examination,followed by endoscopic submucosal dissection or surgical treatment.Pathological images were scanned using a threedimensional slice scanner,and the pathological structural differences in different types,according to the JES classification,were analyzed using nonparametric tests and t-tests.RESULTS The 35 lesions were divided into four groups according to the JES classification:A,B1,B2,and B3.Statistical analyses revealed significant differences(aP<0.05)in the short and long calibers,area,location,and density between types A and B.Notably,there were no significant differences in these parameters between types B1 and B2 and between types B2 and B3(P>0.05).However,significant differences in the short calibers,long calibers,and area of IPCL were observed between types B1 and B3(aP<0.05);no significant differences were found in the density or location(P>0.05).CONCLUSION Pathological structures of IPCLs in the deepest infiltrating regions differ among various IPCL types classified by the JES classification under magnifying endoscopy,especially between the types A and B.

NiO-Doped Fe_(2)O_(3)/MgO Properties for the Chemical Looping Oxidative Dehydrogenation of Ethane

Ethane chemical looping oxidative dehydrogenation(CL-ODH)to ethylene is a new technology for ethylene preparation.Fe_(2)O_(3)/MgO oxygen carrier was prepared using the co-precipitation method.The influence of added NiO and its different loadings on Fe_(2)O_(3)/MgO were investigated.Then,a series of oxygen carriers were applied in the CL-ODH of the ethane cycle system.Brunauer-Emmett-Teller(BET),X-ray diffractometry(XRD),X-ray photoelection spectroscopy(XPS),and H2-temperature programmed reduction(TPR)were used to characterize the physicochemical properties of these oxygen carriers.It was confirmed that an interaction between NiO and Fe_(2)O_(3) occurred based on the XPS and H2-TPR results.Based on the CL-ODH activity performance tests conducted in a fixed-bed reactor,it was revealed that ethylene selectivity was significantly improved after NiO addition.Fe_(2)O_(3)-10%NiO/MgO showed the best activity performance with 93%ethane conversion and 50%ethylene selectivity at a reaction temperature of 650℃,atmospheric pressure,and space velocity of 7500 mL/(g·h).

Incidence, risk factors and clinical outcome of multidrug-resistant organisms after heart transplantation

BACKGROUND Transplant recipients commonly harbor multidrug-resistant organisms(MDROs),as a result of frequent hospital admissions and increased exposure to antimi-crobials and invasive procedures.AIM To investigate the impact of patient demographic and clinical characteristics on MDRO acquisition,as well as the impact of MDRO acquisition on intensive care unit(ICU)and hospital length of stay,and on ICU mortality and 1-year mortality post heart transplantation.METHODS This retrospective cohort study analyzed 98 consecutive heart transplant patients over a ten-year period(2013-2022)in a single transplantation center.Data was collected regarding MDROs commonly encountered in critical care.RESULTS Among the 98 transplanted patients(70%male),about a third(32%)acquired or already harbored MDROs upon transplantation(MDRO group),while two thirds did not(MDRO-free group).The prevalent MDROs were Acinetobacter baumannii(14%),Pseudomonas aeruginosa(12%)and Klebsiella pneumoniae(11%).Compared to MDRO-free patients,the MDRO group was characterized by higher body mass index(P=0.002),higher rates of renal failure(P=0.017),primary graft dysfunction(10%vs 4.5%,P=0.001),surgical re-exploration(34%vs 14%,P=0.017),mechanical circulatory support(47%vs 26%P=0.037)and renal replacement therapy(28%vs 9%,P=0.014),as well as longer extracorporeal circulation time(median 210 vs 161 min,P=0.003).The median length of stay was longer in the MDRO group,namely ICU stay was 16 vs 9 d in the MDRO-free group(P=0.001),and hospital stay was 38 vs 28 d(P=0.006),while 1-year mortality was higher(28%vs 7.6%,log-rank-χ2:7.34).CONCLUSION Following heart transplantation,a predominance of Gram-negative MDROs was noted.MDRO acquisition was associated with higher complication rates,prolonged ICU and total hospital stay,and higher post-transplantation mortality.

Ashtekar-Kodama Gravity as a Classical and Quantum Extension of Loop Quantum Gravity

This paper presents a new theory of gravity, called here Ashtekar-Kodama (AK) gravity, which is based on the Ashtekar-Kodama formulation of loop quantum gravity (LQG), yields in the limit the Einstein equations, and in the quantum regime a full renormalizable quantum gauge field theory. The three fundamental constraints (hamiltonian, gaussian and diffeomorphism) were formulated in 3-dimensional spatial form within LQG in Ashtekar formulation using the notion of the Kodama state with positive cosmological constant Λ. We introduce a 4-dimensional covariant version of the 3-dimensional (spatial) hamiltonian, gaussian and diffeomorphism constraints of LQG. We obtain 32 partial differential equations for the 16 variables Emn (E-tensor, inverse densitized tetrad of the metric) and 16 variables Amn (A-tensor, gravitational wave tensor). We impose the boundary condition: for large distance the E-generated metric g(E) becomes the GR-metric g (normally Schwarzschild-spacetime). The theory based on these Ashtekar-Kodama (AK) equations, and called in the following Ashtekar-Kodama (AK-) gravity has the following properties. • For Λ = 0 the AK equations become Einstein equations, A-tensor is trivial (constant), and the E-generated metric g(E) is identical with the GR-metric g. • When the AK-equations are developed into a Λ-power series, the Λ-term yields a gravitational wave equation, which has only at least quadrupole wave solutions and becomes in the limit of large distance r the (normal electromagnetic) wave equation. • AK-gravity, as opposed to GR, has no singularity at the horizon: the singularity in the metric becomes a (very high) peak. • AK-gravity has a limit scale of the gravitational quantum region 39 μm, which emerges as the limit scale in the objective wave collapse theory of Gherardi-Rimini-Weber. In the quantum region, the AK-gravity becomes a quantum gauge theory (AK quantum gravity) with the Lie group extended SU(2) = ε-tensor-group(four generators) as gauge group and a corresponding covariant derivative. • AK quantum gravity is fully renormalizable, we derive its Lagrangian, which is dimensionally renormalizable, the normalized one-graviton wave function, the graviton propagator, and demonstrate the calculation of cross-section from Feynman diagrams.