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MOTION PLANNING OF MULTIPLE MOBILE ROBOTS COOPERATIVELY TRANSPORTING A COMMON OBJECT 认领 引用
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作者 战强 丁希仑 +1 位作者 张启先 王树国 《Chinese Journal of Aeronautics》 EI CAS 2000年第2期118-122,共5页
Many applications above the capability of a single robot need the cooperation of multiple mobile robots, but effective cooperation is hard to achieve. In this paper, a master slave method is proposed to control the mo... Many applications above the capability of a single robot need the cooperation of multiple mobile robots, but effective cooperation is hard to achieve. In this paper, a master slave method is proposed to control the motions of multiple mobile robots that cooperatively transport a common object from a start point to a goal point. A noholonomic kinematic model to constrain the motions of multiple mobile robots is built in order to achieve cooperative motions of them, and a “Dynamic Coordinator” strategy is used to deal with the collision avoidance of the master robot and slave robot individually. Simulation results show the robustness and effectiveness of the method. 展开更多
关键词 multiple mobile robots motion planning cooperation coordinated control simulation
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Adjacent acid sites cooperatively catalyze fructose to 5-hydroxymethylfurfural in a new, facile pathway 认领 引用 被引量：2
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作者 Xia Yu Yueying Chu +7 位作者 Lei Zhang Hui Shi Mingjiang Xie Luming Peng Xuefeng Guo Wei Li Nianhua Xue Weiping Ding 《Journal of Energy Chemistry》 SCIE EI CAS CSCD 2020年第8期112-117,I0004,共6页
To study the effect of adjacent hydroxyl to the active sites, several acid catalysts, i.e. substituted benzoic acids with adjacent carboxyl are employed in the fructose dehydration to 5-hydroxymethylfurfural(HMF).Expe... To study the effect of adjacent hydroxyl to the active sites, several acid catalysts, i.e. substituted benzoic acids with adjacent carboxyl are employed in the fructose dehydration to 5-hydroxymethylfurfural(HMF).Experimental results reveal that Br?nsted acid sites with adjacent carboxyl present higher catalytic ability than isolated ones. Computational results suggest that the adjacent sites lead to co-interaction on fructose, corresponding more stable transition state and faster HMF formation rate. Based on the enhancement from the adjacent sites, a novel ordered mesoporous carbon(OMC) full of carboxyls in surface is prepared and turns out to be an effective solid catalyst for HMF production from fructose derived from biomass. 展开更多
关键词 Fructose dehydration Adjacent sites Cooperative catalysis 5-Hydroxymethylfurfural
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Complementary interactions between indirect and direct fitness in a cooperatively breeding 认领 引用
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作者 Zhibing Li Xinwei Da Xin Lu 《Current Zoology》 SCIE CAS CSCD 2023年第1期76-81,共6页
Altruism is difficult to explain evolutionarily and to understand it,there is a need to quantify the benefits and costs to altruists.Hamilton’s theory of kin selection argues that altruism can persist if the costs to... Altruism is difficult to explain evolutionarily and to understand it,there is a need to quantify the benefits and costs to altruists.Hamilton’s theory of kin selection argues that altruism can persist if the costs to altruists are offset by indirect fitness payoffs from helping related recipients.Nevertheless,helping nonkin is also common and in such situations,the costs must be compensated for by direct benefits.While previous researchers tended to evaluate the indirect and direct fitness in isolation,we expect that they have a complementary interaction where altruists are associated with recipients of different relatedness within a population.The prediction is tested with 12years of data on lifetime reproductive success for a cooperatively breeding bird,Tibetan ground tits Pseudopodoces humilis.Helpers who helped distantly related recipients gained significantly lower indirect benefits than those who helped closely related recipients,but the opposite was true for direct fitness,thereby making these helpers have an equal inclusive fitness.Helping efforts were independent of helpers’relatedness to recipients,but those helping distantly related recipients were more likely to inherit the resident territory,which could be responsible for their high direct reproductive success.Our findings provide an explanatory model for the widespread coexistence of altruists and recipients with varying relatedness within a single population. 展开更多
关键词 altruism cooperative breeding Hamilton’s rule kin selection
Solvent and counterion cooperatively induced inversion of the stereocenter Δ/Λ and CPL in a mononuclear Eu(Ⅲ)complex 认领 引用
