With the wide application of automated guided vehicles(AGVs) in large scale outdoor scenarios with complex terrain,the collaborative work of a large number of AGVs becomes the main trend.The effective multi-agent path...With the wide application of automated guided vehicles(AGVs) in large scale outdoor scenarios with complex terrain,the collaborative work of a large number of AGVs becomes the main trend.The effective multi-agent path finding(MAPF) algorithm is urgently needed to ensure the efficiency and realizability of the whole system. The complex terrain of outdoor scenarios is fully considered by using different values of passage cost to quantify different terrain types. The objective of the MAPF problem is to minimize the cost of passage while the Manhattan distance of paths and the time of passage are also evaluated for a comprehensive comparison. The pre-path-planning and real-time-conflict based greedy(PRG) algorithm is proposed as the solution. Simulation is conducted and the proposed PRG algorithm is compared with waiting-stop A^(*) and conflict based search(CBS) algorithms. Results show that the PRG algorithm outperforms the waiting-stop A^(*) algorithm in all three performance indicators,and it is more applicable than the CBS algorithm when a large number of AGVs are working collaboratively with frequent collisions.展开更多
Objective:To explore the core drug of Tian-shi Ye(1666 C.E.–1745 C.E.,a famous medical experts in Qing Dynasty)for treating exogenous cough and its mechanism of action.Methods:The database of prescriptions for treati...Objective:To explore the core drug of Tian-shi Ye(1666 C.E.–1745 C.E.,a famous medical experts in Qing Dynasty)for treating exogenous cough and its mechanism of action.Methods:The database of prescriptions for treating exogenous cough was established in Clinical Guide to Medical Records,and the complex network was constructed with frequency analysis and Gephi 0.9.2 software to obtain the core drug for exogenous cough,and the network of traditional Chinese medicine-component-disease-target regulation was constructed through network pharmacology to reveal the potential mechanism.Results:Xingren(Amygdalus Communis Vas)is the core drug for the treatment of exogenous cough in the“Clinical Guidelines and Medical Records”.It contains 19 active ingredients and forms 27 traditional Chinese medicine-disease targets for the treatment of acute bronchitis.Kyoto Encyclopedia of Genes and Genomes analysis involving 114 pathways,including arachidonic acid metabolism pathways,peroxidase pathways,estrogen metabolism pathways,and tryptophan metabolism pathways are the main signal pathways involved.Conclusion:Xingren(Amygdalus Communis Vas)-acute bronchitis has a multi-molecule,multi-target,and multi-pathway,and may be regulating the arachidonic acid metabolism pathway,peroxidase pathway,estrogen metabolism pathway,and tryptophan metabolism pathway.Such interventions as various biological processes in the body play a role in the treatment of acute bronchitis.展开更多
In western China seismic wave fields are very complicated and have low signal to noise ratio.In this paper,we focus on complex wave field research by forward modeling and indicate that density should not be ignored in...In western China seismic wave fields are very complicated and have low signal to noise ratio.In this paper,we focus on complex wave field research by forward modeling and indicate that density should not be ignored in wave field simulation if the subsurface physical properties are quite different.We use the acoustic wave equation with density in the staggered finite-difference method to simulate the wave fields.For this purpose a complicated geologic structural model with rugged surfaces,near-surface low-velocity layers,and high-velocity outcropping layers was designed.Based on the instantaneous wave field distribution,we analyzed the mechanism forming complex wave fields.The influence of low velocity layers on the wave field is very strong.A strong waveguide occurs between the top and base of a low velocity layer,producing multiples which penetrate into the earth and form strong complex wave fields in addition to reflections from subsurface interfaces.For verifying the correctness of the simulated wave fields,prestack depth migration was performed using different algorithms from the forward modeling.The structure revealed by the stacked migration profile is same as the known structure.展开更多
基金Supported by the National Key Research and Development Program of China(No.2020YFC1807904).
文摘With the wide application of automated guided vehicles(AGVs) in large scale outdoor scenarios with complex terrain,the collaborative work of a large number of AGVs becomes the main trend.The effective multi-agent path finding(MAPF) algorithm is urgently needed to ensure the efficiency and realizability of the whole system. The complex terrain of outdoor scenarios is fully considered by using different values of passage cost to quantify different terrain types. The objective of the MAPF problem is to minimize the cost of passage while the Manhattan distance of paths and the time of passage are also evaluated for a comprehensive comparison. The pre-path-planning and real-time-conflict based greedy(PRG) algorithm is proposed as the solution. Simulation is conducted and the proposed PRG algorithm is compared with waiting-stop A^(*) and conflict based search(CBS) algorithms. Results show that the PRG algorithm outperforms the waiting-stop A^(*) algorithm in all three performance indicators,and it is more applicable than the CBS algorithm when a large number of AGVs are working collaboratively with frequent collisions.
文摘Objective:To explore the core drug of Tian-shi Ye(1666 C.E.–1745 C.E.,a famous medical experts in Qing Dynasty)for treating exogenous cough and its mechanism of action.Methods:The database of prescriptions for treating exogenous cough was established in Clinical Guide to Medical Records,and the complex network was constructed with frequency analysis and Gephi 0.9.2 software to obtain the core drug for exogenous cough,and the network of traditional Chinese medicine-component-disease-target regulation was constructed through network pharmacology to reveal the potential mechanism.Results:Xingren(Amygdalus Communis Vas)is the core drug for the treatment of exogenous cough in the“Clinical Guidelines and Medical Records”.It contains 19 active ingredients and forms 27 traditional Chinese medicine-disease targets for the treatment of acute bronchitis.Kyoto Encyclopedia of Genes and Genomes analysis involving 114 pathways,including arachidonic acid metabolism pathways,peroxidase pathways,estrogen metabolism pathways,and tryptophan metabolism pathways are the main signal pathways involved.Conclusion:Xingren(Amygdalus Communis Vas)-acute bronchitis has a multi-molecule,multi-target,and multi-pathway,and may be regulating the arachidonic acid metabolism pathway,peroxidase pathway,estrogen metabolism pathway,and tryptophan metabolism pathway.Such interventions as various biological processes in the body play a role in the treatment of acute bronchitis.
基金supported in part by the National Natural Science Foundation of China(Grant No.40974069)PetroChina Innovation Foundation(Grant No.2009D-5006-03-01)+1 种基金National Key Basic Research Development Program(GrantNo.2007CB209601)National Major Science and Technology Program(Grant Nos.2008ZX05010-002 and 2008ZX05024-001)
文摘In western China seismic wave fields are very complicated and have low signal to noise ratio.In this paper,we focus on complex wave field research by forward modeling and indicate that density should not be ignored in wave field simulation if the subsurface physical properties are quite different.We use the acoustic wave equation with density in the staggered finite-difference method to simulate the wave fields.For this purpose a complicated geologic structural model with rugged surfaces,near-surface low-velocity layers,and high-velocity outcropping layers was designed.Based on the instantaneous wave field distribution,we analyzed the mechanism forming complex wave fields.The influence of low velocity layers on the wave field is very strong.A strong waveguide occurs between the top and base of a low velocity layer,producing multiples which penetrate into the earth and form strong complex wave fields in addition to reflections from subsurface interfaces.For verifying the correctness of the simulated wave fields,prestack depth migration was performed using different algorithms from the forward modeling.The structure revealed by the stacked migration profile is same as the known structure.
