Once the spoofer has controlled the navigation sys-tem of unmanned aerial vehicle(UAV),it is hard to effectively control the error convergence to meet the threshold condition only by adjusting parameters of estimation...Once the spoofer has controlled the navigation sys-tem of unmanned aerial vehicle(UAV),it is hard to effectively control the error convergence to meet the threshold condition only by adjusting parameters of estimation if estimation of the spoofer on UAV has continuous observation error.Aiming at this problem,the influence of the spoofer’s state estimation error on spoofing effect and error convergence conditions is theoretically analyzed,and an improved adaptively robust estimation algo-rithm suitable for steady-state linear quadratic estimator is pro-posed.It enables the spoofer’s estimator to reliably estimate UAV status in real time,improves the robustness of the estima-tor in responding to observation errors,and accelerates the con-vergence time of error control.Simulation experiments show that the mean value of normalized innovation squared(NIS)is reduced by 88.5%,and the convergence time of NIS value is reduced by 76.3%,the convergence time of true trajectory error of UAV is reduced by 42.3%,the convergence time of estimated trajectory error of UAV is reduced by 67.4%,the convergence time of estimated trajectory error of the spoofer is reduced by 33.7%,and the convergence time of broadcast trajectory error of the spoofer is reduced by 54.8%when the improved algorithm is used.The improved algorithm can make UAV deviate from pre-set trajectory to spoofing trajectory more effectively and more subtly.展开更多
A slip-draft embedded control system was designed and developed for an independent developed 2WD(two-wheel drive)electric tractor,to improve the traction efficiency,operation performance and ploughing depth stability ...A slip-draft embedded control system was designed and developed for an independent developed 2WD(two-wheel drive)electric tractor,to improve the traction efficiency,operation performance and ploughing depth stability of the electric tractor.In this system,the battery of electric tractor was innovatively equivalent to the original counterweight of the fuel tractor.And through dynamic analysis of electric tractor during ploughing,the mathematical model of adjusting the center of gravity about draft force and slip rate was established.Then the automatic adjustment of the center of gravity for electric tractor was realized through the adaptive adjustment of battery position.Finally,the system was carried on electric tractor for performance evaluation under different ploughing conditions,the traction efficiency,slip rate and front wheel load of electric tractor were measured and controlled synchronously to make it close to the set range.And the comparative experiments of ploughing operation were carried out under the two modes of adaptive adjustment of center of gravity and fixed center of gravity.The test results showed that,based on the developed control system,the center of gravity of electric tractor can be adjusted in real time according to the complex changes of working conditions.During ploughing operation with adjusting adaptively battery position,the average values of traction efficiency,slip rate,front wheel load and relative error of tillage depth of electric tractor were 64.5%,22.2%,2045.0 N and 2.0%respectively.Which were optimized by 15.0%,29.5%,19.6%and 80.0%respectively,compared with electric tractor with fixed battery position.The slip-draft embedded control system can not only realize the adaptive adjustment of the center of gravity position in the ploughing process of electric tractor,but also improve the traction efficiency and the stability of ploughing depth,which can provide reference for the actual production operation of electric tractor.展开更多
The multigrid V-cycle methods for adaptive finite element discretizations of two-dimensional elliptic problems with discontinuous coefficients are considered.Under the conditions that the coefficient is quasi-monotone...The multigrid V-cycle methods for adaptive finite element discretizations of two-dimensional elliptic problems with discontinuous coefficients are considered.Under the conditions that the coefficient is quasi-monotone up to a constant and the meshes are locally refined by using the newest vertex bisection algorithm,some uniform convergence results are proved for the standard multigrid V-cycle algorithm with Gauss-Seidel relaxations performed only on new nodes and their immediate neighbours.The multigrid V-cycle algorithm uses O(N)operations per iteration and is optimal.展开更多
Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and ...Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. Some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, respectively.Then, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation significantly.Finally, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.展开更多
We apply the multiscale basis functions for the singularly perturbed reaction-diffusion problem on adaptively graded meshes,which can provide a good balance between the numerical accuracy and computational cost.The mu...We apply the multiscale basis functions for the singularly perturbed reaction-diffusion problem on adaptively graded meshes,which can provide a good balance between the numerical accuracy and computational cost.The multiscale space is built through standard finite element basis functions enriched with multiscale basis functions.The multiscale basis functions have abilities to capture originally perturbed information in the local problem,as a result our method is capable of reducing the boundary layer errors remarkably on graded meshes,where the layer-adapted meshes are generated by a given parameter.Through numerical experiments we demonstrate that the multiscale method can acquire second order convergence in the L^(2)norm and first order convergence in the energy norm on graded meshes,which is independent ofε.In contrast with the conventional methods,our method is much more accurate and effective.展开更多