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作者 Wenhua Li Sen Yin +4 位作者 Ziye Song Pengfei Yan Yanyan Zhou Ting Gao Hongfeng Li 《Inorganic Chemistry Frontiers》 SCIE EI CAS CSCD 2025年第3期1176-1186,共11页
The development of lanthanide complexes with stimuli-responsive dynamic chiral inversion has significant potential for applications in chiroptical switches and chiral sensing.However,the variable coordination numbers ... The development of lanthanide complexes with stimuli-responsive dynamic chiral inversion has significant potential for applications in chiroptical switches and chiral sensing.However,the variable coordination numbers and coordination geometries of Ln(Ⅲ)ions pose substantial challenges in controlling the chiral inversion of lanthanide complexes.Herein,we present the first example of solvent and counterion cooperatively induced inversion of the Eu(Ⅲ)stereocenterΔ/Λin mononuclear complexes.In Cs[Eu(LL)4],where Cs+serves as the counterion,the addition of chloroform to an acetonitrile solution of the complex resulted in a reversal of Eu(Ⅲ)center configuration fromΔtoΛ,accompanied with an inversion of the circularly polarized luminescence(CPL)signal(glum value shifting from+0.15 to−0.13).However,when(NMe4)+was used as the counterion,(NMe4)[Eu(LL)4]did not exhibit this inversion behavior under the same conditions.Notably,the addition of Cs+ions to a solution of(NMe4)[Eu(LL)4]restored the inversion feature.This understanding of the impact of Cs+ions and solvent onΔ/Λinversion contributes to the development of CPL switches and sensors based on chiral lanthanide supramolecules. 展开更多
关键词 chiral inversion chiral sensinghoweverthe solvent counterion cooperatively induced inversion lanthanide complexes cooperative induction chiroptical switches solvent counterion
Expert consensus on multidisciplinary management of laparoscopic-endoscopic cooperative surgery combined with sentinel lymph node navigation surgery for early gastric cancer(2026 edition) 认领 引用 被引量：4
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作者 Zhi Zheng Yu Zhao +15 位作者 Rui Xu Zimeng Wang Jie Yin Fandong Meng Kuiliang Liu Guangyong Chen Jun Zhang Peng Li Lin Chen Zhongtao Zhang Shutian Zhang National Clinical Research Center for Digestive Diseases National Key Laboratory of Digestive Health Digestive Endoscopy Branch of Chinese Medical Association Gastroenterologist and Hepatologist Branch of Chinese Medical Doctor Association Chinese Gastric Cancer Association of China Anti-Cancer Association 《Chinese Journal of Cancer Research》 SCIE CAS CSCD 2026年第1期1-26,共26页
With the advancement of surgical techniques and enhanced management of early gastric cancer(EGC),minimally invasive function-preserving surgical approaches have emerged as a common goal for patients and clinicians.Lap... With the advancement of surgical techniques and enhanced management of early gastric cancer(EGC),minimally invasive function-preserving surgical approaches have emerged as a common goal for patients and clinicians.Laparoscopic-endoscopic cooperative surgery combined with sentinel lymph node navigation surgery(LECSSNNS)has drawn increasing interest because of its dual benefits of minimal invasiveness and organ function preservation.However,robust evidence-based support for guiding clinical implementation remains limited.To address this gap,we systematically evaluated available studies on the clinical application of LECS-SNNS in EGC and integrated expert insights to formulate 20 recommendations.These included preoperative assessment,surgical techniques,intraoperative endoscopic procedures,pathological evaluation,postoperative care,and follow-up.This consensus aimed to provide comprehensive guidance for the standardized application of LECS-SNNS,thereby advancing precise,minimally invasive,and function-preserving treatment for EGC. 展开更多
关键词 Sentinel lymph node laparoscopic-endoscopic cooperative surgery navigation surgery early gastric cancer multidisciplinary diagnosis and treatment consensus
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Quality or Quantity?Error-Informed Selective Online Learning With Gaussian Processes in Multi-Agent Systems 认领 引用 被引量：1
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作者 Zewen Yang Xiaobing Dai +2 位作者 Jiajun Cheng Yulong Huang Peng Shi 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第6期1325-1338,共14页
