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.

Oscillation of Dzyaloshinskii–Moriya interaction driven by weak electric fields

Dzyaloshinskii–Moriya interaction(DMI) is under extensive investigation considering its crucial status in chiral magnetic orders, such as Néel-type domain wall(DW) and skyrmions. It has been reported that the interfacial DMI originating from Rashba spin–orbit coupling(SOC) can be linearly tuned with strong external electric fields. In this work, we experimentally demonstrate that the strength of DMI exhibits rapid fluctuations, ranging from 10% to 30% of its original value, as a function of applied electric fields in Pt/Co/MgO heterostructures within the small field regime(< 10-2V/nm). Brillouin light scattering(BLS) experiments have been performed to measure DMI, and first-principles calculations show agreement with this observation, which can be explained by the variation in orbital hybridization at the Co/MgO interface in response to the weak electric fields. Our results on voltage control of DMI(VCDMI) suggest that research related to the voltage control of magnetic anisotropy for spin–orbit torque or the motion control of skyrmions might also have to consider the role of the external electric field on DMI as small voltages are generally used for the magnetoresistance detection.

Studies on the temporal,structural,and interacting features of the clubroot resistance gene Rcr1 using CRISPR/Cas9-based systems

Clubroot disease is a severe threat to Brassica crops globally,particularly in western Canada.Genetic resistance,achieved through pyramiding clubroot resistance(CR)genes with different modes of action,is the most important strategy for managing the disease.However,studies on the CR gene functions are quite limited.In this study,we have conducted investigations into the temporal,structural,and interacting features of a newly cloned CR gene,Rcr1,using CRISPR/Cas9 technology.For temporal functionality,we developed a novel CRISPR/Cas9-based binary vector,pHHIGR-Hsp18.2,to deliver Rcr1 into a susceptible canola line(DH12075)and observed that early expression of Rcr1 is critical for conferring resistance.For structural functionality,several independent mutations in specific domains of Rcr1 resulted in loss-offunction,highlighting their importance for CR phenotype.In the study of the interacting features of Rcr1,a cysteine protease gene and its homologous allele in canola were successfully disrupted via CRISPR/Cas9 as an interacting component with Rcr1 protein,resulting in the conversion from clubroot resistant to susceptible in plants carrying intact Rcr1.These results indicated an indispensable role of these two cysteine proteases in Rcr1-mediated resistance response.This study,the first of its kind,provides valuable insights into the functionality of Rcr1.Further,the new vector p HHIGR-Hsp18.2 demonstrated an inducible feature on the removal of add-on traits,which should be useful for functional genomics and other similar research in brassica crops.

Chemical simulation teaching system based on virtual reality and gesture interaction

Background Most existing chemical experiment teaching systems lack solid immersive experiences,making it difficult to engage students.To address these challenges,we propose a chemical simulation teaching system based on virtual reality and gesture interaction.Methods The parameters of the models were obtained through actual investigation,whereby Blender and 3DS MAX were used to model and import these parameters into a physics engine.By establishing an interface for the physics engine,gesture interaction hardware,and virtual reality(VR)helmet,a highly realistic chemical experiment environment was created.Using code script logic,particle systems,as well as other systems,chemical phenomena were simulated.Furthermore,we created an online teaching platform using streaming media and databases to address the problems of distance teaching.Results The proposed system was evaluated against two mainstream products in the market.In the experiments,the proposed system outperformed the other products in terms of fidelity and practicality.Conclusions The proposed system which offers realistic simulations and practicability,can help improve the high school chemistry experimental education.

Human Interaction Dynamics for Its Use in Mobile Robotics:Impedance Control for Leader-follower Formation

A complete characterization of the behavior in human-robot interactions(HRI) includes both: the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and motion error. For this, a scheme is presented to identify the impedance based on fictitious social forces, which are described by distance-based potential fields.As part of the validation procedure, we present an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure.Finally, with the best fictitious force and its identified impedance,an impedance control is designed for a mobile robot Pioneer 3AT,which is programmed to follow a human in a structured scenario.According to results, and under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.