The 2.5 m wide-field and high-resolution solar telescope(WeHoST)is currently under developing for solar observations.WeHoST aims to achieve high-resolution observations over a super-wide field of view(FOV)of5′×5...The 2.5 m wide-field and high-resolution solar telescope(WeHoST)is currently under developing for solar observations.WeHoST aims to achieve high-resolution observations over a super-wide field of view(FOV)of5′×5′,and a desired resolution of 0.3″.To meet the scientific requirements of WeHoST,the ground-layer adaptive optics(GLAO)with a specially designed wave front sensing system is as the primary consideration.We introduce the GLAO configuration,particularly the wave front sensing scheme.Utilizing analytic method,we simulate the performance of both classical AO and GLAO systems,optimize the wave front sensing system,and evaluate GLAO performance in terms of PSF uniformity and correction improvement across whole FOV.The results indicate that,the classical AO will achieve diffraction-limited resolution;the suggested GLAO configuration will uniformly improve the seeing across the full 5′×5′FOV,reducing the FWHM across the axis FOV to less than0.3″(λ≥705 nm,r0≥11 cm),which is more than two times improvement.The specially designed wave front sensor schedule offers new potential for WeHoST’s GLAO,particularly the multi-FOV GLAO and the flexibility to select the detected area.These capabilities will significantly enhance the scientific output of the telescope.展开更多
Vertebrate neurons are highly dynamic cells that undergo several alterations in their functioning and physiologies in adaptation to various external stimuli.In particular,how these neurons respond to physical exercise...Vertebrate neurons are highly dynamic cells that undergo several alterations in their functioning and physiologies in adaptation to various external stimuli.In particular,how these neurons respond to physical exercise has long been an area of active research.Studies of the vertebrate locomotor system’s adaptability suggest multiple mechanisms are involved in the regulation of neuronal activity and properties during exercise.In this brief review,we highlight recent results and insights from the field with a focus on the following mechanisms:(a)alterations in neuronal excitability during acute exercise;(b)alterations in neuronal excitability after chronic exercise;(c)exercise-induced changes in neuronal membrane properties via modulation of ion channel activity;(d)exercise-enhanced dendritic plasticity;and(e)exercise-induced alterations in neuronal gene expression and protein synthesis.Our hope is to update the community with a cellular and molecular understanding of the recent mechanisms underlying the adaptability of the vertebrate locomotor system in response to both acute and chronic physical exercise.展开更多
Upland rice shows dryland adaptation in the form of a deeper and denser root system and greater drought resistance than its counterpart,irrigated rice.Our previous study revealed a difference in the frequency of the O...Upland rice shows dryland adaptation in the form of a deeper and denser root system and greater drought resistance than its counterpart,irrigated rice.Our previous study revealed a difference in the frequency of the OsNCED2 gene between upland and irrigated populations.A nonsynonymous mutation(C to T,from irrigated to upland rice)may have led to functional variation fixed by artificial selection,but the exact biological function in dryland adaptation is unclear.In this study,transgenic and association analysis indicated that the domesticated fixed mutation caused functional variation in OsNCED2,increasing ABA levels,root development,and drought tolerance in upland rice under dryland conditions.OsNCED2-overexpressing rice showed increased reactive oxygen species-scavenging abilities and transcription levels of many genes functioning in stress response and development that may regulate root development and drought tolerance.OsNCED2^(T)-NILs showed a denser root system and drought resistance,promoting the yield of rice under dryland conditions.OsNCED2^(T)may confer dryland adaptation in upland rice and may find use in breeding dryland-adapted,water-saving rice.展开更多
This paper investigates the adaptive trajectory tracking control problem and the unknown parameter identification problem of a class of rotor-missiles with parametric system uncertainties.First,considering the uncerta...This paper investigates the adaptive trajectory tracking control problem and the unknown parameter identification problem of a class of rotor-missiles with parametric system uncertainties.First,considering the uncertainty of structural and aerodynamic parameters,the six-degree-of-freedom(6Do F) nonlinear equations describing the position and attitude dynamics of the rotor-missile are established,respectively,in the inertial and body-fixed reference frames.Next,a hierarchical adaptive trajectory tracking controller that can guarantee closed-loop stability is proposed according to the cascade characteristics of the 6Do F dynamics.Then,a memory-augmented update rule of unknown parameters is proposed by integrating all historical data of the regression matrix.As long as the finitely excited condition is satisfied,the precise identification of unknown parameters can be achieved.Finally,the validity of the proposed trajectory tracking controller and the parameter identification method is proved through Lyapunov stability theory and numerical simulations.展开更多
Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate trackin...Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is solved.By utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is presented.The unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust term.Because the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system stability.Meanwhile,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering practicality.Finally,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator backlash.Contrast co-simulations and experiments illustrate the advantages of the proposed approach.展开更多
Mammalian T-cell responses require synergism between the first signal and co-stimulatory signal.However,whether and how dual signaling regulates the T-cell response in early vertebrates remains unknown.In the present ...Mammalian T-cell responses require synergism between the first signal and co-stimulatory signal.However,whether and how dual signaling regulates the T-cell response in early vertebrates remains unknown.In the present study,we discovered that the Nile tilapia(Oreochromis niloticus)encodes key components of the LAT signalosome,namely,LAT,ITK,GRB2,VAV1,SLP-76,GADS,and PLC-γ1.These components are evolutionarily conserved,and CD3εmAb-induced T-cell activation markedly increased their expression.Additionally,at least ITK,GRB2,and VAV1 were found to interact with LAT for signalosome formation.Downstream of the first signal,the NF-κB,MAPK/ERK,and PI3K-AKT pathways were activated upon CD3εmAb stimulation.Furthermore,treatment of lymphocytes with CD28 mAbs triggered the AKT-mTORC1 pathway downstream of the co-stimulatory signal.Combined CD3εand CD28 mAb stimulation enhanced ERK1/2 and S6 phosphorylation and elevated NFAT1,c-Fos,IL-2,CD122,and CD44 expression,thereby signifying T-cell activation.Moreover,rather than relying on the first or co-stimulatory signal alone,both signals were required for T-cell proliferation.Full T-cell activation was accompanied by marked apoptosis and cytotoxic responses.These findings suggest that tilapia relies on dual signaling to maintain an optimal T-cell response,providing a novel perspective for understanding the evolution of the adaptive immune system.展开更多