Effective cooperation is pivotal in distributed learning for multi-agent systems,where the interplay between the quantity and quality of the machine learning models is crucial.This paper reveals the irrationality of i... Effective cooperation is pivotal in distributed learning for multi-agent systems,where the interplay between the quantity and quality of the machine learning models is crucial.This paper reveals the irrationality of indiscriminate inclusion of all models on agents for joint prediction,highlighting the imperative to prioritize quality over quantity in cooperative learning.Specifically,we present the first selective online learning framework for distributed Gaussian process(GP)regression,namely distributed error-informed GP(EIGP),that enables each agent to assess its neighboring collaborators,using the proposed selection function to choose the higher quality GP models with less prediction errors.Moreover,algorithmic enhancements are embedded within the EIGP,including a greedy algorithm(gEIGP)for accelerating prediction and an adaptive algorithm(aEIGP)for improving prediction accuracy.In addition,approaches for fast prediction and model update are introduced in conjunction with the error-informed quantification term iteration and a data deletion strategy to achieve real-time learning operations.Numerical simulations are performed to demonstrate the effectiveness of the developed methodology,showcasing its superiority over the stateof-the-art distributed GP methods with different benchmarks. 展开更多
关键词 Adaptive algorithm cooperative learning distributed learning Gaussian process regression greedy algorithm multi-agent system
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Cooperative Sensing for 6G ISAC:Concept,Key Technologies,Performance Evaluation,and Field Trial 认领 引用 被引量：1
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作者 Guangyi Liu Lincong Han +7 位作者 Rongyan Xi Liang Ma Zixiang Han Yahui Xue Hanting Zhao Jing Jin Qixing Wang Fei Xu 《Engineering》 SCIE EI CSCD 2026年第1期130-148,共19页
Cooperative integrated sensing and communication(ISAC),an advanced version of ISAC,is becoming an inevitable paradigm in sixth-generation mobile information networks.Based on the foundation of largescale deployed mobi... Cooperative integrated sensing and communication(ISAC),an advanced version of ISAC,is becoming an inevitable paradigm in sixth-generation mobile information networks.Based on the foundation of largescale deployed mobile networks,cooperative ISAC holds promise to realize ubiquitous sensing,thus becoming a significant step in promoting the transformation from connected things to connected intelligence.In this paper,we depict a sweeping panorama of cooperative ISAC,including the concept,key technologies,a performance evaluation framework,and field trials.We start by introducing the application scenarios of cooperative ISAC,which are the motivation for its commercialization.Next,from the perspective of technical development,we trace the evolution of cooperative ISAC,noting that cooperation within sensing and communication is an objective trend.We reveal the four core features of cooperative ISAC-denoted herein as network-enabled,integration,cooperation,and everything-and provide a general system model.Regarding key technologies,we introduce our contributions to antenna array design,cooperative clustering,synchronization,and data fusion,as well as interference management and networking.We also propose an evaluation framework and define several key performance indicators for cooperative ISAC.Through system-level simulations and field trials,we show the practical application feasibility of cooperative ISAC.Finally,we provide guidance on future research directions in cooperative ISAC. 展开更多
关键词 Sixth generation Integrated sensing and communication Cooperative sensing Synchronization Data fusion Field trial
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Three-dimensional cooperative guidance law with practical predefined-time approach angle and time-to-go convergence 认领 引用 被引量：1
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作者 Zihao WU Wei FENG +3 位作者 Xiaofeng ZHANG Wenxing FU Zhang REN Tuo HAN 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2026年第5期530-546,共17页
This paper presents a Three-Dimensional(3D)cooperative guidance law with Practical Predefined-Time(PPT)convergence for multiple missiles considering approach angle(terminal lineof-sight)and simultaneous arrival constr... This paper presents a Three-Dimensional(3D)cooperative guidance law with Practical Predefined-Time(PPT)convergence for multiple missiles considering approach angle(terminal lineof-sight)and simultaneous arrival constraints.To achieve a salvo attack against a maneuvering target from various directions,the guidance problem is tackled by addressing two critical factors:ensuring that the time-of-arrival is consistent and that the desired approach angles can be met.Considering the short duration of the homing guidance process,the convergence with predefined time for guidance states(especially the approach angle and time-to-go)is factored in.First,for the simultaneous arrival,a PPT guidance law is developed,which can meet the same time-to-go convergence rate in the Line-of-Sight(LOS)direction.Then,in the normal LOS direction,a 3D PPT guidance law is presented considering the approach angle constraint so that the desired approach angles can be reached within a user-designed time.The time-based generator technique is employed in the proposed PPT Cooperative Guidance Law(PPTCGL)to avoid the time-varying gain singularity issue.Notably,this technique can allow the convergence time to be preset in advance,independent of initial system conditions and tuning parameters.Additionally,to avoid excessive gain and improve the robustness of guidance law,a PPT disturbance observer is designed against uncertainties and target maneuvers so that the guidance system perturbation can be compensated in real time.It is userfriendly that the convergence of disturbance estimation can be met with a flexible pre-setting time before achieving the terminal guidance constraints.Finally,extensive numerical simulations are conducted to verify the effectiveness and robustness of the proposed PPTCGL in both the nominal cases and the Monte Carlo test. 展开更多