Mapping epistasis and environment × QTX interaction based on four-omics genotypes for the detected QTX loci controlling complex traits in tobacco

Using newly developed methods and software, association mapping was conducted for chromium content and total sugar in tobacco leaf, based on four-omics datasets. Our objective was to collect data on genotype and phenotype for 60 leaf samples at four developmental stages, from three plant architectural positions and for three cultivars that were grown in two locations. Association mapping was conducted to detect genetic variants at quantitative trait SNP(QTS) loci, quantitative trait transcript(QTT) differences,quantitative trait protein(QTP) variability, and quantitative trait metabolite(QTM) changes,which can be summarized as QTX locus variation. The total heritabilities of the four-omics loci for both traits tested were 23.60% for epistasis and 15.26% for treatment interaction.Epistasis and environment × treatment interaction had important impacts on complex traits at all-omics levels. For decreasing chromium content and increasing total sugar in tobacco leaf, six methylated loci can be directly used for marker-assisted selection, and expression of ten QTTs, seven QTPs and six QTMs can be modified by selection or cultivation.

Numerical evaluation of passive control of shock wave/boundary layer interaction on NACA0012 airfoil using jagged wall

Shock formation due to flow compressibility and its interaction with boundary layers has adverse effects on aerodynamic characteristics, such as drag increase and flow separation. The objective of this paper is to appraise the practicability of weakening shock waves and, hence, reducing the wave drag in transonic flight regime using a two-dimensional jagged wall and thereby to gain an appropriate jagged wall shape for future empirical study. Different shapes of the jagged wall, including rectangular, circular, and triangular shapes, were employed. The numerical method was validated by experimental and numerical studies involving transonic flow over the NACA0012 airfoil, and the results presented here closely match previous experimental and numerical results. The impact of parameters, including shape and the length-to-spacing ratio of a jagged wall, was studied on aerodynamic forces and flow field. The results revealed that applying a jagged wall method on the upper surface of an airfoil changes the shock structure significantly and disintegrates it, which in turn leads to a decrease in wave drag. It was also found that the maximum drag coefficient decrease of around 17 % occurs with a triangular shape, while the maximum increase in aerodynamic efficiency（lift-to-drag ratio）of around 10 % happens with a rectangular shape at an angle of attack of 2.26？.

Overview of Sub-synchronous Oscillation in Wind Power System

Nowadays with the improvement in the degree of emphasis on new energy, the wind power system has developed more and more rapidly over the world. Usually the wind plants are located in the remote areas which are far from the load centers. Generally series compensated AC transmission and high voltage DC transmission are made use of to improve the transmission capacity as two main effective ways which can solve the problem of large scale wind power transmission. The paper describes the three kinds of impact varieties and impact mechanisms in the sub-synchronous oscillation phenomena of wind power system based on doubly fed induction generator (DFIG) wind generators. At last, we point out the important problem that should be stressed in the wind power system.

Research on the Sub-synchronous Oscillation in Wind Power Connected to Series Compensated Power System and its Influencing Factors

When wind farms,which is based on double fed induction generator(DFIG),are connected to the series compensation power system,the phenomenon of sub-synchronous oscillation(SSO)may occur.In order to study the sub-synchronous oscillation in wind power connected to series compensated power system and its influencing factors,we used RT-LAB to establish a simulation model concerning wind power connected to series-compensation power system.This model take a wind power connected to series compensation power system in north China as prototype.All influence factors of wind power SSO are simulated and analyzed by using time domain analysis method.The simulation results show that the effects of wind speed,series compensation degree and proportional control coefficient of rotor side converter(RSC)are most obvious.

Offshore Structural Control Considering Fluid Structure Interaction

Tuned Mass Damper （TMD） was applied to an offshore structure to control ocean wave-induced vibration, In the analysis of the dynamic response of the offshore structure, fluid-structure interaction is considered and the errors, which occur in the linearization of the interaction, are investigated. For the investigation of the performance of TMD in controlling the vibration, both regular waves with different periods and irregular waves with different significant wave heights are used. Based on the numerical analysis it is concluded that the fluid-structure interaction should be considered in the evaluation of the capability of TMD in vibration control of offshore structures.

