Aiming at the problems of low solution accuracy and high decision pressure when facing large-scale dynamic task allocation(DTA)and high-dimensional decision space with single agent,this paper combines the deep reinfor...Aiming at the problems of low solution accuracy and high decision pressure when facing large-scale dynamic task allocation(DTA)and high-dimensional decision space with single agent,this paper combines the deep reinforce-ment learning(DRL)theory and an improved Multi-Agent Deep Deterministic Policy Gradient(MADDPG-D2)algorithm with a dual experience replay pool and a dual noise based on multi-agent architecture is proposed to improve the efficiency of DTA.The algorithm is based on the traditional Multi-Agent Deep Deterministic Policy Gradient(MADDPG)algorithm,and considers the introduction of a double noise mechanism to increase the action exploration space in the early stage of the algorithm,and the introduction of a double experience pool to improve the data utilization rate;at the same time,in order to accelerate the training speed and efficiency of the agents,and to solve the cold-start problem of the training,the a priori knowledge technology is applied to the training of the algorithm.Finally,the MADDPG-D2 algorithm is compared and analyzed based on the digital battlefield of ground and air confrontation.The experimental results show that the agents trained by the MADDPG-D2 algorithm have higher win rates and average rewards,can utilize the resources more reasonably,and better solve the problem of the traditional single agent algorithms facing the difficulty of solving the problem in the high-dimensional decision space.The MADDPG-D2 algorithm based on multi-agent architecture proposed in this paper has certain superiority and rationality in DTA.展开更多
Complex and distributed systems are more and more associated with the application of WSN (Wireless Sensor Network) technology. The design of such applications presents important challenges and requires the assistance ...Complex and distributed systems are more and more associated with the application of WSN (Wireless Sensor Network) technology. The design of such applications presents important challenges and requires the assistance of several methodologies and tools. Multi-Agent systems (MAS) have been identified as one of the most suitable technologies to contribute to this domain due to their appropriateness for modeling distributed and autonomous complex systems. This work aims to contribute in the help of the design of WSN applications. The proposed architecture exploits the advantages of MAS for modeling WSN services, network topologies and sensor device architectures.展开更多
Avatars, as promising digital representations and service assistants of users in Metaverses, can enable drivers and passengers to immerse themselves in 3D virtual services and spaces of UAV-assisted vehicular Metavers...Avatars, as promising digital representations and service assistants of users in Metaverses, can enable drivers and passengers to immerse themselves in 3D virtual services and spaces of UAV-assisted vehicular Metaverses. However, avatar tasks include a multitude of human-to-avatar and avatar-to-avatar interactive applications, e.g., augmented reality navigation,which consumes intensive computing resources. It is inefficient and impractical for vehicles to process avatar tasks locally. Fortunately, migrating avatar tasks to the nearest roadside units(RSU)or unmanned aerial vehicles(UAV) for execution is a promising solution to decrease computation overhead and reduce task processing latency, while the high mobility of vehicles brings challenges for vehicles to independently perform avatar migration decisions depending on current and future vehicle status. To address these challenges, in this paper, we propose a novel avatar task migration system based on multi-agent deep reinforcement learning(MADRL) to execute immersive vehicular avatar tasks dynamically. Specifically, we first formulate the problem of avatar task migration from vehicles to RSUs/UAVs as a partially observable Markov decision process that can be solved by MADRL algorithms. We then design the multi-agent proximal policy optimization(MAPPO) approach as the MADRL algorithm for the avatar task migration problem. To overcome slow convergence resulting from the curse of dimensionality and non-stationary issues caused by shared parameters in MAPPO, we further propose a transformer-based MAPPO approach via sequential decision-making models for the efficient representation of relationships among agents. Finally, to motivate terrestrial or non-terrestrial edge servers(e.g., RSUs or UAVs) to share computation resources and ensure traceability of the sharing records, we apply smart contracts and blockchain technologies to achieve secure sharing management. Numerical results demonstrate that the proposed approach outperforms the MAPPO approach by around 2% and effectively reduces approximately 20% of the latency of avatar task execution in UAV-assisted vehicular Metaverses.展开更多
By pushing computation,cache,and network control to the edge,mobile edge computing(MEC)is expected to play a leading role in fifth generation(5G)and future sixth generation(6G).Nevertheless,facing ubiquitous fast-grow...By pushing computation,cache,and network control to the edge,mobile edge computing(MEC)is expected to play a leading role in fifth generation(5G)and future sixth generation(6G).Nevertheless,facing ubiquitous fast-growing computational demands,it is impossible for a single MEC paradigm to effectively support high-quality intelligent services at end user equipments(UEs).To address this issue,we propose an air-ground collaborative MEC(AGCMEC)architecture in this article.The proposed AGCMEC integrates all potentially available MEC servers within air and ground in the envisioned 6G,by a variety of collaborative ways to provide computation services at their best for UEs.Firstly,we introduce the AGC-MEC architecture and elaborate three typical use cases.Then,we discuss four main challenges in the AGC-MEC as well as their potential solutions.Next,we conduct a case study of collaborative service placement for AGC-MEC to validate the effectiveness of the proposed collaborative service placement strategy.Finally,we highlight several potential research directions of the AGC-MEC.展开更多
Plant height,spike,leaf,stem and grain morphologies are key components of plant architecture and related to wheat yield.A wheat(Triticum aestivum L.)mutant,wpa1,displaying temperaturedependent pleiotropic developmenta...Plant height,spike,leaf,stem and grain morphologies are key components of plant architecture and related to wheat yield.A wheat(Triticum aestivum L.)mutant,wpa1,displaying temperaturedependent pleiotropic developmental anomalies,was isolated.The WPA1 gene,encoding a von Willebrand factor type A(vWA)domain protein,was located on chromosome arm 7DS and isolated by map-based cloning.The functionality of WPA1 was validated by multiple independent EMS-induced mutants and gene editing.Phylogenetic analysis revealed that WPA1 is monocotyledon-specific in higher plants.The identification of WPA1 provides opportunity to study the temperature regulated wheat development and grain yield.展开更多