关键词 Approach angle constraint Cooperative guidance law Maneuvering target Practical predefined-time consensus Three-dimensional guidance model
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Fully Distributed Reinforcement Learning for Efficient Networked Microgrids Resource Management:Source-Load-Storage Coordination 认领 引用
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作者 Xiaowen Wang Xinquan Shao Shuai Liu 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第7期1755-1757,共3页
Dear Editor,This letter proposes a fully distributed multi-agent reinforcement learning(DMARL)algorithm for the coordinated optimization and scheduling of source-load-storage in networked microgrids.To accommodate the... Dear Editor,This letter proposes a fully distributed multi-agent reinforcement learning(DMARL)algorithm for the coordinated optimization and scheduling of source-load-storage in networked microgrids.To accommodate the rapid development of networked microgrids,we have designed a DMARL algorithm with an event-triggered mechanism(ETM).Unlike centralized approaches,DMARL empowers individual agents to cooperatively learn and optimize based only on local observations,while reducing the communication burden.Simulation results validate the performance of the proposed algorithm,demonstrating its effectiveness in efficient microgrid resource management. 展开更多
关键词 multi agent reinforcement learning source load storage coordination networked microgridswe cooperatively learn networked microgridsto event triggered mechanism centralized approachesdmarl fully distributed reinforcement learning
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Cooperative Pursuit of Unmanned Surface Vehicles Using Multi-Agent Reinforcement Learning 认领 引用 被引量：1
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作者 QU Xingru LI Chu +2 位作者 JIANG Yuze LONG Feifei ZHANG Rubo 《Journal of Shanghai Jiaotong university(Science)》 EI 2026年第1期187-194,共8页
This paper is concerned with the cooperative pursuit of unmanned surface vehicles(USVs)against the dynamic escaping target using multi-agent reinforcement learning.The Markov game process is established for pursuit-ev... This paper is concerned with the cooperative pursuit of unmanned surface vehicles(USVs)against the dynamic escaping target using multi-agent reinforcement learning.The Markov game process is established for pursuit-evasion,and the success criteria for cooperative capture of USVs are given by using distance and angle constraints.By virtue of the centralized training and decentralized execution framework as well as the long short-term memory network,cooperative pursuit training is conducted using the multi-agent soft actor-critic reinforcement learning,which can optimize capture performance of USVs against the escaping target.Besides,to avoid the occurrence of lazy capturer and increase the capture success rate,a multi-stage reward guidance method is developed,where the training process can be optimized according to the current states of both sides,effectively guiding vehicle to achieve the capture task from easy to difficult.Simulations are provided to illustrate the effectiveness of the proposed reinforcement learning method for cooperative pursuit of USVs. 展开更多
关键词 unmanned surface vehicle(USV) cooperative pursuit multi-agent soft actor-critic multi-stage reward
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Joint multi-dimensional resource scheduling for cooperative tracking of multiple LEO targets via space-based radar networks 认领 引用 被引量：1
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作者 Qingwei YANG Libing JIANG +2 位作者 Shuyu ZHENG Yingjian ZHAO Zhuang WANG 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2026年第4期449-466,共18页
