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Compensation for Heterogeneous Unknowns and Performance-Prescribed Consensus 认领 引用 被引量：1
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作者 Linzhen Yu Yungang Liu 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2025年第1期173-182,共10页
In this paper, the multi-agent systems(MASs) typically with heterogeneous unknown nonlinearities and nonidentical unknown control coefficients are studied. Although the model information of MASs is coarse, the leader-... In this paper, the multi-agent systems(MASs) typically with heterogeneous unknown nonlinearities and nonidentical unknown control coefficients are studied. Although the model information of MASs is coarse, the leader-following consensus is still pursued, with a prescribed performance and zero consensus errors. Leveraging a powerful funnel control strategy, a fully distributed and completely relative-state-dependent protocol is designed. Distinctively, the time-varying function characterizing the performance boundary is introduced, not only to construct the funnel gains but also as an indispensable part of the protocol,enhancing the control ability and enabling the consensus errors to converge to zero(rather than a residual set). Remark that when control directions are unknown, coexisting with inherent system nonlinearities, it is essential to incorporate an additional compensation mechanism while imposing a hierarchical structure of communication topology for the control design and analysis. Simulation examples are given to illustrate the effectiveness of the theoretical results. 展开更多
关键词 Fully distributed protocol funnel control nonidentical unknown control directions performance-prescribed consensus unknown heterogeneous nonlinearities
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The Expansion of the Function with Two Unknowns on the Reproducing Kernel Space 认领 引用
2
作者 吴勃英 《Northeastern Mathematical Journal》 2000年第3期362-366,共5页
In this paper we make use of a special procedure on the repro ducing kernel space to give an expansion theorem for the function with two unkno wns and a surface approximation formula. The error of the surface possesse... In this paper we make use of a special procedure on the repro ducing kernel space to give an expansion theorem for the function with two unkno wns and a surface approximation formula. The error of the surface possesses mono tonically decreasing and uniformly convergent characteristics in the sense of t he norm on the space. 展开更多
关键词 reproducing kernel space function with two unknowns expansion theorem
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Attack-Resilient Distributed Nash Equilibrium Seeking for Networked Games Under Unbounded FDI Attacks:Theory and Experiment 认领 引用
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作者 Zhi Feng Zhexin Shi +2 位作者 Xiwang Dong Guoqiang Hu Jinhu Lv 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第1期98-109,共12页
An attack-resilient distributed Nash equilibrium(NE) seeking problem is addressed for noncooperative games of networked systems under malicious cyber-attacks,i.e.,false data injection(FDI) attacks.Different from many ... An attack-resilient distributed Nash equilibrium(NE) seeking problem is addressed for noncooperative games of networked systems under malicious cyber-attacks,i.e.,false data injection(FDI) attacks.Different from many existing distributed NE seeking works,it is practical and challenging to get resilient adaptively distributed NE seeking under unknown and unbounded FDI attacks.An attack-resilient NE seeking algorithm that is distributed(i.e.,independent of global information on the graph's algebraic connectivity,Lipschitz and monotone constants of pseudo-gradients,or number of players),is presented by means of incorporating the consensus-based gradient play with a distributed attack identifier so as to achieve simultaneous NE seeking and attack identification asymptotically.Another key characteristic is that FDI attacks are allowed to be unknown and unbounded.By exploiting nonsmooth analysis and stability theory,the global asymptotic convergence of the developed algorithm to the NE is ensured.Moreover,we extend this design to further consider the attack-resilient NE seeking of double-integrator players.Lastly,numerical simulation and practical experiment results are presented to validate the developed algorithms' effectiveness. 展开更多
关键词 Adaptively distributed NE seeking attack-resilient mechanism noncooperative game unknown FDI attack
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Author correction:Unsupervised learning enabled label-free singlepixel imaging for resilient information transmission through unknown dynamic scattering media 认领 引用
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作者 Fujie Li Haoyu Zhang +7 位作者 Zhilan Lu Li Yao Yuan Wei Ziwei Li Feng Bao Junwen Zhang Yingjun Zhou Nan Chi 《Opto-Electronic Advances》 SCIE EI CAS CSCD 2026年第2期1-1,共1页
