Cooperative Target Tracking of Multiple Autonomous Surface Vehicles Under Switching Interaction Topologies

This paper is concerned with the cooperative target tracking of multiple autonomous surface vehicles(ASVs)under switching interaction topologies.For the target to be tracked,only its position can be measured/received by some of the ASVs,and its velocity is unavailable to all the ASVs.A distributed extended state observer taking into consideration switching topologies is designed to integrally estimate unknown target dynamics and neighboring ASVs'dynamics.Accordingly,a novel kinematic controller is designed,which takes full advantage of known information and avoids the approximation of some virtual control vectors.Moreover,a disturbance observer is presented to estimate unknown time-varying environmental disturbance.Furthermore,a distributed dynamic controller is designed to regulate the involved ASVs to cooperatively track the target.It enables each ASV to adjust its forces and moments according to the received information from its neighbors.The effectiveness of the derived results is demonstrated through cooperative target tracking performance analysis for a tracking system composed of five interacting ASVs.

A Small Target Detection Method for Sea Surface Based on Guided Filtering and Local Mean Gray Difference

The traditional small target detection algorithm often results in a high false alarm rate on the sea surface background. To address this issue, a small target detection method based on guided filtering and local average gray level difference was proposed in this paper for the sea surface. Firstly, the method enhanced the details of the small targets by employing guided filtering to suppress the background clutter and noise in the sea surface image. Subsequently, the local average gray level difference of each point in the image was calculated to further distinguish the targets from other interference points. Finally, the threshold segmentation method was utilized to obtain the actual small targets on the sea surface. After conducting experiments on various sea surface scenes, the LSCRG, BSF, and ROC curve were computed for the proposed method and five other algorithms. Comparative analysis with BS, Top-hat, TDLMS, Max-median, and LCM demonstrates the superiority of the proposed method for infrared small target detection on the sea surface.

Variable structure guidance law for attacking surface maneuver targets

The characteristics of surface maneuver targets are analyzed and a 3-D relative motion model for missiles and targets is established. A variable structure guidance law is designed considering the characteristics of targets. In the guidance law, the distance between missiles and targets as well as the missile-target relative velocity are all substituted by estimation values. The estimation errors, the target＇s velocity, and the maneuver acceleration are all treated as bounded disturbance. The guidance law proposed can be implemented conveniently in engineering with little target information. The performance of the guidance system is analyzed theoretically and the numerical simulation result shows the effectiveness of the guidance law.

Solution of scattering from rough surface with a 2D target above it by a hybrid method based on the reciprocity theorem and the forward-backward method

This paper proposes a hybrid method based on the forward-backward method （FBM） and the reciprocity theorem （RT） for evaluating the scattering field from dielectric rough surface with a 2D target above it. Here, the equivalent electric/magnetic current densities on the rough surface as well as the scattering field from it are numerically calculated by FBM, and the scattered field from the isolated target is obtained utilizing the method of moments （MOM）. Meanwhile, the rescattered coupling interactions between the target and the surface are evaluated employing the combination of FBM and RT. Our hybrid method is first validated by available MOM results. Then, the functional dependences of bistatic and monostatic scattering from the target above rough surface upon the target altitude, incident and scattering angles are numerically simulated and discussed. This study presents a numerical description for the scattering mechanism associated with rescattered coupling interactions between a target and an underlying randomly rough surface.

Theoretical analysis of the surface temperature regulation of an infrared false target subjected to periodical ambient conditions

Infrared false target is an important mean to induce the infrared-guided weapons,and the key issue is how to keep the surface temperature of the infrared false target to be the same as that of the object to be protected.One-dimensional heat transfer models of a metal plate and imitative material were established to explore the influences of the thermophysical properties of imitative material on the surface temperature difference（STD） between the metal plate and imitative material which were subjected to periodical ambient conditions.It is elucidated that the STD is determined by the imitative material’s dimensionless thickness（dim*,） and the thermal inertia(Pim).When dim* is above 1.0,the STD is invariable as long as Pim is a constant.And if the dimensionless thickness of metal plate（d,m*） is also larger than 1.0,the STD approaches to zero as long as Pimis the same as the thermal inertia of metal plate（Pm）.When dim* is between 0.08 and 1,the STD varies irregularly with Pim and dim*.However,if dm* is also in the range of 0.08-1,the STD approaches to zero on condition that Pim=Pm and dim*= dm*.If dim*,is below 0.08,the STD is unchanged when Pimdim* is a constant.And if dm* is also less than 0.08,the STD approaches to zero as long as Pimdim* = Pmdm*.Furthermore,an applicationoriented discussion indicates that the imitative material can be both light and thin via the application of the phase change material with a preset STD because of its high specific heat capacity during the phase transition process.