Appropriate resource scheduling is the key to achieving the best performance of Low Earth-Orbit(LEO)Multi-Target Tracking(MTT)for the Space-based Radar Networks(SBRN)system.The high-velocity nature of satellites impos... Appropriate resource scheduling is the key to achieving the best performance of Low Earth-Orbit(LEO)Multi-Target Tracking(MTT)for the Space-based Radar Networks(SBRN)system.The high-velocity nature of satellites imposes high demands on the convergence rate of filtering and tracking accuracy while escalating the complexity of dynamic scheduling.To address these challenges,this paper utilizes Two-Line Elements(TLE)information to fully exploit the limited power-aperture resource of space-based Colocated Multiple-Input Multiple-Output(C-MIMO)radar and constructs a Walker constellation SBRN system.On this basis,a cognitive distributed cooperative tracking framework with fusion feedback mechanism is proposed.Each node can serve as the fusion center,achieving optimal fusion through the Fast Covariance Intersection(FCI)criterion while reducing the communication requirements.The global outcomes are fed back to all local nodes which can hasten the convergence rate of target state estimation.To maximize the global MTT performance,a closed-loop Joint Multi-Dimensional Resource Scheduling(JMDRS)strategy that considers multi-coverage conditions and visible windows is established.Moreover,the Posterior Cramer-Rao Lower Bound under Global Fusion Feedback(GF-PCRLB)is derived to provide a quantifiable metric for the overall performance.Finally,a fast suboptimal solution to the nonconvex model is proposed based on cross-iterative dimension reduction and variable decoupling.It introduces the tracking Efficiency-to-Cost Ratio(ECR)to jointly decide the beam pointing as well as the transmit power and fusion weight of each beam.Numerical results demonstrate that the proposed method significantly outperforms the existing approaches in enhancing the MTT performance of the SBRN system. 展开更多
关键词 Dynamic resource allocation Moving platform cooperative tracking Multi-Target Tracking(MTT) Space-based Radar Networks(SBRN) Task management
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A brief review of evolutionary game dynamics in the reinforcement learning paradigm 认领 引用
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作者 Guozhong Zheng Xin Ou +2 位作者 Shengfeng Deng Jiqiang Zhang Li Chen 《Communications in Theoretical Physics》 SCIE CAS CSCD 2026年第6期220-232,共13页
Cooperation,fairness,trust,and resource coordination are cornerstones of modern civilization,yet their emergence remains inadequately explained,largely due to persistent discrepancies between theoretical predictions a... Cooperation,fairness,trust,and resource coordination are cornerstones of modern civilization,yet their emergence remains inadequately explained,largely due to persistent discrepancies between theoretical predictions and behavioral experiments.Part of this gap may arise from the imitation learning paradigm commonly used in prior theoretical models,which assumes individuals merely copy successful neighbors according to predetermined,fixed rules.This review examines recent advances in evolutionary game dynamics that employ reinforcement learning(RL)as an alternative paradigm.In RL,individuals learn through trial and error and intro spec tively refine their strategies based on environmental feedback.We begin by introducing key concepts in evolutionary game theory and the two learning paradigms,then synthesize progress in applying RL to elucidate cooperation,trust,fairness,optimal resource coordination,and ecological dynamics.Collectively,these studies indicate that RL offers a promising unified framework for understanding the diverse social and ecological phenomena observed in human and natural systems. 展开更多
关键词 reinforcement learning evolutionary game theory cooperation fairness trust resource allocation biodiversity
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Water resources and sustainable management in Tajikistan under global change 认领 引用
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作者 CHEN Yaning FANG Gonghuan +5 位作者 LI Zhi ZHANG Xueqi LI Weihong Nekruz GULAHMADOV Farhod NASRULLOEV Aminjon GULAKHMADOV 《Regional Sustainability》 CAS CSCD 2026年第1期1-10,共10页
As a major source of freshwater in Central Asia,Tajikistan is endowed with abundant glaciers and water resources.However,the country faces multiple challenges,including accelerated glacier retreat,complex inter-govern... As a major source of freshwater in Central Asia,Tajikistan is endowed with abundant glaciers and water resources.However,the country faces multiple challenges,including accelerated glacier retreat,complex inter-government water resource management,and inefficient water use.Existing research has predominantly focused on individual hydrological processes,such as glacier retreat,snow cover change,or transboundary water issues,but it has yet to fully capture the overall complexity of water system.Tajikistan’s water system functions as an integrated whole from mountain runoff to downstream supply,but a comprehensive study of its water resource has yet to be conducted.To address this research gap,this study systematically examined the status,challenges,and sustainable management strategies of Tajikistan’s water resources based on a literature review,remote sensing data analysis,and case studies.Despite Tajikistan’s relative abundance of water resources,global