This paper studies the problem of time-varying formation control with finite-time prescribed performance for nonstrict feedback second-order multi-agent systems with unmeasured states and unknown nonlinearities.To eli...This paper studies the problem of time-varying formation control with finite-time prescribed performance for nonstrict feedback second-order multi-agent systems with unmeasured states and unknown nonlinearities.To eliminate nonlinearities,neural networks are applied to approximate the inherent dynamics of the system.In addition,due to the limitations of the actual working conditions,each follower agent can only obtain the locally measurable partial state information of the leader agent.To address this problem,a neural network state observer based on the leader state information is designed.Then,a finite-time prescribed performance adaptive output feedback control strategy is proposed by restricting the sliding mode surface to a prescribed region,which ensures that the closed-loop system has practical finite-time stability and that formation errors of the multi-agent systems converge to the prescribed performance bound in finite time.Finally,a numerical simulation is provided to demonstrate the practicality and effectiveness of the developed algorithm.展开更多
Most of the neural network architectures are based on human experience,which requires a long and tedious trial-and-error process.Neural architecture search(NAS)attempts to detect effective architectures without human ...Most of the neural network architectures are based on human experience,which requires a long and tedious trial-and-error process.Neural architecture search(NAS)attempts to detect effective architectures without human intervention.Evolutionary algorithms(EAs)for NAS can find better solutions than human-designed architectures by exploring a large search space for possible architectures.Using multiobjective EAs for NAS,optimal neural architectures that meet various performance criteria can be explored and discovered efficiently.Furthermore,hardware-accelerated NAS methods can improve the efficiency of the NAS.While existing reviews have mainly focused on different strategies to complete NAS,a few studies have explored the use of EAs for NAS.In this paper,we summarize and explore the use of EAs for NAS,as well as large-scale multiobjective optimization strategies and hardware-accelerated NAS methods.NAS performs well in healthcare applications,such as medical image analysis,classification of disease diagnosis,and health monitoring.EAs for NAS can automate the search process and optimize multiple objectives simultaneously in a given healthcare task.Deep neural network has been successfully used in healthcare,but it lacks interpretability.Medical data is highly sensitive,and privacy leaks are frequently reported in the healthcare industry.To solve these problems,in healthcare,we propose an interpretable neuroevolution framework based on federated learning to address search efficiency and privacy protection.Moreover,we also point out future research directions for evolutionary NAS.Overall,for researchers who want to use EAs to optimize NNs in healthcare,we analyze the advantages and disadvantages of doing so to provide detailed guidance,and propose an interpretable privacy-preserving framework for healthcare applications.展开更多
Silicon(Si)is widely used as a lithium‐ion‐battery anode owing to its high capacity and abundant crustal reserves.However,large volume change upon cycling and poor conductivity of Si cause rapid capacity decay and p...Silicon(Si)is widely used as a lithium‐ion‐battery anode owing to its high capacity and abundant crustal reserves.However,large volume change upon cycling and poor conductivity of Si cause rapid capacity decay and poor fast‐charging capability limiting its commercial applications.Here,we propose a multilevel carbon architecture with vertical graphene sheets(VGSs)grown on surfaces of subnanoscopically and homogeneously dispersed Si–C composite nanospheres,which are subsequently embedded into a carbon matrix(C/VGSs@Si–C).Subnanoscopic C in the Si–C nanospheres,VGSs,and carbon matrix form a three‐dimensional conductive and robust network,which significantly improves the conductivity and suppresses the volume expansion of Si,thereby boosting charge transport and improving electrode stability.The VGSs with vast exposed edges considerably increase the contact area with the carbon matrix and supply directional transport channels through the entire material,which boosts charge transport.The carbon matrix encapsulates VGSs@Si–C to decrease the specific surface area and increase tap density,thus yielding high first Coulombic efficiency and electrode compaction density.Consequently,C/VGSs@Si–C delivers excellent Li‐ion storage performances under industrial electrode conditions.In particular,the full cells show high energy densities of 603.5 Wh kg^(−1)and 1685.5 Wh L^(−1)at 0.1 C and maintain 80.7%of the energy density at 3 C.展开更多
Under the background of“artificial intelligence+X”,the development of landscape architecture industry ushers in new opportunities,and professional talents need to be updated to meet the social demand.This paper anal...Under the background of“artificial intelligence+X”,the development of landscape architecture industry ushers in new opportunities,and professional talents need to be updated to meet the social demand.This paper analyzes the cultivation demand of landscape architecture graduate students in the context of the new era,and identifies the problems by comparing the original professional graduate training mode.The new cultivation mode of graduate students in landscape architecture is proposed,including updating the target orientation of the discipline,optimizing the teaching system,building a“dualteacher”tutor team,and improving the“industry-university-research-utilization”integrated cultivation,so as to cultivate high-quality compound talents with disciplinary characteristics.展开更多
Efficient exploration in complex coordination tasks has been considered a challenging problem in multi-agent reinforcement learning(MARL). It is significantly more difficult for those tasks with latent variables that ...Efficient exploration in complex coordination tasks has been considered a challenging problem in multi-agent reinforcement learning(MARL). It is significantly more difficult for those tasks with latent variables that agents cannot directly observe. However, most of the existing latent variable discovery methods lack a clear representation of latent variables and an effective evaluation of the influence of latent variables on the agent. In this paper, we propose a new MARL algorithm based on the soft actor-critic method for complex continuous control tasks with confounders. It is called the multi-agent soft actor-critic with latent variable(MASAC-LV) algorithm, which uses variational inference theory to infer the compact latent variables representation space from a large amount of offline experience.Besides, we derive the counterfactual policy whose input has no latent variables and quantify the difference between the actual policy and the counterfactual policy via a distance function. This quantified difference is considered an intrinsic motivation that gives additional rewards based on how much the latent variable affects each agent. The proposed algorithm is evaluated on two collaboration tasks with confounders, and the experimental results demonstrate the effectiveness of MASAC-LV compared to other baseline algorithms.展开更多