Population genomic data could provide valuable information for conservation efforts;however,limited studies have been conducted to investigate the genetic status of threatened pheasants.Reeves’s Pheasant(Syrmaticus r...Population genomic data could provide valuable information for conservation efforts;however,limited studies have been conducted to investigate the genetic status of threatened pheasants.Reeves’s Pheasant(Syrmaticus reevesii)is facing population decline,attributed to increases in habitat loss.There is a knowledge gap in understanding the genomic status and genetic basis underlying the local adaptation of this threatened bird.Here,we used population genomic data to assess population structure,genetic diversity,inbreeding patterns,and genetic divergence.Furthermore,we identified candidate genes linked with adaptation across the current distribution of Reeves’s Pheasant.The present study assembled the first de novo genome sequence of Reeves’s Pheasant and annotated 19,458 genes.We also sequenced 30 individuals from three populations(Dabie Mountain,Shennongjia,Qinling Mountain)and found that there was clear population structure among those populations.By comparing with other threatened species,we found that Reeves’s Pheasants have low genetic diversity.Runs of homozygosity suggest that the Shennongjia population has experienced serious inbreeding.The demographic history results indicated that three populations experienced several declines during the glacial period.Local adaptative analysis among the populations identified 241 candidate genes under directional selection.They are involved in a large variety of processes,including the immune response and pigmentation.Our results suggest that the three populations should be considered as three different conservation units.The current study provides genetic evidence for conserving the threatened Reeves’s Pheasant and provides genomic resources for global biodiversity management.展开更多
White Hypsizygus marmoreus is a popular edible mushroom.Its mycelium is easy to be contaminated by Penicillium,which leads to a decrease in its quality and yield.Penicillium could compete for limited space and nutrien...White Hypsizygus marmoreus is a popular edible mushroom.Its mycelium is easy to be contaminated by Penicillium,which leads to a decrease in its quality and yield.Penicillium could compete for limited space and nutrients through rapid growth and produce a variety of harmful gases,such as benzene,aldehydes,phenols,etc.,to inhibit the growth of H.marmoreus mycelium.A series of changes occurred in H.marmoreus proteome after contamination when detected by the label-free tandem mass spectrometry(MS/MS)technique.Some proteins with up-regulated expression worked together to participate in some processes,such as the non-toxic transformation of harmful gases,glutathione metabolism,histone modification,nucleotide excision repair,clearing misfolded proteins,and synthesizing glutamine,which were mainly used in response to biological stress.The proteins with down-regulated expression are mainly related to the processes of ribosome function,protein processing,spliceosome,carbon metabolism,glycolysis,and gluconeogenesis.The reduction in the function of these proteins affected the production of the cell components,which might be an adjustment to adapt to growth retardation.This study further enhanced the understanding of the biological stress response and the growth restriction adaptation mechanisms in edible fungi.It also provided a theoretical basis for protein function exploration and edible mushroom food safety research.展开更多
We propose a fast,adaptive multiscale resolution spectral measurement method based on compressed sensing.The method can apply variable measurement resolution over the entire spectral range to reduce the measurement ti...We propose a fast,adaptive multiscale resolution spectral measurement method based on compressed sensing.The method can apply variable measurement resolution over the entire spectral range to reduce the measurement time by over 75%compared to a global high-resolution measurement.Mimicking the characteristics of the human retina system,the resolution distribution follows the principle of gradually decreasing.The system allows the spectral peaks of interest to be captured dynamically or to be specified a priori by a user.The system was tested by measuring single and dual spectral peaks,and the results of spectral peaks are consistent with those of global high-resolution measurements.展开更多
This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Co...This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Considering the model complexity and input deadzone,a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller design.Firstly,the control gain of ultra-local model is considered as a constant.The fractional-order sliding mode technique is designed to stabilize the closed-loop system,while fractional-order time-delay estimation is combined with neural network to estimate the lumped disturbance.Correspondingly,a fractional-order ultra-local model-based neural network sliding mode controller(FO-NNSMC) is proposed.Secondly,to avoid disadvantageous effect of improper gain selection on the control performance,the control gain of ultra-local model is considered as an unknown parameter.Then,the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown gain.Correspondingly,a fractional-order ultra-local model-based adaptive neural network sliding mode controller(FO-ANNSMC) is proposed.Moreover,the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov theory.Finally,with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton,the obtained compared results illustrate the effectiveness and superiority of the proposed method.展开更多