Correction to:Opto-Electronic Advances http://gffzzd3cc09b8251d45dfsnv6kpcon0voq69wc.ffgz.tsg.suse.edu.cn/10.29026/oea.2025.250013 published 25 October 2025 After the publication of this article,it was brought to our attention that the funding information in the Ackno... Correction to:Opto-Electronic Advances http://gffzzd3cc09b8251d45dfsnv6kpcon0voq69wc.ffgz.tsg.suse.edu.cn/10.29026/oea.2025.250013 published 25 October 2025 After the publication of this article,it was brought to our attention that the funding information in the Acknowledgements section contained an error.Correction details are listed below. 展开更多
关键词 single pixel imaging opto electronic advances resilient information transmission label free imaging unknown dynamic scattering media funding information unsupervised learning
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Optimal Sensor Selection of Linear Quadratic Regulation With Unknown Sensor Noise Covariances 认领 引用
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作者 Jinna Li Xinru Wang +1 位作者 Xiangyu Meng Frank L.Lewis 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第7期1747-1754,共8页
This paper addresses an optimal sensor selection problem under the framework of linear quadratic regulation.Unlike prior work on optimal sensor scheduling,we assume that the sensor noise covariance matrices are compar... This paper addresses an optimal sensor selection problem under the framework of linear quadratic regulation.Unlike prior work on optimal sensor scheduling,we assume that the sensor noise covariance matrices are comparable but unknown.Then,the optimal sensor selection problem is formulated as finding an optimal policy of selecting a sensor from a set of sensors to minimize the expected quadratic performance of a linear system given the number of trials.An action value method from reinforcement learning is adopted for estimating the values of selections and making selection decisions based on the estimates.Several ways of balancing exploration and exploitation are presented and compared for efficacy.Numerical simulations are conducted to demonstrate the effectiveness of the proposed algorithms. 展开更多
关键词 Linear quadratic regulation optimal sensor selection reinforcement learning unknown sensor noise covariance matrices
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Beyond origin:multimodal AI synthesis to resolve cancers of unknown primary 认领 引用
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作者 Hongru Shen Xiangchun Li 《Cancer Biology & Medicine》 SCIE CAS CSCD 2026年第1期21-29,共9页
For decades,the central dogma of oncology has been that a cancer’s identity is inextricably linked to its anatomical origin.This principle underpins the entire diagnostic and therapeutic framework,from histology-base... For decades,the central dogma of oncology has been that a cancer’s identity is inextricably linked to its anatomical origin.This principle underpins the entire diagnostic and therapeutic framework,from histology-based classification to site-specific treatment guidelines.Yet,this framework catastrophically fails for a substantial population of patients diagnosed with cancer of unknown primary(CUP).These patients present metastatic disease,yet their primary tumors remain elusive despite exhaustive clinical workup1.CUP,accounting for 1%-3%of all cancer diagnoses,is an enigma with devastating consequences;the median overall survival is only 2-12 months2-4.The inability to pinpoint an origin forces clinicians to rely on broad-spectrum empirical chemotherapy,such as taxane-carboplatin regimens,which have limited efficacy and exclude patients from the promise of targeted therapies and clinical trials5.CUP is not only a diagnostic challenge but also an indictment of the siloed approach to understanding malignancy:this cancer highlights the limitations of origin-based diagnostic frameworks.However,the confluence of high-dimensional biological data and advanced artificial intelligence(AI)is now poised to address this long-standing diagnostic limitation and to herald a new era for not only CUP but also oncology as a whole(Figure 1). 展开更多
关键词 central dogma oncology cancer unknown primary high dimensional biological data clinical trials diagnostic framework artificial intelligence targeted therapies multimodal AI synthesis
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Security Control of Nonlinear Systems Subject to Deception Attacks:A Reinforcement Learning Approach 认领 引用
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作者 Lifeng Ma Yongyi Dai Chen Gao 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第7期1764-1766,共3页
Dear Editor,This letter deals with the security control for nonlinear cyber-physical systems(CPSs)under mixed deception attacks.Both sensors and actuators are assumed to be injected deception data during the data tran... Dear Editor,This letter deals with the security control for nonlinear cyber-physical systems(CPSs)under mixed deception attacks.Both sensors and actuators are assumed to be injected deception data during the data transmission via networks.In order to identify the unknown dynamics of the attacked system,a neural network(NN)is adopted,on basis of which an NN-based secure observer is designed to diminish the attack impact on state estimation.Then,by resorting to the reinforcement learning approach,the secure control strategy is presented via actor-critic and zero-sum games.At last,the designed control scheme is proved via a numerical simulation. 展开更多