Controllability Approach for a Fluid Structure Interaction Problem

The present paper presents a new method to solve fluid structure interaction problem. Our computational method is based on controllability approach. Given a target structural displacement we will find a control steering the displacement of the structure u to . We need to define a payoff functional (J): where u solves the structure equation for the control and is a fixed value. Our aim is to find a control which minimizes the payoff criterion. And therefore we find u the beam displacement, v the velocity of the fluid and p the pressure of the fluid.

The Influence of Interactive Control on Subsidiary Performance: A Mediating Role of Subsidiary Managers’ Strategic Behavior

Under the principal-agent relationship, there are two major factors that directly affect subsidiary strategy’s implementation and performance—enterprise groups’ internal interactive control and subsidiary managers’ strategic behavior. Prior research showed that the parent companies hope their subsidiary managers to be obedient and active, i.e. to keep a high degree of strategic identity and subsidiary initiative. We build and analyze a model to test the mediating role of strategic identity and subsidiary initiative based on data collected from Chinese groups. The results show that interactive control, strategic identity and subsidiary initiative all could improve subsidiary performance, furthermore, subsidiary initiative is a mediator between decision-making decentralization and subsidiary performance, and also a mediator between horizontal communication and subsidiary performance, the mediating role of strategic identity is not tested, but vertical communication can improve strategic identity. In the conclusions, we provide guidance on how parent companies to choose excellent subsidiary managers, and then how to develop a suite interactive control system.

Robust Impedance Control of Robots Using an Adaptive Interaction Force Observer

For robot interaction control,the interaction force between the robot and the manipulated object or environment should be monitored.Impedance control is a type of interaction control.Specifically,in impedance control,the dynamic relationship between the interaction force and the resulting motion is controlled.In order to control the impedance of a mechanical system,typically,the interaction force has to be sensed.Due to the inherent limitations of direct force sensing at the interaction site,in the present work,the interaction force is observed using robust observers.In particular,to enhance the accuracy of impedance control,a first order sliding mode impedance controller is designed and incorporated in the present paper.Its advantage over positionbased interaction control algorithms is demonstrated through experimentation.Experimental results are given to show the effectiveness of the proposed algorithms.

Interaction and Its Solution in Individual Matching Case-control Study

Objective To indicate the deficiency of the classical method for analyzing data on individual matching case-control study in consideration of the interaction between the study factor (exposure) and the matching factor, and to find out a proper method for handling this deficiency. Method First, experimental data with 50 pairs of cases and controls were used for strata analysis according to the values of a matching factor to illustrate the possible interaction between a risk factor (exposure) and the matching factor. Second, a detailed procedure was proposed for analyzing such data. Results Interaction between the study factor and matching factor was demonstrated by using strata analysis and unconditional logistic regression analysis. Therefore the results from the classical analysis for such data might be incorrect. Conclusion Data from individual matching case-control study design should be dealt with strata analysis or multivariate analysis to explore and evaluate the possible interaction between the s

基于模糊控制的上肢康复机器人变导纳控制

传统固定参数的导纳模型无法对上肢康复机器人的柔顺性实时调节,而现有变参数导纳模型需要结合实际康复需求进行改善。为此,以自主研发的串并混联的末端牵引式上肢康复机器人为研究对象,结合模糊控制与导纳控制,提出了一种面向实际康复需求的新型变导纳控制策略,制定了4条有利于康复效率与安全的模糊规则。该策略利用交互力误差及其变化率作为模糊控制输入,实时改变导纳模型的参数,实现柔顺性自主调节。仿真和实验结果验证了所提出的变导纳模型控制策略可行性和所制定的4条模糊规则的有效性。在患者可适应训练强度的场景中,相较于固定导纳模型,变导纳模型追踪给定路径时产生的冗余路径最多可降低56.13%,提高了康复训练效率;当康复运动超出患者可承受范围时,变导纳模型可提前0.5 s改变追踪路径,提高了康复的安全性。