The attention mechanism can extract salient features in images,which has been proved to be effective in improving the performance of person re-identification(Re-ID).However,most of the existing attention modules have ...The attention mechanism can extract salient features in images,which has been proved to be effective in improving the performance of person re-identification(Re-ID).However,most of the existing attention modules have the following two shortcomings:On the one hand,they mostly use global average pooling to generate context descriptors,without highlighting the guiding role of salient information on descriptor generation,resulting in insufficient ability of the final generated attention mask representation;On the other hand,the design of most attention modules is complicated,which greatly increases the computational cost of the model.To solve these problems,this paper proposes an attention module called self-supervised recalibration(SR)block,which introduces both global and local information through adaptive weighted fusion to generate a more refined attention mask.In particular,a special"Squeeze-Excitation"(SE)unit is designed in the SR block to further process the generated intermediate masks,both for nonlinearizations of the features and for constraint of the resulting computation by controlling the number of channels.Furthermore,we combine the most commonly used Res Net-50 to construct the instantiation model of the SR block,and verify its effectiveness on multiple Re-ID datasets,especially the mean Average Precision(m AP)on the Occluded-Duke dataset exceeds the state-of-the-art(SOTA)algorithm by 4.49%.展开更多
Intelligent diagnosis driven by big data for mechanical fault is an important means to ensure the safe operation ofequipment. In these methods, deep learning-based machinery fault diagnosis approaches have received in...Intelligent diagnosis driven by big data for mechanical fault is an important means to ensure the safe operation ofequipment. In these methods, deep learning-based machinery fault diagnosis approaches have received increasingattention and achieved some results. It might lead to insufficient performance for using transfer learning alone andcause misclassification of target samples for domain bias when building deep models to learn domain-invariantfeatures. To address the above problems, a deep discriminative adversarial domain adaptation neural networkfor the bearing fault diagnosis model is proposed (DDADAN). In this method, the raw vibration data are firstlyconverted into frequency domain data by Fast Fourier Transform, and an improved deep convolutional neuralnetwork with wide first-layer kernels is used as a feature extractor to extract deep fault features. Then, domaininvariant features are learned from the fault data with correlation alignment-based domain adversarial training.Furthermore, to enhance the discriminative property of features, discriminative feature learning is embeddedinto this network to make the features compact, as well as separable between classes within the class. Finally, theperformance and anti-noise capability of the proposedmethod are evaluated using two sets of bearing fault datasets.The results demonstrate that the proposed method is capable of handling domain offset caused by differentworkingconditions and maintaining more than 97.53% accuracy on various transfer tasks. Furthermore, the proposedmethod can achieve high diagnostic accuracy under varying noise levels.展开更多
Global climate change has increased concerns regarding biodiversity loss.However,many key conservation issues still required further research,including demographic history,deleterious mutation load,adaptive evolution,...Global climate change has increased concerns regarding biodiversity loss.However,many key conservation issues still required further research,including demographic history,deleterious mutation load,adaptive evolution,and putative introgression.Here we generated the first chromosome-level genome of the endangered Chinese hazelnut,Corylus chinensis,and compared the genomic signatures with its sympatric widespread C.kwechowensis-C yunnanensis complex.We found large genome rearrangements across all Corylus species and identified species-specific expanded gene families that may be involved in adaptation.Population genomics revealed that both C.chinensis and the C.kwechowensis-C.yunnanensis complex had diverged into two genetic lineages,forming a consistent pattern of southwestern-northern differentiation.Population size of the narrow southwestern lineages of both species have decreased continuously since the late Miocene,whereas the widespread northern lineages have remained stable(C.chinensis) or have even recovered from population bottlenecks(C.kwechowensis-C.yunnanensis complex) during the Quaternary.Compared with C.kwechowensis-C. yunnanensis complex,C.chinensis showed significantly lower genomic diversity and higher inbreeding level.However,C.chinensis carried significantly fewer deleterious mutations than C.kwechowensis-C. yunnanensis complex,as more effective purging selection reduced the accumulation of homozygous variants.We also detected signals of positive selection and adaptive introgression in different lineages,which facilitated the accumulation of favorable variants and formation of local adaptation.Hence,both types of selection and exogenous introgression could have mitigated inbreeding and facilitated survival and persistence of C.chinensis.Overall,our study provides critical insights into lineage differentiation,local adaptation,and the potential for future recovery of endangered trees.展开更多
An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic perf...An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.展开更多
基金supported by the State Key Laboratory of Geo-Information Engineering(SKLGIE2022-Z-2-1)the National Natural Science Foundation of China(41674024,42174036).
文摘Once the spoofer has controlled the navigation sys-tem of unmanned aerial vehicle(UAV),it is hard to effectively control the error convergence to meet the threshold condition only by adjusting parameters of estimation if estimation of the spoofer on UAV has continuous observation error.Aiming at this problem,the influence of the spoofer’s state estimation error on spoofing effect and error convergence conditions is theoretically analyzed,and an improved adaptively robust estimation algo-rithm suitable for steady-state linear quadratic estimator is pro-posed.It enables the spoofer’s estimator to reliably estimate UAV status in real time,improves the robustness of the estima-tor in responding to observation errors,and accelerates the con-vergence time of error control.Simulation experiments show that the mean value of normalized innovation squared(NIS)is reduced by 88.5%,and the convergence time of NIS value is reduced by 76.3%,the convergence time of true trajectory error of UAV is reduced by 42.3%,the convergence time of estimated trajectory error of UAV is reduced by 67.4%,the convergence time of estimated trajectory error of the spoofer is reduced by 33.7%,and the convergence time of broadcast trajectory error of the spoofer is reduced by 54.8%when the improved algorithm is used.The improved algorithm can make UAV deviate from pre-set trajectory to spoofing trajectory more effectively and more subtly.