关键词 nonlinear systems neural network nn reinforcement learning approachthe identify unknown dynamics security control deception attacks mixed deception attacksboth reinforcement learning
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INCREMENTAL UNKNOWNS FOR THE HEAT EQUATION WITH TIME-DEPENDENT COEFFICIENTS: SEMI-IMPLICIT θ-SCHEMES AND THEIR STABILITY 认领 引用
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作者 Yujiang Wu Aili Yang 《Journal of Computational Mathematics》 SCIE EI 2007年第5期573-582,共10页
Based on the finite difference discretization of partial differential equations, we propose a kind of semi-implicit θ-schemes of incremental unknowns type for the heat equation with time-dependent coefficients. The s... Based on the finite difference discretization of partial differential equations, we propose a kind of semi-implicit θ-schemes of incremental unknowns type for the heat equation with time-dependent coefficients. The stability of the new schemes is carefully studied. Some new types of conditions give better stability when θ is closed to 1/2 even if we have variable coefficients. 展开更多
关键词 Incremental unknowns Semi-implicit schemes θ-Schemes Stability.
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Adaptive Fault-Tolerant Consensus Tracking Control for Nonlinear Multi-Agent Systems With Double Semi-Markovian Switching Topologies and Unknown Control Directions 认领 引用 被引量：1
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作者 Chao Zhou Zehui Mao +1 位作者 Bin Jiang Xing-Gang Yan 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第2期463-476,共14页
This paper is concerned with adaptive consensus tracking control of nonlinear multi-agent systems with actuator faults and unknown nonidentical control directions under double semi-Markovian switching topologies.Consi... This paper is concerned with adaptive consensus tracking control of nonlinear multi-agent systems with actuator faults and unknown nonidentical control directions under double semi-Markovian switching topologies.Considering the complex working environment and the stability differences in communication links between leaders and followers,a double semi-Markov process is first introduced to describe the random switching of communication topologies in the leader-follower structure.In order to address challenges from the unknown nonidentical control directions and partial loss of effectiveness actuator faults,a completely independent parameter is introduced into the Nussbaum function to overcome the inherent obstacle of mutual cancellation and avoid the rapid growth rate.Considering only the state information of agents is transmitted among the agents,an adaptive distributed fault-tolerant consensus tracking control is proposed based on the double semi-Markovian switching topologies using the designed Nussbaum function.Furthermore,the stability of the closed-loop nonlinear multi-agent systems is analyzed using contradiction argument and Lyapunov theorem,from which the asymptotic consensus tracking in mean square sense can be obtained.A numerical simulation example is provided to verify the effectiveness of the proposed algorithm. 展开更多
关键词 Adaptive control consensus tracking double semi-Markovian switching topologies fault-tolerant control Nussbaum function unknown nonidentical control directions
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Measurement of the equivalent complex permittivity of electromagnetic structural materials without prior thickness 认领 引用
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作者 Xiang-Bao Zhu Yun-Peng Zhang +7 位作者 Pin-Hong Xie Yi-Hang Tu Jia-Wei Long Xue Niu Chong Gao Cheng-Yong Yu Yong Gao En Li 《Chinese Physics B》 SCIE EI CAS CSCD 2026年第4期202-212,共11页
Electromagnetic structural materials exhibit significant sensitivity to the polarization state and incidence angle of electromagnetic waves.The equivalent complex permittivity is the core parameter that describes the ... Electromagnetic structural materials exhibit significant sensitivity to the polarization state and incidence angle of electromagnetic waves.The equivalent complex permittivity is the core parameter that describes the dielectric properties of electromagnetic structural materials.Therefore,accurate characterization of their equivalent complex permittivity is essential for establishing electromagnetic models and guiding the design of functional devices.This paper proposes a broadband inversion method based solely on reflection measurements at different incident polarizations and incident angles.By establishing a set of adaptive equations for multi-reflection measurement states under oblique incidence,the proposed method directly resolves the equivalent complex permittivity without requiring prior knowledge of the sample thickness and iterative phase unwrapping,and obtains broadband measurement results in a single measurement.The simulation and experimental results show that this method has good testing consistency and accuracy.This study provides a highprecision,low-cost and efficient testing solution for dielectric property evaluation of electromagnetic structural materials.It can simplify the complex modeling design of electromagnetic structural materials into an equivalent single-layer material design,providing a reference value for rapid analysis of the scattering characteristics of complex structures. 展开更多