Large-scale indoor 3D reconstruction with multiple robots faces challenges in core enabling technologies.This work contributes to a framework addressing localization,coordination,and vision processing for multi-agent ...Large-scale indoor 3D reconstruction with multiple robots faces challenges in core enabling technologies.This work contributes to a framework addressing localization,coordination,and vision processing for multi-agent reconstruction.A system architecture fusing visible light positioning,multi-agent path finding via reinforcement learning,and 360°camera techniques for 3D reconstruction is proposed.Our visible light positioning algorithm leverages existing lighting for centimeter-level localization without additional infrastructure.Meanwhile,a decentralized reinforcement learning approach is developed to solve the multi-agent path finding problem,with communications among agents optimized.Our 3D reconstruction pipeline utilizes equirectangular projection from 360°cameras to facilitate depth-independent reconstruction from posed monocular images using neural networks.Experimental validation demonstrates centimeter-level indoor navigation and 3D scene reconstruction capabilities of our framework.The challenges and limitations stemming from the above enabling technologies are discussed at the end of each corresponding section.In summary,this research advances fundamental techniques for multi-robot indoor 3D modeling,contributing to automated,data-driven applications through coordinated robot navigation,perception,and modeling.展开更多
At present,the architecture modeling method of fluvial reservoirs are still developing.Traditional methods usually use grids to characterize architecture interbeds within the reservoir.Due to the thin thickness of thi...At present,the architecture modeling method of fluvial reservoirs are still developing.Traditional methods usually use grids to characterize architecture interbeds within the reservoir.Due to the thin thickness of this type of the interlayers,the number of the model grids must be greatly expanded.The number of grids in the tens of millions often makes an expensive computation;however,upscaling the model will generate a misleading model.The above confusion is the major reason that restricts the largescale industrialization of fluvial reservoir architecture models in oilfield development and production.Therefore,this paper explores an intelligent architecture modeling method for multilevel fluvial reservoirs based on architecture interface and element.Based on the superpositional relationship of different architectural elements within the fluvial reservoir,this method uses a combination of multilevel interface constraints and non-uniform grid techniques to build a high-resolution 3D geological model for reservoir architecture.Through the grid upscaling technology of heterogeneous architecture elements,different upscaling densities are given to the lateral-accretion bedding and lateral-accretion bodies to simplify the model gridding.This new method greatly reduces the number of model grids while ensuring the accuracy of lateral-accretion bedding models,laying a foundation for large-scale numerical simulation of the subsequent industrialization of the architecture model.This method has been validated in A layer of X oilfield with meandering fluvial channel sands as reservoirs and B layer of Y oilfield with braided river sands as reservoirs.The simulation results show that it has a higher accuracy of production history matching and remaining oil distribution forecast of the targeted sand body.The numerical simulation results show that in the actual development process of oilfield,the injected water will not displace oil in a uniform diffusive manner as traditionally assumed,but in a more complex pattern with oil in upper part of sand body being left behind as residual oil due to the influences of different levels of architecture interfaces.This investigation is important to guiding reservoir evaluation,remaining oil analysis,profile control and potential tapping and well pattern adjustment.展开更多
Multi-agent reinforcement learning(MARL)has been a rapidly evolving field.This paper presents a comprehensive survey of MARL and its applications.We trace the historical evolution of MARL,highlight its progress,and di...Multi-agent reinforcement learning(MARL)has been a rapidly evolving field.This paper presents a comprehensive survey of MARL and its applications.We trace the historical evolution of MARL,highlight its progress,and discuss related survey works.Then,we review the existing works addressing inherent challenges and those focusing on diverse applications.Some representative stochastic games,MARL means,spatial forms of MARL,and task classification are revisited.We then conduct an in-depth exploration of a variety of challenges encountered in MARL applications.We also address critical operational aspects,such as hyperparameter tuning and computational complexity,which are pivotal in practical implementations of MARL.Afterward,we make a thorough overview of the applications of MARL to intelligent machines and devices,chemical engineering,biotechnology,healthcare,and societal issues,which highlights the extensive potential and relevance of MARL within both current and future technological contexts.Our survey also encompasses a detailed examination of benchmark environments used in MARL research,which are instrumental in evaluating MARL algorithms and demonstrate the adaptability of MARL to diverse application scenarios.In the end,we give our prospect for MARL and discuss their related techniques and potential future applications.展开更多