基金supported by the International cooperation project of Qilu University of Technology(Grant No.QLUTGJHZ2018022).
文摘A slip-draft embedded control system was designed and developed for an independent developed 2WD(two-wheel drive)electric tractor,to improve the traction efficiency,operation performance and ploughing depth stability of the electric tractor.In this system,the battery of electric tractor was innovatively equivalent to the original counterweight of the fuel tractor.And through dynamic analysis of electric tractor during ploughing,the mathematical model of adjusting the center of gravity about draft force and slip rate was established.Then the automatic adjustment of the center of gravity for electric tractor was realized through the adaptive adjustment of battery position.Finally,the system was carried on electric tractor for performance evaluation under different ploughing conditions,the traction efficiency,slip rate and front wheel load of electric tractor were measured and controlled synchronously to make it close to the set range.And the comparative experiments of ploughing operation were carried out under the two modes of adaptive adjustment of center of gravity and fixed center of gravity.The test results showed that,based on the developed control system,the center of gravity of electric tractor can be adjusted in real time according to the complex changes of working conditions.During ploughing operation with adjusting adaptively battery position,the average values of traction efficiency,slip rate,front wheel load and relative error of tillage depth of electric tractor were 64.5%,22.2%,2045.0 N and 2.0%respectively.Which were optimized by 15.0%,29.5%,19.6%and 80.0%respectively,compared with electric tractor with fixed battery position.The slip-draft embedded control system can not only realize the adaptive adjustment of the center of gravity position in the ploughing process of electric tractor,but also improve the traction efficiency and the stability of ploughing depth,which can provide reference for the actual production operation of electric tractor.
基金supported by the NSF of China (Grant Nos.12171238,12261160361)supported in part by the China NSF for Distinguished Young Scholars (Grant No.11725106)by the China NSF major project (Grant No.11831016).
文摘The multigrid V-cycle methods for adaptive finite element discretizations of two-dimensional elliptic problems with discontinuous coefficients are considered.Under the conditions that the coefficient is quasi-monotone up to a constant and the meshes are locally refined by using the newest vertex bisection algorithm,some uniform convergence results are proved for the standard multigrid V-cycle algorithm with Gauss-Seidel relaxations performed only on new nodes and their immediate neighbours.The multigrid V-cycle algorithm uses O(N)operations per iteration and is optimal.
基金supported in part by the National Natural Science Foundation of China(62222301, 62073085, 62073158, 61890930-5, 62021003)the National Key Research and Development Program of China (2021ZD0112302, 2021ZD0112301, 2018YFC1900800-5)Beijing Natural Science Foundation (JQ19013)。
文摘Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. Some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, respectively.Then, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation significantly.Finally, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.
基金National Natural Science Foundation of China(Grant No.11301462)University Science Research Project of Jiangsu Province(Grant No.13KJB110030)Yangzhou University Overseas Study Program and New Century Talent Project to Shan Jiang。
文摘We apply the multiscale basis functions for the singularly perturbed reaction-diffusion problem on adaptively graded meshes,which can provide a good balance between the numerical accuracy and computational cost.The multiscale space is built through standard finite element basis functions enriched with multiscale basis functions.The multiscale basis functions have abilities to capture originally perturbed information in the local problem,as a result our method is capable of reducing the boundary layer errors remarkably on graded meshes,where the layer-adapted meshes are generated by a given parameter.Through numerical experiments we demonstrate that the multiscale method can acquire second order convergence in the L^(2)norm and first order convergence in the energy norm on graded meshes,which is independent ofε.In contrast with the conventional methods,our method is much more accurate and effective.
基金supported by the National Natural Science Foundation of China(12103057,12127901)the Frontier Research Fund of the Institute of Optics and Electronics,Chinese Academy of Sciences(C21K002)+1 种基金the Youth Innovation Promotion Association,Chinese Academy of Sciences(2021378)the National Natural Science Foundation of China(U2031148)。
文摘The 2.5 m wide-field and high-resolution solar telescope(WeHoST)is currently under developing for solar observations.WeHoST aims to achieve high-resolution observations over a super-wide field of view(FOV)of5′×5′,and a desired resolution of 0.3″.To meet the scientific requirements of WeHoST,the ground-layer adaptive optics(GLAO)with a specially designed wave front sensing system is as the primary consideration.We introduce the GLAO configuration,particularly the wave front sensing scheme.Utilizing analytic method,we simulate the performance of both classical AO and GLAO systems,optimize the wave front sensing system,and evaluate GLAO performance in terms of PSF uniformity and correction improvement across whole FOV.The results indicate that,the classical AO will achieve diffraction-limited resolution;the suggested GLAO configuration will uniformly improve the seeing across the full 5′×5′FOV,reducing the FWHM across the axis FOV to less than0.3″(λ≥705 nm,r0≥11 cm),which is more than two times improvement.The specially designed wave front sensor schedule offers new potential for WeHoST’s GLAO,particularly the multi-FOV GLAO and the flexibility to select the detected area.These capabilities will significantly enhance the scientific output of the telescope.