关键词 equivalent complex permittivity electromagnetic structural materials broadband thickness unknown
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Gain-Based Neural Secure Protection Control for Feedforward Nonlinear Systems With Unknown Control Coefficients and Impulsive FDI Attacks 认领 引用
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作者 Debao Fan Qingrong Liu +2 位作者 Rong Su Xianfu Zhang Wenjie Zhang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第5期1068-1081,共14页
This paper proposes a gain-based neural secure protection(GBNSP)control scheme for feedforward nonlinear systems subject to unknown control coefficients and impulsive false data injection(FDI)attacks.Notably,the nonli... This paper proposes a gain-based neural secure protection(GBNSP)control scheme for feedforward nonlinear systems subject to unknown control coefficients and impulsive false data injection(FDI)attacks.Notably,the nonlinear functions of the systems are relaxed to any continuous functions and the control coefficients are permitted to be constants with both unknown sizes and signs,a scenario not covered in existing works.Furthermore,the uncertain abrupt changes in system states caused by impulsive FDI attacks inevitably exacerbate the challenges in control design.To this end,this paper integrates the neural network technique and the gain control method to propose a novel GBNSP control scheme.Specifically,the neural network technique effectively compensates for strong nonlinearities and uncertainties,while the gain control method quantifies the tolerable frequency of impulsive FDI attacks and avoids the tedious design procedures.It is shown that,under the designed GBNSP controller,all closed-loop signals remain bounded and the system states eventually converge to an adjustable neighborhood near the origin.Moreover,an enhanced GBNSP control scheme incorporates an improved gain scaling mechanism to withstand unknown external disturbances.In the end,the effectiveness and practicality of the proposed scheme are validated by a theoretical example and a practical example. 展开更多
关键词 Feedforward nonlinear systems gain scaling control impulsive FDI attacks neural secure protection control unknown control coefficients
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Online data-driven MPC for PWA systems with unknown parameters 认领 引用
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作者 Rui Gu Aoyun Ma +2 位作者 Dewei Li Yunwen Xu Shaoying He 《Control Theory and Technology》 EI CSCD 2026年第2期307-315,共9页
A data-driven model predictive control(MPC)algorithm based on the input-mapping method is proposed for piecewise affine(PWA)systems.These systems are characterized by unknown but constant parameters and are subject to... A data-driven model predictive control(MPC)algorithm based on the input-mapping method is proposed for piecewise affine(PWA)systems.These systems are characterized by unknown but constant parameters and are subject to disturbances,as well as state and input constraints.To support the control strategy,an offline algorithm is developed to compute a non-convex robust positively invariant set that serves as the terminal set within the MPC framework tailored for PWA systems.The online MPC algorithm directly maps the future control input and predicted state to the historical input-state data associated with the corresponding state subregion.This mapping process leverages the more accurate relationships contained in the historical input-state data to enhance the prediction accuracy of future states.A state-dependent weight embedded in the cost function enables the controller to balance prediction accuracy against convergence speed,enhancing overall performance.Moreover,conditions ensuring the recursive feasibility of the optimization problem and stability of the closed-loop system are established.The effectiveness of the proposed algorithm is demonstrated through a numerical example,which highlights its ability to handle complex system dynamics and constraints while maintaining robust performance. 展开更多
关键词 Data-driven model predictive control Input-mapping method Piecewise affine systems Unknown parameters
Bladder cancer patients hospitalized in a medicine ward including three fuo cases following bacillus calmette-guérin immunotherapy 认领 引用
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作者 George Liatsos Kalliopi Zioutou +3 位作者 Konstantinos Avramidis Konstantinos Vamvakaris Maria Potamiti-Komi Dimitrios Vassilopoulos 《The Canadian Journal of Urology》 SCIE 2026年第2期349-360,共12页