The emergence of beyond 5G networks has the potential for seamless and intelligent connectivity on a global scale.Network slicing is crucial in delivering services for different,demanding vertical applications in this...The emergence of beyond 5G networks has the potential for seamless and intelligent connectivity on a global scale.Network slicing is crucial in delivering services for different,demanding vertical applications in this context.Next-generation applications have time-sensitive requirements and depend on the most efficient routing path to ensure packets reach their intended destinations.However,the existing IP(Internet Protocol)over a multi-domain network faces challenges in enforcing network slicing due to minimal collaboration and information sharing among network operators.Conventional inter-domain routing methods,like Border Gateway Protocol(BGP),cannot make routing decisions based on performance,which frequently results in traffic flowing across congested paths that are never optimal.To address these issues,we propose CoopAI-Route,a multi-agent cooperative deep reinforcement learning(DRL)system utilizing hierarchical software-defined networks(SDN).This framework enforces network slicing in multi-domain networks and cooperative communication with various administrators to find performance-based routes in intra-and inter-domain.CoopAI-Route employs the Distributed Global Topology(DGT)algorithm to define inter-domain Quality of Service(QoS)paths.CoopAI-Route uses a DRL agent with a message-passing multi-agent Twin-Delayed Deep Deterministic Policy Gradient method to ensure optimal end-to-end routes adapted to the specific requirements of network slicing applications.Our evaluation demonstrates CoopAI-Route’s commendable performance in scalability,link failure handling,and adaptability to evolving topologies compared to state-of-the-art methods.展开更多
Canopy and branch architectures in high-density orchards can be crucial in production and fruit quality. The influence of two canopy orientations (Upright and Tilted) in combination with two arm (branch) architectures...Canopy and branch architectures in high-density orchards can be crucial in production and fruit quality. The influence of two canopy orientations (Upright and Tilted) in combination with two arm (branch) architectures (Shortened or Overlapped) on tree growth, yield components, fruit quality, and leaf mineral nutrients in an “Aztec Fuji” apple (Malus domestica Bork.) high-density orchard was studied over five years. Tilted trees with shortened arm configuration (TilShArm) always had significantly larger trunk cross-sectional area (TCSA) than Upright trees with an Overlapped arm configuration (UpOverArm) every year from 2012 to 2016. Trees with a TilShArm system had more cumulative fruit per tree than those with an Upright orientation. Trees with a tilted canopy (TilShArm and TilOverArm) tended to have higher yield per tree and yield per hectare than those with an upright system. Trees with a TilShArm system were more precocious and had more yield per tree than those with an upright canopy orientation in 2012. When values were polled over five years, trees with an upright canopy-shortened arm system (UpShArm) treatment had a lower biennial bearing index (BBI) than those with an upright canopy-overlapped system (UpOverArm). Trees receiving an arm shortening (UpShArm or TilShArm) configuration often had larger fruits than those with overlapped arms (UpOverArm and TilOverArm). Fruit from trees receiving an UpOverArm had higher fruit firmness than those from trees with other canopy-branch arrangements at harvest due to their smaller size. Fruit from trees with a TilShArm and TilOverArm had significantly higher water core and bitter pit but lower sunburn than trees with an upright canopy (UpShArm and UpOverArm). Leaves from trees with an UpOverArm canopy-branch configuration had the lowest leaf Ca but the highest leaf K and Fe concentrations among all treatments.展开更多
The occurrence of high temperature(HT)in crop production is becoming more frequent and unpredictable with global warming,severely threatening food security.The state of an organ’s growth and development is largely de...The occurrence of high temperature(HT)in crop production is becoming more frequent and unpredictable with global warming,severely threatening food security.The state of an organ’s growth and development is largely determined by the temperature conditions it is exposed to over time.Maize is the main cereal crop,and its stem growth and plant architecture are closely related to lodging resistance,and especially sensitive to temperature.However,systematic research on the timing effect of HT on the sequentially developing internode and stem is currently lacking.To identify the timing effect of HT on the morphology and plasticity of the stem in maize,two hybrids(Zhengdan 958(ZD958),Xianyu 335(XY335))characterized by distinct morphological traits in the stem were exposed to a 7-day HT treatment from the V6 to V17 stages(Vn presents the vegetative stage with n leaves fully expanded)in 2019-2020.The results demonstrated that exposure to HT during V6-V12 accelerated the rapid elongation of stems.For instance,HT occurring at V7 and V12 specifically promoted the lengths and weights of the 3rd-5th and 9th-11th internodes,respectively.Meanwhile,HT slowed the growth of internodes adjacent to the promoted internodes.Interestingly,compared with control,the plant height was significantly increased soon after HT treatment,but the promotion effect became narrower at the subsequent flowering stage,demonstrating a self-adjusting mechanism in the maize plant in response to HT.Importantly,HT altered the plant architectures,including a rising of the ear position and increase in the ear position coefficient.XY335 exhibited greater sensitivity in stem development than ZD958 under HT treatment.These findings improve our systematic understanding of the plasticity of internode and plant architecture in response to the timing of HT exposure.展开更多
This paper examines the bipartite consensus problems for the nonlinear multi-agent systems in Lurie dynamics form with cooperative and competitive communication between different agents. Based on the contraction theor...This paper examines the bipartite consensus problems for the nonlinear multi-agent systems in Lurie dynamics form with cooperative and competitive communication between different agents. Based on the contraction theory, some new conditions for the nonlinear Lurie multi-agent systems reaching bipartite leaderless consensus and bipartite tracking consensus are presented. Compared with the traditional methods, this approach degrades the dimensions of the conditions, eliminates some restrictions of the system matrix, and extends the range of the nonlinear function. Finally, two numerical examples are provided to illustrate the efficiency of our results.展开更多
This paper investigates the problem of global/semi-global finite-time consensus for integrator-type multi-agent sys-tems.New hyperbolic tangent function-based protocols are pro-posed to achieve global and semi-global ...This paper investigates the problem of global/semi-global finite-time consensus for integrator-type multi-agent sys-tems.New hyperbolic tangent function-based protocols are pro-posed to achieve global and semi-global finite-time consensus for both single-integrator and double-integrator multi-agent systems with leaderless undirected and leader-following directed commu-nication topologies.These new protocols not only provide an explicit upper-bound estimate for the settling time,but also have a user-prescribed bounded control level.In addition,compared to some existing results based on the saturation function,the pro-posed approach considerably simplifies the protocol design and the stability analysis.Illustrative examples and an application demonstrate the effectiveness of the proposed protocols.展开更多
基金This research was funded by the Project of the National Natural Science Foundation of China,Grant Number 62106283.