艾司氯胺酮和丙泊酚在宫腔镜手术中的药效学相互作用

目的采用响应曲面法分析艾司氯胺酮和丙泊酚在宫腔镜手术中的药效学相互作用。方法选择择期行宫腔镜手术患者45例,年龄18~64岁,BMI 18.5~28.0 kg/m^(2),ASAⅠ或Ⅱ级。选择不同血浆药物浓度的艾司氯胺酮(0、0.1、0.2、0.3、0.4、0.5、0.6、0.7、0.8μg/ml)复合丙泊酚靶控输注,术中维持艾司氯胺酮的血浆药物浓度不变,阶梯式增加丙泊酚的血浆药物浓度。评估扩张宫颈引起的体动反应。采用响应曲面模型分析艾司氯胺酮与丙泊酚的药效学相互作用。结果艾司氯胺酮(0~0.8μg/ml)与丙泊酚(1.0~7.0μg/ml)相互作用的三维响应曲面显示,两者抑制扩张宫颈引起的体动反应方面具有相加作用。抑制扩张宫颈引起的体动反应的艾司氯胺酮半数有效浓度(EC_(50))为0.61μg/ml(95%CI 0.41~0.81μg/ml),丙泊酚EC_(50)为4.69μg/ml(95%CI 3.17~6.21μg/ml)。结论响应曲面法可以定性和定量地分析艾司氯胺酮和丙泊酚的药效学相互作用规律,在抑制扩张宫颈引起的体动反应上,艾司氯胺酮和丙泊酚具有相加作用。

机力通风冷却塔风机自寻优群控方法研究

机力通风冷却塔以占地面积小的显著优点,在中小型基建工程中得到广泛应用。为提升中小型基建工程外冷系统的节能性和可靠性、改进传统多风机控制方法,创新性地提出了一种基于累计运行时间的机力通风冷却塔风机自寻优群控方法。将多风机整体化控制改进为顺序化联动控制,可有效降低风机启动门槛出力、消除整体化控制固有缺陷,满足非线性、时变性、大滞后系统控制的节能、可靠需求。经工程验证:该方法是一种契合纯变频电机配置冷却塔系统的多风机控制方法。该方法风机出力柔和、控制线性度好、系统易镇定、稳态偏差小;能够通过累计运行时间参数比对,实现风机自动交互运行,运行可靠性高。该方法的提出与实际应用可对配置机力通风冷却塔的中小型基建工程的安全节能运行提供借鉴。

激波/湍流边界层干扰中的自适应控制技术

从激波/湍流边界层干扰机理以及流动控制的迫切需求入手,从自适应涡流发生器、自适应鼓包、自适应微射流以及自适应次流循环四个方面对激波/湍流边界层干扰中的自适应控制技术研究进展进行了总结。分析认为,结合AI技术发展自适应流动控制技术,加速控制方式智能化,可作为新一代高超声速飞行器宽速域飞行的重要技术手段。具体来说,就是通过调节外加激励对高超声速飞行器不同区域实现局部流动加/减速、气动热防护、气动控制等功能,根据流场参数建立控制反馈回路,自适应调整局部流场结构,以满足工程实际需求。

基于高分子材质的L型城市应急防洪屏受力分析

国内关于高分子材质城市内涝应急防御装备的研究较为少见。采用水槽试验与流固耦合数值仿真相结合的方法,对城市应急防洪屏(以下简称“防洪屏”)的结构受力特性展开研究。结果表明,数值仿真模拟与试验结果吻合较好。随着水深和流速的增大,防洪屏的应力和变形逐渐增大,最大应力位于防洪屏的踵部,最大变形位于挡水面顶部两侧。防洪屏的结构受力系数随着来流弗劳德数的增大快速衰减,当弗劳德数大于0.15后,结构受力系数趋于定值;相对于惯性力,防洪屏承受最大应力的影响因素主要是重力。研究结果可为防洪屏的进一步优化设计提供参考。