Objectives:Bladder cancer(BC)is a prevalent malignancy with evolving treatment strategies and an increasingly aging patient population,resulting in a growing and complex burden of hospitalizations that extends beyond ... Objectives:Bladder cancer(BC)is a prevalent malignancy with evolving treatment strategies and an increasingly aging patient population,resulting in a growing and complex burden of hospitalizations that extends beyond urological care and remains insufficiently characterized in real-world Internal Medicine settings.This study aimed to analyze the clinical data and outcomes for patients with BC admitted to the medicine ward.Additionally,this research presents three cases of fever of unknown origin,which all exhibited identical clinical and laboratory findings but ultimately resulted in different disease diagnoses.Methods:This retrospective case-series study included all adult patients with BC admitted to the Internal Medicine ward of a tertiary referral hospital between 1 January 2020,and 31December 2024.Data acquisition was performed through a systematic search of electronic discharge records using the ICD-10 code C67.Data recording involved detailed review of electronic medical records to collect demographic characteristics,clinical history,cancer-related treatments,causes of hospitalization,and outcomes.Three patients previously treated with intravesical Bacillus Calmette–Guérin(iBCG)who presented with fever of unknown origin were analyzed in detail.Data analysis comprised descriptive statistics and comparative testing using Fisher’s exact test and unpaired two-tailed Student’s t-test,with p<0.05 considered statistically significant.Results:We identified 77 hospitalizations among 67 BC patients who were predominantly male,with a mean age of 75.2.A high prevalence of metabolic syndrome comorbidities and chronic obstructive pulmonary disease was documented.In addition,31.1%of patients had metastatic BC,22.9%had a second malignancy,49.2%had undergone urological surgeries,and 38%had received chemotherapy or immunotherapy other than iBCG.The most common causes of hospitalization were infections,anemiaransfusions,a newly diagnosed metastatic disease,and acute renal failure.The mortality in this cohort was high(17%),with the leading cause of death again being an infection.Among patients who had previously received BCG immunotherapy,three cases of fever of unknown origin were noticed,and despite identical clinical settings,they were identified with different diseases[metastatic disease,infection caused by Bacillus Calmette-Guérin(BCGitis),and Hodgkin’s lymphoma],necessitating individualized therapeutic medications.Conclusions:BC patients in the Internal Medicine unit are generally older adults,often dealing with several chronic conditions and a considerable cancer burden.They are predominantly admitted due to infections,which points to the urgent need for effective infection prevention strategies for this vulnerable population.When BC patients have a fever lasting more than seven days following BCG instillation,which is the maximum duration for self-limited adverse events to occur,regardless of whether an antibiotic regimen has been prescribed,they should consult an internal medicine department for further evaluation. 展开更多
关键词 Bladder cancer intravesical BCG BCGitis fever of unknown origin hospitalization hodgkin’s lymphoma
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Boundary control of an uncertain rotating body-beam system with tip mass and input backlash 认领 引用
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作者 Fuzhuang Han Mingli Cui +1 位作者 Yang Yu Hai-Long Pei 《Control Theory and Technology》 EI CSCD 2026年第1期1-9,共9页
In this paper,we study the issue of controlling a rotating flexible body-beam system(RFBBS)which consists of a tip mass attached to the free-end and a rigid disk attached to the clamped-end of an Euler-Bernoulli beam.... In this paper,we study the issue of controlling a rotating flexible body-beam system(RFBBS)which consists of a tip mass attached to the free-end and a rigid disk attached to the clamped-end of an Euler-Bernoulli beam.The boundary control input is affected by both unknown disturbance and nonlinear input backlash.First,the input backlash is considered as desired control input combined with a nonlinear input error,converting it to an external disturbance,and then,the control signal is designed through the energy-based control method.Next,the closed-loop system’s stability is analysed through Lyapunov direct method.Finally,the efficacy of the proposed control scheme is tested through numerical simulations utilizing the finite difference method. 展开更多
关键词 Rotating body-beam Boundary control Input backlash Lyapunov direct method Unknown disturbance
Detecting and Mitigating Cyberattacks on Load Frequency Control with Battery Energy Storage System 认领 引用
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作者 Yunhao Yu Fuhua Luo Zhenyong Zhang 《Computers, Materials & Continua》 SCIE EI 2026年第4期1243-1261,共19页