文摘Aiming at the problems of low solution accuracy and high decision pressure when facing large-scale dynamic task allocation(DTA)and high-dimensional decision space with single agent,this paper combines the deep reinforce-ment learning(DRL)theory and an improved Multi-Agent Deep Deterministic Policy Gradient(MADDPG-D2)algorithm with a dual experience replay pool and a dual noise based on multi-agent architecture is proposed to improve the efficiency of DTA.The algorithm is based on the traditional Multi-Agent Deep Deterministic Policy Gradient(MADDPG)algorithm,and considers the introduction of a double noise mechanism to increase the action exploration space in the early stage of the algorithm,and the introduction of a double experience pool to improve the data utilization rate;at the same time,in order to accelerate the training speed and efficiency of the agents,and to solve the cold-start problem of the training,the a priori knowledge technology is applied to the training of the algorithm.Finally,the MADDPG-D2 algorithm is compared and analyzed based on the digital battlefield of ground and air confrontation.The experimental results show that the agents trained by the MADDPG-D2 algorithm have higher win rates and average rewards,can utilize the resources more reasonably,and better solve the problem of the traditional single agent algorithms facing the difficulty of solving the problem in the high-dimensional decision space.The MADDPG-D2 algorithm based on multi-agent architecture proposed in this paper has certain superiority and rationality in DTA.
文摘Complex and distributed systems are more and more associated with the application of WSN (Wireless Sensor Network) technology. The design of such applications presents important challenges and requires the assistance of several methodologies and tools. Multi-Agent systems (MAS) have been identified as one of the most suitable technologies to contribute to this domain due to their appropriateness for modeling distributed and autonomous complex systems. This work aims to contribute in the help of the design of WSN applications. The proposed architecture exploits the advantages of MAS for modeling WSN services, network topologies and sensor device architectures.
基金supported in part by NSFC (62102099, U22A2054, 62101594)in part by the Pearl River Talent Recruitment Program (2021QN02S643)+9 种基金Guangzhou Basic Research Program (2023A04J1699)in part by the National Research Foundation, SingaporeInfocomm Media Development Authority under its Future Communications Research Development ProgrammeDSO National Laboratories under the AI Singapore Programme under AISG Award No AISG2-RP-2020-019Energy Research Test-Bed and Industry Partnership Funding Initiative, Energy Grid (EG) 2.0 programmeDesCartes and the Campus for Research Excellence and Technological Enterprise (CREATE) programmeMOE Tier 1 under Grant RG87/22in part by the Singapore University of Technology and Design (SUTD) (SRG-ISTD-2021- 165)in part by the SUTD-ZJU IDEA Grant SUTD-ZJU (VP) 202102in part by the Ministry of Education, Singapore, through its SUTD Kickstarter Initiative (SKI 20210204)。
文摘Avatars, as promising digital representations and service assistants of users in Metaverses, can enable drivers and passengers to immerse themselves in 3D virtual services and spaces of UAV-assisted vehicular Metaverses. However, avatar tasks include a multitude of human-to-avatar and avatar-to-avatar interactive applications, e.g., augmented reality navigation,which consumes intensive computing resources. It is inefficient and impractical for vehicles to process avatar tasks locally. Fortunately, migrating avatar tasks to the nearest roadside units(RSU)or unmanned aerial vehicles(UAV) for execution is a promising solution to decrease computation overhead and reduce task processing latency, while the high mobility of vehicles brings challenges for vehicles to independently perform avatar migration decisions depending on current and future vehicle status. To address these challenges, in this paper, we propose a novel avatar task migration system based on multi-agent deep reinforcement learning(MADRL) to execute immersive vehicular avatar tasks dynamically. Specifically, we first formulate the problem of avatar task migration from vehicles to RSUs/UAVs as a partially observable Markov decision process that can be solved by MADRL algorithms. We then design the multi-agent proximal policy optimization(MAPPO) approach as the MADRL algorithm for the avatar task migration problem. To overcome slow convergence resulting from the curse of dimensionality and non-stationary issues caused by shared parameters in MAPPO, we further propose a transformer-based MAPPO approach via sequential decision-making models for the efficient representation of relationships among agents. Finally, to motivate terrestrial or non-terrestrial edge servers(e.g., RSUs or UAVs) to share computation resources and ensure traceability of the sharing records, we apply smart contracts and blockchain technologies to achieve secure sharing management. Numerical results demonstrate that the proposed approach outperforms the MAPPO approach by around 2% and effectively reduces approximately 20% of the latency of avatar task execution in UAV-assisted vehicular Metaverses.
基金supported in part by the National Natural Science Foundation of China under Grant 62171465,62072303,62272223,U22A2031。
文摘By pushing computation,cache,and network control to the edge,mobile edge computing(MEC)is expected to play a leading role in fifth generation(5G)and future sixth generation(6G).Nevertheless,facing ubiquitous fast-growing computational demands,it is impossible for a single MEC paradigm to effectively support high-quality intelligent services at end user equipments(UEs).To address this issue,we propose an air-ground collaborative MEC(AGCMEC)architecture in this article.The proposed AGCMEC integrates all potentially available MEC servers within air and ground in the envisioned 6G,by a variety of collaborative ways to provide computation services at their best for UEs.Firstly,we introduce the AGC-MEC architecture and elaborate three typical use cases.Then,we discuss four main challenges in the AGC-MEC as well as their potential solutions.Next,we conduct a case study of collaborative service placement for AGC-MEC to validate the effectiveness of the proposed collaborative service placement strategy.Finally,we highlight several potential research directions of the AGC-MEC.
基金supported by the Key Research and Development Program of Zhejiang(2024SSYS0099)the National Key Research and Development Program of China(2022YFD1200203)Key Research and Development Program of Hebei province(22326305D).