warming is accelerating glacier melting and altering the hydrological cycles,which have resulted in unstable runoff patterns and heightened risks of extreme events.In Tajikistan,outdated infrastructure and poor management are primary causes of low water-use efficiency in the agricultural sector,which accounts for 85.00%of the total water withdrawals.At the governance level,Tajikistan faces challenges in balancing the water-energy-food nexus and transboundary water resource issues.To address these issues,this study proposes core paths for Tajikistan to achieve sustainable water resource management,such as accelerating technological innovation,promoting water-saving agricultural technologies,improving water resource utilization efficiency,and establishing a community participation-based comprehensive management framework.Additionally,strengthening cross-border cooperation and improving real-time monitoring systems have been identified as critical steps to advance sustainable water resource utilization and evidence-based decision-making in Tajikistan and across Central Asia. 展开更多
关键词 Climate change Glacial retreat Cross-border cooperation Water resource management Tajikistan Central Asia
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The Two-Photon Nondipole Transition Phases Across the Cooper Minima and Resonant States 认领 引用
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作者 Baichao Liu Yongkun Chen +8 位作者 Chunyang Zhai Qiming Zhao Jiapeng Li Pu Wang Jingkun Xu Qingbin Tang Yingbin Li Benhai Yu Yufang Liu 《Chinese Physics Letters》 SCIE EI CAS CSCD 2026年第4期41-47,共7页
Beyond the widely adopted dipole approximation,nondipole effects play an important role in completely understanding the electronic dynamics in light–matter interaction.We present a two-photon interferometric scheme t... Beyond the widely adopted dipole approximation,nondipole effects play an important role in completely understanding the electronic dynamics in light–matter interaction.We present a two-photon interferometric scheme to theoretically study the under-threshold nondipole transition phase over a broad energy range.It is found a significant difference between the nondipole and dipole two-photon transition phases near the Cooper minimum,which originates from the multichannel interference in the nondipole transition. 展开更多
关键词 electronic dynamics Cooper minimum two photon transition nondipole effects understanding electronic dynamics nondipole transition multichannel interference
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Adaptive fixed-time fuzzy fault-tolerant cooperative spiral-diving guidance law with initial state-independent prescribed performance 认领 引用
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作者 Tianyi WU Zheng WANG +2 位作者 Caisheng WEI Xin NING Zhansheng CHEN 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2026年第5期483-503,共21页
This paper proposes a novel performance guaranteed fixed-time fuzzy adaptive faulttolerant cooperative spiral-diving guidance law for a group of flight vehicles subject to system internal uncertainties,actuator faults... This paper proposes a novel performance guaranteed fixed-time fuzzy adaptive faulttolerant cooperative spiral-diving guidance law for a group of flight vehicles subject to system internal uncertainties,actuator faults,and external disturbances simultaneously.Firstly,based on the analysis of the spiral-diving terminal guidance process,a novel set of guidance dynamic equations,which is different from the traditional line-of-sight angle equations but suitable for the design of a cooperative spiral guidance law,is established.Thereafter,by designing a novel Initial StateIndependent Fixed-Time Prescribed Performance Function(ISIFTPPF),the time-to-go free virtual guidance law that can ensure prescribed performance in spite of any initial condition is developed to generate spiral maneuvers.Subsequently,the fixed-time adaptive guidance law based on the auxiliary subsystem is designed,ensuring that actuator saturation constraints can be satisfied and the unknown disturbances as well as actuator faults can be effectively handled.It should be noted that the proposed method is a low-complexity hierarchical spiral guidance scheme that can remarkably reduce the consumption of computational resources.Theoretical analysis illustrates that the closedloop system is practically fixed-time stable,and the tracking errors will converge within the pregiven boundaries.Finally,the effectiveness,superiority,and practical application potential of the proposed cooperative guidance method are demonstrated by several numerical simulations. 展开更多
关键词 Adaptive fuzzy faulttolerant Cooperative guidance Multiple constraints Multiple flight vehicles Practical fixed-time stability Spiral trajectories
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Cooperative d-electron density regulation on layered double hydroxides for boosting overall water/seawater splitting 认领 引用