A hybrid method of solving near-zone composite eletromagnetic scattering from targets and underlying rough surface

For composite electromagnetic(EM)scattering from rough surface and target above it in near-field condition,modified shooting and bouncing ray(SBR)method and integral equation method(IEM),which are analytic methods combined with two-scale model for rough surface,are proposed to solve the composite near-field scattering problems.And the modified method is verified in effectiveness and accuracy by comparing the simulation results with measured results.Finally,the composite near-fielding scattering characteristics of a slanted plane and rough water surface below are obtained by using the proposed methods,and the dynamic tendency of composite scattering characteristics versus near-fielding distance is analyzed,which may have practical contribution to engineering programs in need of radar targets near-field characteristics under extra-low-altitude conditions.

Development of PLGA micro-and nanorods with high capacity of surface ligand conjugation for enhanced targeted delivery

Particle shape has been recognized as one of the key properties of nanoparticles in biomedical applications including targeted drug delivery.Targeting ability of shape-engineered particles depends largely on targeting ligands conjugated on the particle surface.However,poor capacity for surface ligand conjugation remains a problem in anisotropic nanoparticles made with biodegradable polymers such as PLGA.In this study,we prepared anisotropic PLGA nanoparticles with abundant conjugatable surface functional groups by a film stretching-based fabrication method with poly(ethylene-alt-maleic acid)(PEMA).Scanning electron microscopy images showed that microrods and nanorods were successfully fabricated by the PEMA-based film stretching method.The presence of surface carboxylic acid groups was confirmed by confocal microscopy and zeta potential measurements.Using the improved film-stretching method,the amount of protein conjugated to the surface of nanorods was increased three-fold.Transferrin-conjugated,nanorods fabricated by the improved method exhibited higher binding and internalization than unmodified counterparts.Therefore,the PEMA-based film-stretching system presented in this study would be a promising fabrication method for non-spherical biodegradable polymeric micro-and nanoparticles with high capacity of surface modifications for enhanced targeted delivery.

Multiple extended target tracking algorithm based on Gaussian surface matrix

In this paper, we consider the problem of irregular shapes tracking for multiple extended targets by introducing the Gaussian surface matrix（GSM） into the framework of the random finite set（RFS） theory. The Gaussian surface function is constructed first by the measurements, and it is used to define the GSM via a mapping function. We then integrate the GSM with the probability hypothesis density（PHD） filter, the Bayesian recursion formulas of GSM-PHD are derived and the Gaussian mixture implementation is employed to obtain the closed-form solutions. Moreover, the estimated shapes are designed to guide the measurement set sub-partition, which can cope with the problem of the spatially close target tracking. Simulation results show that the proposed algorithm can effectively estimate irregular target shapes and exhibit good robustness in cross extended target tracking.

Narrowing the focus:Therapeutic cell surface targets for refractory triple-negative breast cancer

Triple-negative breast cancer(TNBC)is defined as a type of breast cancer with lack of expression of estrogen receptor,progesterone receptor and human epidermal growth factor 2 protein.In comparison to other types of breast cancer,TNBC characterizes for its aggressive behavior,more prone to early recurrence and a disease with poor response to molecular target therapy.Although TNBC is identified in only 25%-30%of American breast cancer cases annually,these tumors continue to be a therapeutic challenge for clinicians for several reasons:Tumor heterogeneity,limited and toxic systemic therapy options,and often resistance to current standard therapy,characterized by progressive disease on treatment,residual tumor after cytotoxic chemotherapy,and early recurrence after complete surgical excision.Cell-surface targeted therapies have been successful for breast cancer in general,however there are currently no approved cell-surface targeted therapies specifically indicated for TNBC.Recently,several cell-surface targets have been identified as candidates for treatment of TNBC and associated targeted therapies are in development.The purpose of this work is to review the current clinical challenges posed by TNBC,the therapeutic approaches currently in use,and provide an overview of developing cell surface targeting approaches to improve outcomes for treatment resistant TNBC.