基金supported by grants from the National Natural Science Foundation of China(NSFC)to YD(32171129)from China Postdoctoral Science Foundation to YC(2023M731112)from NSFC to RG(32260216)。
文摘Vertebrate neurons are highly dynamic cells that undergo several alterations in their functioning and physiologies in adaptation to various external stimuli.In particular,how these neurons respond to physical exercise has long been an area of active research.Studies of the vertebrate locomotor system’s adaptability suggest multiple mechanisms are involved in the regulation of neuronal activity and properties during exercise.In this brief review,we highlight recent results and insights from the field with a focus on the following mechanisms:(a)alterations in neuronal excitability during acute exercise;(b)alterations in neuronal excitability after chronic exercise;(c)exercise-induced changes in neuronal membrane properties via modulation of ion channel activity;(d)exercise-enhanced dendritic plasticity;and(e)exercise-induced alterations in neuronal gene expression and protein synthesis.Our hope is to update the community with a cellular and molecular understanding of the recent mechanisms underlying the adaptability of the vertebrate locomotor system in response to both acute and chronic physical exercise.
基金This work was supported by the National Natural Science Foundation of China(U1602266,32060474,and 31601274)grants from the Yunnan Provincial Science and Technology Department(202005AF150009 and 202101AS070001).
文摘Upland rice shows dryland adaptation in the form of a deeper and denser root system and greater drought resistance than its counterpart,irrigated rice.Our previous study revealed a difference in the frequency of the OsNCED2 gene between upland and irrigated populations.A nonsynonymous mutation(C to T,from irrigated to upland rice)may have led to functional variation fixed by artificial selection,but the exact biological function in dryland adaptation is unclear.In this study,transgenic and association analysis indicated that the domesticated fixed mutation caused functional variation in OsNCED2,increasing ABA levels,root development,and drought tolerance in upland rice under dryland conditions.OsNCED2-overexpressing rice showed increased reactive oxygen species-scavenging abilities and transcription levels of many genes functioning in stress response and development that may regulate root development and drought tolerance.OsNCED2^(T)-NILs showed a denser root system and drought resistance,promoting the yield of rice under dryland conditions.OsNCED2^(T)may confer dryland adaptation in upland rice and may find use in breeding dryland-adapted,water-saving rice.
基金partially supported by the Natural Science Foundation of China (Grant Nos.62103052,52272358)partially supported by the Beijing Institute of Technology Research Fund Program for Young Scholars。
文摘This paper investigates the adaptive trajectory tracking control problem and the unknown parameter identification problem of a class of rotor-missiles with parametric system uncertainties.First,considering the uncertainty of structural and aerodynamic parameters,the six-degree-of-freedom(6Do F) nonlinear equations describing the position and attitude dynamics of the rotor-missile are established,respectively,in the inertial and body-fixed reference frames.Next,a hierarchical adaptive trajectory tracking controller that can guarantee closed-loop stability is proposed according to the cascade characteristics of the 6Do F dynamics.Then,a memory-augmented update rule of unknown parameters is proposed by integrating all historical data of the regression matrix.As long as the finitely excited condition is satisfied,the precise identification of unknown parameters can be achieved.Finally,the validity of the proposed trajectory tracking controller and the parameter identification method is proved through Lyapunov stability theory and numerical simulations.
基金the National Natural Science Foundation of China(No.52275062)and(No.52075262).
文摘Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is solved.By utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is presented.The unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust term.Because the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system stability.Meanwhile,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering practicality.Finally,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator backlash.Contrast co-simulations and experiments illustrate the advantages of the proposed approach.
基金supported by the National Key Research and Development Program(2022YFD2400804)National Natural Science Foundation of China(32022086,31972822)Natural Science Foundation of Shanghai(20ZR1417500)。
文摘Mammalian T-cell responses require synergism between the first signal and co-stimulatory signal.However,whether and how dual signaling regulates the T-cell response in early vertebrates remains unknown.In the present study,we discovered that the Nile tilapia(Oreochromis niloticus)encodes key components of the LAT signalosome,namely,LAT,ITK,GRB2,VAV1,SLP-76,GADS,and PLC-γ1.These components are evolutionarily conserved,and CD3εmAb-induced T-cell activation markedly increased their expression.Additionally,at least ITK,GRB2,and VAV1 were found to interact with LAT for signalosome formation.Downstream of the first signal,the NF-κB,MAPK/ERK,and PI3K-AKT pathways were activated upon CD3εmAb stimulation.Furthermore,treatment of lymphocytes with CD28 mAbs triggered the AKT-mTORC1 pathway downstream of the co-stimulatory signal.Combined CD3εand CD28 mAb stimulation enhanced ERK1/2 and S6 phosphorylation and elevated NFAT1,c-Fos,IL-2,CD122,and CD44 expression,thereby signifying T-cell activation.Moreover,rather than relying on the first or co-stimulatory signal alone,both signals were required for T-cell proliferation.Full T-cell activation was accompanied by marked apoptosis and cytotoxic responses.These findings suggest that tilapia relies on dual signaling to maintain an optimal T-cell response,providing a novel perspective for understanding the evolution of the adaptive immune system.