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作者 Jianqing Zhou Runxin Duan +8 位作者 Jiayong Xiao Siyu Zhang Chuqiang Huang Yunlong Xie Lun Yang Yisi Liu Yue Du Luo Yu Ying Yu 《Journal of Energy Chemistry》 SCIE EI CAS CSCD 2026年第3期808-817,共10页
NiFe layered double hydroxide(NiFe LDH)has emerged as a promising catalyst for the oxygen evolution reaction(OER);however,its hydrogen evolution reaction(HER)activity remains suboptimal due to unfavorable electronic s... NiFe layered double hydroxide(NiFe LDH)has emerged as a promising catalyst for the oxygen evolution reaction(OER);however,its hydrogen evolution reaction(HER)activity remains suboptimal due to unfavorable electronic structures,particularly the d-electron density of metal sites,which impede water dissociation and lead to poor hydrogen adsorption/desorption capabilities.Herein,we introduce an efficient cooperative d-electron density regulation(CDDR)engineering to comprehensively optimize the delectron density of NiFe LDH by grafting MoOx -modified NiFe LDH nanosheets onto porous nickel particles(PNPs).The PNPs facilitate d-electron density modulation along the edges of the nanosheets,while the MoOx species enable d-electron density modulation across the plane of the nanosheets,thus cooperatively constructing enriched d-electron density in NiFe LDH.Theoretical studies validate the CDDR process and reveal that the enriched d-electron density accelerates water dissociation and optimizes the hydrogen adsorption behavior of NiFe LDH.As a result,the engineered catalyst exhibits significantly improved HER activity,achieving an ultra-low overpotential of 38 mV at 10 mA cm-2in 1 M KOH.Additionally,the CDDR-optimized catalyst also exhibits good OER performance,demonstrating excellent bifunctional performance for overall water splitting in both alkaline freshwater and seawater electrolytes.This work presents a novel CDDR strategy for engineering NiFe LDH into efficient HER catalysts without compromising its OER activity,potentially paving the way for the development of active and robust electrocatalysts for sustainable energy applications. 展开更多
关键词 Bifunctional catalysts Overall water splitting d-Electron density Cooperative regulation Layered double hydroxides
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Approach angle constrained and varying speed cooperative guidance against maneuvering targets 认领 引用
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作者 Xiangjun Ding Jianan Wang +1 位作者 Junhui Liu Jiayuan Shan 《Defence Technology（防务技术）》 SCIE EI CAS CSCD 2026年第3期56-70,共15页
This paper addresses the three-dimensional(3-D)approach angle constrained cooperative guidance problem for speed-varying missiles against maneuvering targets.First,the guidance problem is formulated in a relative refe... This paper addresses the three-dimensional(3-D)approach angle constrained cooperative guidance problem for speed-varying missiles against maneuvering targets.First,the guidance problem is formulated in a relative reference frame and a virtual control input is selected.Then,the cooperative guidance law is designed on the basis of a prediction-correction framework.The time-to-go under the baseline command is estimated by an efficient prediction method with a realistic aerodynamic model and a biased command is developed by utilizing the time-to-go predictions for synchronizing different missiles'impact times.The design of the biased command is decoupled into the individual design of its direction and magnitude.It is proved that the designed cooperative guidance law can make the time-to-go consensus error converge to zero before interception.Finally,the designed guidance law is validated through a series of numerical simulations. 展开更多
关键词 Cooperative guidance Maneuvering target Time-varying speed Approach angle constraint
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Disturbance observer-based constrained adaptive fuzzy control for manipulator:a cooperative optimization approach of gain 认领 引用
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作者 Qing Yang Haisheng Yu +2 位作者 Xiangxiang Meng Wenqian Yu Qingkun Guo 《Control Theory and Technology》 EI CSCD 2026年第3期416-432,共17页
This paper investigates input–output constraints adaptive fuzzy control strategy with cooperative optimization approach of the gain and time-varying nonlinear disturbance observer for manipulator systems.First,the st... This paper investigates input–output constraints adaptive fuzzy control strategy with cooperative optimization approach of the gain and time-varying nonlinear disturbance observer for manipulator systems.First,the static control gain strategies cannot simultaneously optimize system performances during both dynamic and steady-state stages.To address this problem,a novel cooperative optimization approach of the gain(COG)based on tracking error is proposed to replace the traditional static gain strategies.Second,a time-varying nonlinear