Hybrid hierarchical trajectory planning for a fixed-wing UCAV performing air-to-surface multi-target attack

This paper considers the problem of generating a flight trajectory for a single fixed-wing unmanned combat aerial vehicle （UCAV） performing an air-to-surface multi-target attack （A/SMTA） mission using satellite-guided bombs. First, this problem is formulated as a variant of the traveling salesman problem （TSP）, called the dynamic-constrained TSP with neighborhoods （DCT- SPN）. Then, a hierarchical hybrid approach, which partitions the planning algorithm into a roadmap planning layer and an optimal control layer, is proposed to solve the DCTSPN. In the roadmap planning layer, a novel algorithm based on an updatable proba- bilistic roadmap （PRM） is presented, which operates by randomly sampling a finite set of vehicle states from continuous state space in order to reduce the complicated trajectory planning problem to planning on a finite directed graph. In the optimal control layer, a collision-free state-to-state trajectory planner based on the Gauss pseudospectral method is developed, which can generate both dynamically feasible and optimal flight trajectories. The entire process of solving a DCTSPN consists of two phases. First, in the offline preprocessing phase, the algorithm constructs a PRM, and then converts the original problem into a standard asymmet- ric TSP （ATSP）. Second, in the online querying phase, the costs of directed edges in PRM are updated first, and a fast heuristic searching algorithm is then used to solve the ATSP. Numerical experiments indicate that the algorithm proposed in this paper can generate both feasible and near-optimal solutions quickly for online purposes.

Effect of inner-surface roughness of conical target on laser absorption and fast electron generation

The effect of inner-surface roughness of conical targets on the generation of fast electrons in the laser-cone interaction is investigated using particle-in-cell simulation. It is found that the surface roughness can reduce the fast-electron number （in the energy range E 〉 1 MeV） and energy, as compared to that from a cone with smooth inner wall. A scaling law for the laser reflectivity based on the vacuum-heating model is derived. Both theory and simulation indicate that laser reflection increases with the height-to-width ratio of the periodic inner surface structure and approaches that of a smooth cone as this ratio becomes zero.

Bidirectional reflectance distribution function modeling of one-dimensional rough surface in the microwave band

An efficiently iterative analytical-numerical method is proposed for two-dimensional （2D） electromagnetic scattering from a perfectly electric conducting （PEC） target buried under a dielectric rough surface. The basic idea is to employ the Kirchhoff approximation （KA） to accelerate the boundary integral method （BIM）. Below the rough surface, an iterative system is designed between the rough surface and the target. The KA is used to simulate the initial field on the rough surface based on the Fresnel theory, while the target is analyzed by the boundary integral method to obtain a precise result. The fields between the rough surface and the target can be linked by the boundary integral equations below the rough surface. The technique presented here is highly efficient in terms of computational memory, time, and versatility. Numerical simulations of two typical models are carried out to validate the method.

Surface Temperature Changes Projected by FGOALS Models under Low Warming Scenarios in CMIP5 and CMIP6