文摘Plant height,spike,leaf,stem and grain morphologies are key components of plant architecture and related to wheat yield.A wheat(Triticum aestivum L.)mutant,wpa1,displaying temperaturedependent pleiotropic developmental anomalies,was isolated.The WPA1 gene,encoding a von Willebrand factor type A(vWA)domain protein,was located on chromosome arm 7DS and isolated by map-based cloning.The functionality of WPA1 was validated by multiple independent EMS-induced mutants and gene editing.Phylogenetic analysis revealed that WPA1 is monocotyledon-specific in higher plants.The identification of WPA1 provides opportunity to study the temperature regulated wheat development and grain yield.
基金the National Natural Science Foundation of China(62203356)Fundamental Research Funds for the Central Universities of China(31020210502002)。
文摘This paper studies the problem of time-varying formation control with finite-time prescribed performance for nonstrict feedback second-order multi-agent systems with unmeasured states and unknown nonlinearities.To eliminate nonlinearities,neural networks are applied to approximate the inherent dynamics of the system.In addition,due to the limitations of the actual working conditions,each follower agent can only obtain the locally measurable partial state information of the leader agent.To address this problem,a neural network state observer based on the leader state information is designed.Then,a finite-time prescribed performance adaptive output feedback control strategy is proposed by restricting the sliding mode surface to a prescribed region,which ensures that the closed-loop system has practical finite-time stability and that formation errors of the multi-agent systems converge to the prescribed performance bound in finite time.Finally,a numerical simulation is provided to demonstrate the practicality and effectiveness of the developed algorithm.
基金supported in part by the National Natural Science Foundation of China (NSFC) under Grant No.61976242in part by the Natural Science Fund of Hebei Province for Distinguished Young Scholars under Grant No.F2021202010+2 种基金in part by the Fundamental Scientific Research Funds for Interdisciplinary Team of Hebei University of Technology under Grant No.JBKYTD2002funded by Science and Technology Project of Hebei Education Department under Grant No.JZX2023007supported by 2022 Interdisciplinary Postgraduate Training Program of Hebei University of Technology under Grant No.HEBUT-YXKJC-2022122.
文摘Most of the neural network architectures are based on human experience,which requires a long and tedious trial-and-error process.Neural architecture search(NAS)attempts to detect effective architectures without human intervention.Evolutionary algorithms(EAs)for NAS can find better solutions than human-designed architectures by exploring a large search space for possible architectures.Using multiobjective EAs for NAS,optimal neural architectures that meet various performance criteria can be explored and discovered efficiently.Furthermore,hardware-accelerated NAS methods can improve the efficiency of the NAS.While existing reviews have mainly focused on different strategies to complete NAS,a few studies have explored the use of EAs for NAS.In this paper,we summarize and explore the use of EAs for NAS,as well as large-scale multiobjective optimization strategies and hardware-accelerated NAS methods.NAS performs well in healthcare applications,such as medical image analysis,classification of disease diagnosis,and health monitoring.EAs for NAS can automate the search process and optimize multiple objectives simultaneously in a given healthcare task.Deep neural network has been successfully used in healthcare,but it lacks interpretability.Medical data is highly sensitive,and privacy leaks are frequently reported in the healthcare industry.To solve these problems,in healthcare,we propose an interpretable neuroevolution framework based on federated learning to address search efficiency and privacy protection.Moreover,we also point out future research directions for evolutionary NAS.Overall,for researchers who want to use EAs to optimize NNs in healthcare,we analyze the advantages and disadvantages of doing so to provide detailed guidance,and propose an interpretable privacy-preserving framework for healthcare applications.
基金Guangdong Basic and Applied Basic Research Foundation,Grant/Award Number:2020A1515110762Research Grants Council of the Hong Kong Special Administrative Region,China,Grant/Award Number:R6005‐20Shenzhen Key Laboratory of Advanced Energy Storage,Grant/Award Number:ZDSYS20220401141000001。
文摘Silicon(Si)is widely used as a lithium‐ion‐battery anode owing to its high capacity and abundant crustal reserves.However,large volume change upon cycling and poor conductivity of Si cause rapid capacity decay and poor fast‐charging capability limiting its commercial applications.Here,we propose a multilevel carbon architecture with vertical graphene sheets(VGSs)grown on surfaces of subnanoscopically and homogeneously dispersed Si–C composite nanospheres,which are subsequently embedded into a carbon matrix(C/VGSs@Si–C).Subnanoscopic C in the Si–C nanospheres,VGSs,and carbon matrix form a three‐dimensional conductive and robust network,which significantly improves the conductivity and suppresses the volume expansion of Si,thereby boosting charge transport and improving electrode stability.The VGSs with vast exposed edges considerably increase the contact area with the carbon matrix and supply directional transport channels through the entire material,which boosts charge transport.The carbon matrix encapsulates VGSs@Si–C to decrease the specific surface area and increase tap density,thus yielding high first Coulombic efficiency and electrode compaction density.Consequently,C/VGSs@Si–C delivers excellent Li‐ion storage performances under industrial electrode conditions.In particular,the full cells show high energy densities of 603.5 Wh kg^(−1)and 1685.5 Wh L^(−1)at 0.1 C and maintain 80.7%of the energy density at 3 C.
基金University-level Graduate Education Reform Project of Yangtze University(YJY202329).
文摘Under the background of“artificial intelligence+X”,the development of landscape architecture industry ushers in new opportunities,and professional talents need to be updated to meet the social demand.This paper analyzes the cultivation demand of landscape architecture graduate students in the context of the new era,and identifies the problems by comparing the original professional graduate training mode.The new cultivation mode of graduate students in landscape architecture is proposed,including updating the target orientation of the discipline,optimizing the teaching system,building a“dualteacher”tutor team,and improving the“industry-university-research-utilization”integrated cultivation,so as to cultivate high-quality compound talents with disciplinary characteristics.