disturbance observer(NDO)is proposed to accurately estimate variable disturbances and mitigate harmful observation peak at the initial stage of manipulator tracking.Furthermore,an auxiliary system and an asymmetric time-varying barrier Lyapunov function are used to ensure that the inputs and outputs of the system remain within predefined constraints.Notably,the traditional backstepping control relies on precise model information.To minimize the impact of model uncertainties on tracking performance,an adaptive fuzzy control is employed to design the controller,eliminating the need for precise model information.Finally,the effectiveness of the proposed input–output constraints adaptive fuzzy control strategy with COG and time-varying NDO is verified and analyzed through comparative experiments on a two-joint manipulator platform. 展开更多
关键词 Cooperative optimization Adaptive fuzzy control Barrier Lyapunov function Disturbance observer Constrained manipulator
Cooperative Metaheuristics with Dynamic Dimension Reduction for High-Dimensional Optimization Problems 认领 引用
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作者 Junxiang Li Zhipeng Dong +2 位作者 Ben Han Jianqiao Chen Xinxin Zhang 《Computers, Materials & Continua》 SCIE EI 2026年第1期1484-1502,共19页
Owing to their global search capabilities and gradient-free operation,metaheuristic algorithms are widely applied to a wide range of optimization problems.However,their computational demands become prohibitive when ta... Owing to their global search capabilities and gradient-free operation,metaheuristic algorithms are widely applied to a wide range of optimization problems.However,their computational demands become prohibitive when tackling high-dimensional optimization challenges.To effectively address these challenges,this study introduces cooperative metaheuristics integrating dynamic dimension reduction(DR).Building upon particle swarm optimization(PSO)and differential evolution(DE),the proposed cooperative methods C-PSO and C-DE are developed.In the proposed methods,the modified principal components analysis(PCA)is utilized to reduce the dimension of design variables,thereby decreasing computational costs.The dynamic DR strategy implements periodic execution of modified PCA after a fixed number of iterations,resulting in the important dimensions being dynamically identified.Compared with the static one,the dynamic DR strategy can achieve precise identification of important dimensions,thereby enabling accelerated convergence toward optimal solutions.Furthermore,the influence of cumulative contribution rate thresholds on optimization problems with different dimensions is investigated.Metaheuristic algorithms(PSO,DE)and cooperative metaheuristics(C-PSO,C-DE)are examined by 15 benchmark functions and two engineering design problems(speed reducer and composite pressure vessel).Comparative results demonstrate that the cooperative methods achieve significantly superior performance compared to standard methods in both solution accuracy and computational efficiency.Compared to standard metaheuristic algorithms,cooperative metaheuristics achieve a reduction in computational cost of at least 40%.The cooperative metaheuristics can be effectively used to tackle both high-dimensional unconstrained and constrained optimization problems. 展开更多
关键词 Dimension reduction modified principal components analysis high-dimensional optimization problems cooperative metaheuristics metaheuristic algorithms
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QuadQ:Quadratic-Based Value Decomposition for Cooperative Policy Optimization in Multi-Agent Reinforcement Learning 认领 引用
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作者 Siying Wang Ruoning Zhang +2 位作者 Yang Zhou Jinliang Shao Yuhua Cheng 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第3期728-730,共3页
Dear Editor,This letter introduces a value decomposition method based on a quadratic function for multi-agent reinforcement learning,aiming to derive cooperative policies among agents modeled by artificial neural netw... Dear Editor,This letter introduces a value decomposition method based on a quadratic function for multi-agent reinforcement learning,aiming to derive cooperative policies among agents modeled by artificial neural networks.By constructing a quadratic function with specific parameter constraints,it ensures that the function achieves a global maximum when the local optimal actions are used as inputs.Based on this structured quadratic function,a novel value decomposition algorithm is proposed to facilitate optimal cooperative policy training within the centralized training with decentralized execution(CTDE)framework. 展开更多
关键词 structured quadratic functiona artificial neural networksby derive cooperative policies constructing quadratic function quadratic function value decomposition value decomposition algorithm quadratic based
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