To meet the low warming targets proposed in the 2015 Paris Agreement,substantial reduction in carbon emissions is needed in the future.It is important to know how surface climates respond under low warming targets.The present study investigates the surface temperature changes under the low-forcing scenario of Representative Concentration Pathways(RCP2.6)and its updated version(Shared Socioeconomic Pathways,SSP1-2.6)by the Flexible Global Ocean-Atmosphere-Land System(FGOALS)models participating in phases 5 and 6 of the Coupled Model Intercomparison Project(CMIP5 and CMIP6,respectively).In both scenarios,radiative forcing(RF)first increases to a peak of 3 W m^−2 around 2045 and then decreases to 2.6 W m^−2 by 2100.Global mean surface air temperature rises in all FGOALS models when RF increases(RF increasing stage)and declines or holds nearly constant when RF decreases(RF decreasing stage).The surface temperature change is distinct in its sign and magnitude between the RF increasing and decreasing stages over the land,Arctic,North Atlantic subpolar region,and Southern Ocean.Besides,the regional surface temperature change pattern displays pronounced model-to-model spread during both the RF increasing and decreasing stages,mainly due to large intermodel differences in climatological surface temperature,ice-albedo feedback,natural variability,and Atlantic Meridional Overturning Circulation change.The pattern of tropical precipitation change is generally anchored by the spatial variations of relative surface temperature change(deviations from the tropical mean value)in the FGOALS models.Moreover,the projected changes in the updated FGOALS models are closer to the multi-model ensemble mean results than their predecessors,suggesting that there are noticeable improvements in the future projections of FGOALS models from CMIP5 to CMIP6.

MUTS-Based Cooperative Target Stalking for A Multi-USV System

This paper is concerned with the cooperative target stalking for a multi-unmanned surface vehicle(multi-USV)system.Based on the multi-agent deep deterministic policy gradient(MADDPG)algorithm,a multi-USV target stalking(MUTS)algorithm is proposed.Firstly,a V-type probabilistic data extraction method is proposed for the first time to overcome shortcomings of the MADDPG algorithm.The advantages of the proposed method are twofold:1)it can reduce the amount of data and shorten training time;2)it can filter out more important data in the experience buffer for training.Secondly,in order to avoid the collisions of USVs during the stalking process,an action constraint method called Safe DDPG is introduced.Finally,the MUTS algorithm and some existing algorithms are compared in cooperative target stalking scenarios.In order to demonstrate the effectiveness of the proposed MUTS algorithm in stalking tasks,mission operating scenarios and reward functions are well designed in this paper.The proposed MUTS algorithm can help the multi-USV system avoid internal collisions during the mission execution.Moreover,compared with some existing algorithms,the newly proposed one can provide a higher convergence speed and a narrower convergence domain.

氦气地质理论认识、资源勘查评价与全产业链一体化评价关键技术

鉴于我国氦气产业链理论技术需求,针对国内外尚无系统的氦气地质理论认识,缺乏针对性的氦气资源评价方法、参数取值标准,缺乏氦气含量综合准确检测、有利富集区优选方法,无成本指标优化体系及全产业链一体化评价方法等卡点和难点,本文运用地质、地球化学、重磁电震、投资经济等多学科方法及实验技术,集中力量攻克氦气成藏机理、资源评价及资产评价的关键技术瓶颈。研发形成1项地质理论认识和3项关键技术:基于典型富氦气藏解剖、地下流体中“氦-气-水”相平衡及相-势耦合分析,研究提出氦气“水溶相、气容相、游离相”3种主要赋存状态、“集流、渗流、扩散”3种运移机理、“近氦源、邻断裂、低压区、高部位”4项分布富集控制因素,初步建立了基于“优质氦源、高效输导、适宜载体”的氦气“生-运-聚”地质理论认识。针对国内氦气含量检测技术参差不齐、部分准确度差、与国外数据差别大、无针对性的氦气资源评价方法等系列难题,以氦气源及氦气含量为核心,研发氦气含量综合准确检测技术,构建4类10种氦气资源评价方法,解决了氦气资源分级分类评价的技术瓶颈。针对基底氦源分布、岩性识别、通源断裂刻画及含氦储层评价难题,创建了归一化重磁下延方案,研发了基于深度学习的多尺度断裂智能识别技术和不同氦气含量下的气藏声学性质模拟方法,为氦源岩分布预测、通源断裂刻画、含氦储层测井解释评价及预测奠定了基础。通过建立多元控氦的富氦区带与目标优选技术,解决了富氦区带与目标优选难题。针对国内贫氦实际情况,以提氦装置投资和操作成本最小化为目标,采用响应面法建立优化目标与各主要工艺参数的非线性回归模型,建立了氦气全产业链一体化评价技术,初步解决了天然气低成本提氦工艺流程优化的技术需求。研究成果为我国长期、安全、规模利用氦气资源资产提供了有效支撑。