基金supported in part by the National Natural Science Foundation of China (62136008,62236002,61921004,62173251,62103104)the “Zhishan” Scholars Programs of Southeast Universitythe Fundamental Research Funds for the Central Universities (2242023K30034)。
文摘Efficient exploration in complex coordination tasks has been considered a challenging problem in multi-agent reinforcement learning(MARL). It is significantly more difficult for those tasks with latent variables that agents cannot directly observe. However, most of the existing latent variable discovery methods lack a clear representation of latent variables and an effective evaluation of the influence of latent variables on the agent. In this paper, we propose a new MARL algorithm based on the soft actor-critic method for complex continuous control tasks with confounders. It is called the multi-agent soft actor-critic with latent variable(MASAC-LV) algorithm, which uses variational inference theory to infer the compact latent variables representation space from a large amount of offline experience.Besides, we derive the counterfactual policy whose input has no latent variables and quantify the difference between the actual policy and the counterfactual policy via a distance function. This quantified difference is considered an intrinsic motivation that gives additional rewards based on how much the latent variable affects each agent. The proposed algorithm is evaluated on two collaboration tasks with confounders, and the experimental results demonstrate the effectiveness of MASAC-LV compared to other baseline algorithms.
基金supported by Bright Dream Robotics and the HKUSTBDR Joint Research Institute Funding Scheme under Project HBJRI-FTP-005(Automated 3D Reconstruction using Robot-mounted 360-Degree Camera with Visible Light Positioning Technology for Building Information Modelling Applications,OKT22EG06).
文摘Large-scale indoor 3D reconstruction with multiple robots faces challenges in core enabling technologies.This work contributes to a framework addressing localization,coordination,and vision processing for multi-agent reconstruction.A system architecture fusing visible light positioning,multi-agent path finding via reinforcement learning,and 360°camera techniques for 3D reconstruction is proposed.Our visible light positioning algorithm leverages existing lighting for centimeter-level localization without additional infrastructure.Meanwhile,a decentralized reinforcement learning approach is developed to solve the multi-agent path finding problem,with communications among agents optimized.Our 3D reconstruction pipeline utilizes equirectangular projection from 360°cameras to facilitate depth-independent reconstruction from posed monocular images using neural networks.Experimental validation demonstrates centimeter-level indoor navigation and 3D scene reconstruction capabilities of our framework.The challenges and limitations stemming from the above enabling technologies are discussed at the end of each corresponding section.In summary,this research advances fundamental techniques for multi-robot indoor 3D modeling,contributing to automated,data-driven applications through coordinated robot navigation,perception,and modeling.
文摘At present,the architecture modeling method of fluvial reservoirs are still developing.Traditional methods usually use grids to characterize architecture interbeds within the reservoir.Due to the thin thickness of this type of the interlayers,the number of the model grids must be greatly expanded.The number of grids in the tens of millions often makes an expensive computation;however,upscaling the model will generate a misleading model.The above confusion is the major reason that restricts the largescale industrialization of fluvial reservoir architecture models in oilfield development and production.Therefore,this paper explores an intelligent architecture modeling method for multilevel fluvial reservoirs based on architecture interface and element.Based on the superpositional relationship of different architectural elements within the fluvial reservoir,this method uses a combination of multilevel interface constraints and non-uniform grid techniques to build a high-resolution 3D geological model for reservoir architecture.Through the grid upscaling technology of heterogeneous architecture elements,different upscaling densities are given to the lateral-accretion bedding and lateral-accretion bodies to simplify the model gridding.This new method greatly reduces the number of model grids while ensuring the accuracy of lateral-accretion bedding models,laying a foundation for large-scale numerical simulation of the subsequent industrialization of the architecture model.This method has been validated in A layer of X oilfield with meandering fluvial channel sands as reservoirs and B layer of Y oilfield with braided river sands as reservoirs.The simulation results show that it has a higher accuracy of production history matching and remaining oil distribution forecast of the targeted sand body.The numerical simulation results show that in the actual development process of oilfield,the injected water will not displace oil in a uniform diffusive manner as traditionally assumed,but in a more complex pattern with oil in upper part of sand body being left behind as residual oil due to the influences of different levels of architecture interfaces.This investigation is important to guiding reservoir evaluation,remaining oil analysis,profile control and potential tapping and well pattern adjustment.
基金Ministry of Education,Singapore,under AcRF TIER 1 Grant RG64/23the Eric and Wendy Schmidt AI in Science Postdoctoral Fellowship,a Schmidt Futures program,USA.
文摘Multi-agent reinforcement learning(MARL)has been a rapidly evolving field.This paper presents a comprehensive survey of MARL and its applications.We trace the historical evolution of MARL,highlight its progress,and discuss related survey works.Then,we review the existing works addressing inherent challenges and those focusing on diverse applications.Some representative stochastic games,MARL means,spatial forms of MARL,and task classification are revisited.We then conduct an in-depth exploration of a variety of challenges encountered in MARL applications.We also address critical operational aspects,such as hyperparameter tuning and computational complexity,which are pivotal in practical implementations of MARL.Afterward,we make a thorough overview of the applications of MARL to intelligent machines and devices,chemical engineering,biotechnology,healthcare,and societal issues,which highlights the extensive potential and relevance of MARL within both current and future technological contexts.Our survey also encompasses a detailed examination of benchmark environments used in MARL research,which are instrumental in evaluating MARL algorithms and demonstrate the adaptability of MARL to diverse application scenarios.In the end,we give our prospect for MARL and discuss their related techniques and potential future applications.