基金supported by the Biodiversity Survey,Monitoring and Assessment Project(2019–2023)of the Ministry of Ecology and EnvironmentChina(No.2019HB2096001006 to ZZ)+2 种基金the National Natural Science Foundation of China(31672319)Endangered Species Scientific Commission of China(No.2022–331)supported by the China Scholarship Council,China。
文摘Population genomic data could provide valuable information for conservation efforts;however,limited studies have been conducted to investigate the genetic status of threatened pheasants.Reeves’s Pheasant(Syrmaticus reevesii)is facing population decline,attributed to increases in habitat loss.There is a knowledge gap in understanding the genomic status and genetic basis underlying the local adaptation of this threatened bird.Here,we used population genomic data to assess population structure,genetic diversity,inbreeding patterns,and genetic divergence.Furthermore,we identified candidate genes linked with adaptation across the current distribution of Reeves’s Pheasant.The present study assembled the first de novo genome sequence of Reeves’s Pheasant and annotated 19,458 genes.We also sequenced 30 individuals from three populations(Dabie Mountain,Shennongjia,Qinling Mountain)and found that there was clear population structure among those populations.By comparing with other threatened species,we found that Reeves’s Pheasants have low genetic diversity.Runs of homozygosity suggest that the Shennongjia population has experienced serious inbreeding.The demographic history results indicated that three populations experienced several declines during the glacial period.Local adaptative analysis among the populations identified 241 candidate genes under directional selection.They are involved in a large variety of processes,including the immune response and pigmentation.Our results suggest that the three populations should be considered as three different conservation units.The current study provides genetic evidence for conserving the threatened Reeves’s Pheasant and provides genomic resources for global biodiversity management.
基金funded by the Shandong Provincial Natural Science Foundation,China (ZR2020QC005)the National Natural Science Foundation of China (32272789)+3 种基金the National Natural Science Foundation of China (32000041)the Shandong Edible Fungus Agricultural Technology System (SDAIT-07-02)the Shandong Provincial Key Research and Development Plan (2021ZDSYS28)the Qingdao Agricultural University Scientific Research Foundation (6631120076)。
文摘White Hypsizygus marmoreus is a popular edible mushroom.Its mycelium is easy to be contaminated by Penicillium,which leads to a decrease in its quality and yield.Penicillium could compete for limited space and nutrients through rapid growth and produce a variety of harmful gases,such as benzene,aldehydes,phenols,etc.,to inhibit the growth of H.marmoreus mycelium.A series of changes occurred in H.marmoreus proteome after contamination when detected by the label-free tandem mass spectrometry(MS/MS)technique.Some proteins with up-regulated expression worked together to participate in some processes,such as the non-toxic transformation of harmful gases,glutathione metabolism,histone modification,nucleotide excision repair,clearing misfolded proteins,and synthesizing glutamine,which were mainly used in response to biological stress.The proteins with down-regulated expression are mainly related to the processes of ribosome function,protein processing,spliceosome,carbon metabolism,glycolysis,and gluconeogenesis.The reduction in the function of these proteins affected the production of the cell components,which might be an adjustment to adapt to growth retardation.This study further enhanced the understanding of the biological stress response and the growth restriction adaptation mechanisms in edible fungi.It also provided a theoretical basis for protein function exploration and edible mushroom food safety research.
基金Project supported by the Natural Science Foundation of Shandong Province,China(Grant Nos.ZR2020MF119 and ZR2020MA082)the National Natural Science Foundation of China(Grant No.62002208)the National Key Research and Development Program of China(Grant No.2018YFB0504302).
文摘We propose a fast,adaptive multiscale resolution spectral measurement method based on compressed sensing.The method can apply variable measurement resolution over the entire spectral range to reduce the measurement time by over 75%compared to a global high-resolution measurement.Mimicking the characteristics of the human retina system,the resolution distribution follows the principle of gradually decreasing.The system allows the spectral peaks of interest to be captured dynamically or to be specified a priori by a user.The system was tested by measuring single and dual spectral peaks,and the results of spectral peaks are consistent with those of global high-resolution measurements.
基金supported in part by the National Natural Science Foundation of China (62173182,61773212)the Intergovernmental International Science and Technology Innovation Cooperation Key Project of Chinese National Key R&D Program (2021YFE0102700)。
文摘This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Considering the model complexity and input deadzone,a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller design.Firstly,the control gain of ultra-local model is considered as a constant.The fractional-order sliding mode technique is designed to stabilize the closed-loop system,while fractional-order time-delay estimation is combined with neural network to estimate the lumped disturbance.Correspondingly,a fractional-order ultra-local model-based neural network sliding mode controller(FO-NNSMC) is proposed.Secondly,to avoid disadvantageous effect of improper gain selection on the control performance,the control gain of ultra-local model is considered as an unknown parameter.Then,the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown gain.Correspondingly,a fractional-order ultra-local model-based adaptive neural network sliding mode controller(FO-ANNSMC) is proposed.Moreover,the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov theory.Finally,with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton,the obtained compared results illustrate the effectiveness and superiority of the proposed method.