多特征融合的无人艇视觉目标长时相关鲁棒跟踪

[目的]针对显著海浪遮挡、相机剧烈晃动引起的无人艇视觉目标跟踪脱靶问题,提出一种基于多特征融合的长时相关鲁棒跟踪算法。[方法]首先,采用多特征融合技术,增强目标特征表达,提高目标模型鲁棒性;其次,利用高维特征降维和响应图子网格插值,提高目标跟踪的效率与精度;然后,设计水面目标重识别机制,解决目标完全脱离视野时的稳定跟踪问题;最后,采用多个代表性视频数据集进行验证和比较分析。[结果]实验结果表明,相较于传统的长时相关跟踪算法,平均成功率提升15.7%,平均距离精度指标提升30.3%,F-Score指标提升7.0%。[结论]所提算法能够处理恶劣海况下的目标脱靶问题,对于提升无人船艇及海洋机器人智能感知能力,具有重要技术支撑意义。

融合DT和SDFPT的时序InSAR矿区形变监测与分析

煤矿高强度开采会导致严重的地面形变及次生地质灾害。时序合成孔径雷达干涉(synthetic aperture Radar interferometry,InSAR)具有较强的形变监测能力,但在开采核心及周边低相干区域时无法监测到足够的目标点。该文尝试将分布式目标(distributed target,DT)和缓慢去相关滤波相位目标(slowly-decorrelating filtered phase target,SDFPT)进行联合,以提高矿区形变监测点的密度和覆盖度。分别采用快速同质点选取(fast statistically homogenous pixel selection,FaSHPS)法和振幅离差指数法选取DT和SDFPT候选点,分别对2类点进行相位优化和稳定性分析,筛选出符合条件的DT和SDFPT形成融合点集,并对其进行三维相位解缠、恢复相位时间序列和时空滤波,最终得到融合点集的形变时间序列和年均形变速率。选取2018年4月—2020年4月获取的覆盖布尔台煤矿的60景Sentinel-1影像进行形变监测,结果表明,融合DT和SDFPT后形变点密度和覆盖度显著提升,可监测最大形变量级也随之增加。实验区域内存在5处形变漏斗,最大累积形变量达到-309.76 mm;形变影响范围和不同年份时序形变量的差异与矿区开采活动密切相关。

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。

纳米金材料在肿瘤诊治领域中的应用研究进展

在肿瘤的预防与控制方面,实施“三早”策略——即早期发现、早期诊断、早期治疗——被认为是实现一级预防效果的最有效途径。尽管如此,当前肿瘤早期诊断的技术和能力仍然遭遇着重大挑战。另一方面,传统的抗肿瘤药物由于其高毒性和缺乏针对特定组织的特异性,导致在实际治疗中的应用受到了显著限制。纳米金材料因其独特的优势而脱颖而出,包括表面易于改性、出色的生物相容性、小尺寸带来的特殊效应、光学性质以及量子效应等,使其在肿瘤细胞的诊断和治疗方面显示出巨大的应用潜力。近年来,纳米金在肿瘤的临床诊断和治疗领域受到了广泛的关注和研究,并已取得了令人鼓舞的进展。该文旨在对纳米金材料在肿瘤诊治领域中的最新研究进展进行全面的综述,以期为肿瘤患者提供更加有效和个性化的诊疗方案,推动其在临床实践中的广泛应用。

多源视频数据驱动的舰面保障作业三维重建

针对现有公开的航母舰面保障作业视频数据碎片化、相机角度多变、像素质量低下等问题,提出一种多源视频数据驱动的舰面保障作业三维重建方法.该方法首先对视频中对象轨迹方向进行预测,并采用联合外观和方向相似度的跟踪方法实现视频数据的多目标轨迹跟踪;然后基于跟踪结果,依次采用相似度关联、特征轨迹分割、轨迹聚类提取多源数据中的保障作业对象并进行关联与融合;最后对融合得到的轨迹进行逼真三维重建.在MOT20数据集和舰面保障作业公开视频数据上,实验和用户调研数据的t检验结果表明,采用所提方法有99.5%的把握得到可信的舰面保障作业三维重建效果.