文摘The emergence of beyond 5G networks has the potential for seamless and intelligent connectivity on a global scale.Network slicing is crucial in delivering services for different,demanding vertical applications in this context.Next-generation applications have time-sensitive requirements and depend on the most efficient routing path to ensure packets reach their intended destinations.However,the existing IP(Internet Protocol)over a multi-domain network faces challenges in enforcing network slicing due to minimal collaboration and information sharing among network operators.Conventional inter-domain routing methods,like Border Gateway Protocol(BGP),cannot make routing decisions based on performance,which frequently results in traffic flowing across congested paths that are never optimal.To address these issues,we propose CoopAI-Route,a multi-agent cooperative deep reinforcement learning(DRL)system utilizing hierarchical software-defined networks(SDN).This framework enforces network slicing in multi-domain networks and cooperative communication with various administrators to find performance-based routes in intra-and inter-domain.CoopAI-Route employs the Distributed Global Topology(DGT)algorithm to define inter-domain Quality of Service(QoS)paths.CoopAI-Route uses a DRL agent with a message-passing multi-agent Twin-Delayed Deep Deterministic Policy Gradient method to ensure optimal end-to-end routes adapted to the specific requirements of network slicing applications.Our evaluation demonstrates CoopAI-Route’s commendable performance in scalability,link failure handling,and adaptability to evolving topologies compared to state-of-the-art methods.
文摘Canopy and branch architectures in high-density orchards can be crucial in production and fruit quality. The influence of two canopy orientations (Upright and Tilted) in combination with two arm (branch) architectures (Shortened or Overlapped) on tree growth, yield components, fruit quality, and leaf mineral nutrients in an “Aztec Fuji” apple (Malus domestica Bork.) high-density orchard was studied over five years. Tilted trees with shortened arm configuration (TilShArm) always had significantly larger trunk cross-sectional area (TCSA) than Upright trees with an Overlapped arm configuration (UpOverArm) every year from 2012 to 2016. Trees with a TilShArm system had more cumulative fruit per tree than those with an Upright orientation. Trees with a tilted canopy (TilShArm and TilOverArm) tended to have higher yield per tree and yield per hectare than those with an upright system. Trees with a TilShArm system were more precocious and had more yield per tree than those with an upright canopy orientation in 2012. When values were polled over five years, trees with an upright canopy-shortened arm system (UpShArm) treatment had a lower biennial bearing index (BBI) than those with an upright canopy-overlapped system (UpOverArm). Trees receiving an arm shortening (UpShArm or TilShArm) configuration often had larger fruits than those with overlapped arms (UpOverArm and TilOverArm). Fruit from trees receiving an UpOverArm had higher fruit firmness than those from trees with other canopy-branch arrangements at harvest due to their smaller size. Fruit from trees with a TilShArm and TilOverArm had significantly higher water core and bitter pit but lower sunburn than trees with an upright canopy (UpShArm and UpOverArm). Leaves from trees with an UpOverArm canopy-branch configuration had the lowest leaf Ca but the highest leaf K and Fe concentrations among all treatments.
基金This work was supported by the earmarked fund for China Agriculture Research System(CARS-02-16).
文摘The occurrence of high temperature(HT)in crop production is becoming more frequent and unpredictable with global warming,severely threatening food security.The state of an organ’s growth and development is largely determined by the temperature conditions it is exposed to over time.Maize is the main cereal crop,and its stem growth and plant architecture are closely related to lodging resistance,and especially sensitive to temperature.However,systematic research on the timing effect of HT on the sequentially developing internode and stem is currently lacking.To identify the timing effect of HT on the morphology and plasticity of the stem in maize,two hybrids(Zhengdan 958(ZD958),Xianyu 335(XY335))characterized by distinct morphological traits in the stem were exposed to a 7-day HT treatment from the V6 to V17 stages(Vn presents the vegetative stage with n leaves fully expanded)in 2019-2020.The results demonstrated that exposure to HT during V6-V12 accelerated the rapid elongation of stems.For instance,HT occurring at V7 and V12 specifically promoted the lengths and weights of the 3rd-5th and 9th-11th internodes,respectively.Meanwhile,HT slowed the growth of internodes adjacent to the promoted internodes.Interestingly,compared with control,the plant height was significantly increased soon after HT treatment,but the promotion effect became narrower at the subsequent flowering stage,demonstrating a self-adjusting mechanism in the maize plant in response to HT.Importantly,HT altered the plant architectures,including a rising of the ear position and increase in the ear position coefficient.XY335 exhibited greater sensitivity in stem development than ZD958 under HT treatment.These findings improve our systematic understanding of the plasticity of internode and plant architecture in response to the timing of HT exposure.
基金Project supported by the National Natural Science Foundation of China(Grant No.62363005)the Jiangxi Provincial Natural Science Foundation(Grant Nos.20161BAB212032 and 20232BAB202034)the Science and Technology Research Project of Jiangxi Provincial Department of Education(Grant Nos.GJJ202602 and GJJ202601)。
文摘This paper examines the bipartite consensus problems for the nonlinear multi-agent systems in Lurie dynamics form with cooperative and competitive communication between different agents. Based on the contraction theory, some new conditions for the nonlinear Lurie multi-agent systems reaching bipartite leaderless consensus and bipartite tracking consensus are presented. Compared with the traditional methods, this approach degrades the dimensions of the conditions, eliminates some restrictions of the system matrix, and extends the range of the nonlinear function. Finally, two numerical examples are provided to illustrate the efficiency of our results.
基金supported by the National Natural Science Foundation of China(62073019)。
文摘This paper investigates the problem of global/semi-global finite-time consensus for integrator-type multi-agent sys-tems.New hyperbolic tangent function-based protocols are pro-posed to achieve global and semi-global finite-time consensus for both single-integrator and double-integrator multi-agent systems with leaderless undirected and leader-following directed commu-nication topologies.These new protocols not only provide an explicit upper-bound estimate for the settling time,but also have a user-prescribed bounded control level.In addition,compared to some existing results based on the saturation function,the pro-posed approach considerably simplifies the protocol design and the stability analysis.Illustrative examples and an application demonstrate the effectiveness of the proposed protocols.