基金supported in part by the Natural Science Foundation of Xinjiang Uygur Autonomous Region(Grant No.2022D01B186 and No.2022D01B05)。
文摘The attention mechanism can extract salient features in images,which has been proved to be effective in improving the performance of person re-identification(Re-ID).However,most of the existing attention modules have the following two shortcomings:On the one hand,they mostly use global average pooling to generate context descriptors,without highlighting the guiding role of salient information on descriptor generation,resulting in insufficient ability of the final generated attention mask representation;On the other hand,the design of most attention modules is complicated,which greatly increases the computational cost of the model.To solve these problems,this paper proposes an attention module called self-supervised recalibration(SR)block,which introduces both global and local information through adaptive weighted fusion to generate a more refined attention mask.In particular,a special"Squeeze-Excitation"(SE)unit is designed in the SR block to further process the generated intermediate masks,both for nonlinearizations of the features and for constraint of the resulting computation by controlling the number of channels.Furthermore,we combine the most commonly used Res Net-50 to construct the instantiation model of the SR block,and verify its effectiveness on multiple Re-ID datasets,especially the mean Average Precision(m AP)on the Occluded-Duke dataset exceeds the state-of-the-art(SOTA)algorithm by 4.49%.
基金the Natural Science Foundation of Henan Province(232300420094)the Science and TechnologyResearch Project of Henan Province(222102220092).
文摘Intelligent diagnosis driven by big data for mechanical fault is an important means to ensure the safe operation ofequipment. In these methods, deep learning-based machinery fault diagnosis approaches have received increasingattention and achieved some results. It might lead to insufficient performance for using transfer learning alone andcause misclassification of target samples for domain bias when building deep models to learn domain-invariantfeatures. To address the above problems, a deep discriminative adversarial domain adaptation neural networkfor the bearing fault diagnosis model is proposed (DDADAN). In this method, the raw vibration data are firstlyconverted into frequency domain data by Fast Fourier Transform, and an improved deep convolutional neuralnetwork with wide first-layer kernels is used as a feature extractor to extract deep fault features. Then, domaininvariant features are learned from the fault data with correlation alignment-based domain adversarial training.Furthermore, to enhance the discriminative property of features, discriminative feature learning is embeddedinto this network to make the features compact, as well as separable between classes within the class. Finally, theperformance and anti-noise capability of the proposedmethod are evaluated using two sets of bearing fault datasets.The results demonstrate that the proposed method is capable of handling domain offset caused by differentworkingconditions and maintaining more than 97.53% accuracy on various transfer tasks. Furthermore, the proposedmethod can achieve high diagnostic accuracy under varying noise levels.
基金supported by the National Natural Science Foundation of China(Grant No.32101541)the National Key R&D Program of China(Grant No.2022YFD2200400).
文摘Global climate change has increased concerns regarding biodiversity loss.However,many key conservation issues still required further research,including demographic history,deleterious mutation load,adaptive evolution,and putative introgression.Here we generated the first chromosome-level genome of the endangered Chinese hazelnut,Corylus chinensis,and compared the genomic signatures with its sympatric widespread C.kwechowensis-C yunnanensis complex.We found large genome rearrangements across all Corylus species and identified species-specific expanded gene families that may be involved in adaptation.Population genomics revealed that both C.chinensis and the C.kwechowensis-C.yunnanensis complex had diverged into two genetic lineages,forming a consistent pattern of southwestern-northern differentiation.Population size of the narrow southwestern lineages of both species have decreased continuously since the late Miocene,whereas the widespread northern lineages have remained stable(C.chinensis) or have even recovered from population bottlenecks(C.kwechowensis-C.yunnanensis complex) during the Quaternary.Compared with C.kwechowensis-C. yunnanensis complex,C.chinensis showed significantly lower genomic diversity and higher inbreeding level.However,C.chinensis carried significantly fewer deleterious mutations than C.kwechowensis-C. yunnanensis complex,as more effective purging selection reduced the accumulation of homozygous variants.We also detected signals of positive selection and adaptive introgression in different lineages,which facilitated the accumulation of favorable variants and formation of local adaptation.Hence,both types of selection and exogenous introgression could have mitigated inbreeding and facilitated survival and persistence of C.chinensis.Overall,our study provides critical insights into lineage differentiation,local adaptation,and the potential for future recovery of endangered trees.
基金supported by the National Natural Science Foundation of China (6207319761933006)National International Science and Technology Cooperation Base on Railway Vehicle Operation Engineering of Beijing Jiaotong University (BMRV20KF08)。
文摘An adaptive control approach is presented in this paper for tracking desired trajectories in interactive manipulators. The controller design incorporates prescribed performance functions (PPFs) to improve dynamic performance. Notably, the performance of the output error is confined in an envelope characterized by exponential convergence, leading to convergence to zero. This feature ensures a prompt response from admittance control and establishes a reliable safety framework for interactions. Simulation results provide practical insights,demonstrating the viability of the control scheme proposed in this paper.