This paper investigates the detection and mitigation of coordinated cyberattacks on Load Frequency Control(LFC)systems integrated with Battery Energy Storage Systems(BESS).As renewable energy sources gain greater pene... This paper investigates the detection and mitigation of coordinated cyberattacks on Load Frequency Control(LFC)systems integrated with Battery Energy Storage Systems(BESS).As renewable energy sources gain greater penetration,power grids are becoming increasingly vulnerable to cyber threats,potentially leading to frequency instability and widespread disruptions.We model two significant attack vectors:load-altering attacks(LAAs)and false data injection attacks(FDIAs)that corrupt frequency measurements.These are analyzed for their impact on grid frequency stability in both linear and nonlinear LFC models,incorporating generation rate constraints and nonlinear loads.A coordinated attack strategy is presented,combining LAAs and FDIAs to achieve stealthiness by concealing frequency deviations from system operators,thereby maximizing disruption while evading traditional detection.To counteract these threats,we propose an Unknown Input Observer(UIO)-based detection framework for linear and nonlinear LFCs.The UIO is designed using linear matrix inequalities(LMIs)to estimate system states while isolating unknown attack inputs,enabling attack detection through monitoring measurement residuals against a predefined threshold.For mitigation,we leverage BESS capabilities with two adaptive strategies:dynamic mitigation for dynamic LAAs,which tunes BESS parameters to enhance the system’s stability margin and accelerate convergence to equilibrium;and staticmitigation for static LAAs and FDIAs.Simulations show that the UIO achieves high detection accuracy,with residuals exceeding thresholds promptly under coordinated attacks,even in nonlinear models.Mitigation strategies reduce frequency deviations by up to 80%compared to unmitigated cases,restoring stability within seconds. 展开更多
关键词 Load frequency control cybersecurity unknown input observer battery energy storage system
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A unified framework for multi-agent formation with a non-repetitive leader:Adaptive control and iterative learning control 认领 引用
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作者 Wei JIANG Yiyang CHEN +1 位作者 Hongtian CHEN Bart De SCHUTTER 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2026年第7期139-153,共15页
Formation Tracking(FT)control is aimed at handling cooperative tasks in Multi-A gent Systems(MASs)to achieve desired performance.In these tasks,the leader's input is generally nonzero and unknown to all followers,... Formation Tracking(FT)control is aimed at handling cooperative tasks in Multi-A gent Systems(MASs)to achieve desired performance.In these tasks,the leader's input is generally nonzero and unknown to all followers,i.e.,its trajectory can be arbitrary and non-repetitive.In this paper,the additive property of linear systems is exploited to develop a unified framework for FT tasks of MASs,consisting of Adaptive Observer-based Control(AOC)and Iterative Learning Control(ILC).An AOC controller is employed to guarantee a fixed-shape formation between the leader and followers during the whole process,which reserves the initial condition for ILC.And ILC is used to improve the FT performance of certain repetitive tasks(followers rotating around the leader)over the trials.This gives rise to a fully distributed algorithm working for a directed communication graph containing a spanning tree without requiring any eigenvalue information from the Laplacian matrix of the graph,which enables its application to MASs with a large number of agents.Comparison is made via a numerical simulation to show that the proposed combined AOC-ILC algorithm has less FT error than pure AOC(without ILC),which validates the feasibility and efficacy of this algorithm. 展开更多
关键词 Adaptive observers Formation control Iterative learning control Multi-agent systems Unknown non-repetitive leader
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Abdominal nodal metastasis from an unknown primary:A case report and review of literature 认领 引用
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作者 Yi Lu Qi Zhu +4 位作者 Yao Xiao Ru-Yan Pan Ling-Hui Deng Qi Zhang Yue Wang 《World Journal of Clinical Oncology》 2026年第5期214-221,共8页
BACKGROUND Cancer of unknown primary(CUP)represents 1%-3%of malignant tumors with prominent biological heterogeneity.Abdominal lymph nodes are common metastatic sites for various tumors.However,the lack of a comprehen... BACKGROUND Cancer of unknown primary(CUP)represents 1%-3%of malignant tumors with prominent biological heterogeneity.Abdominal lymph nodes are common metastatic sites for various tumors.However,the lack of a comprehensive comparison of potential tissue origins in routine practice leads to diagnostic biases,particularly when CUP is associated with abdominal lymph node metastasis.We aimed to enhance the clinicians'awareness in differentiating and diagnosing complex metastatic tumors,and optimize the treatment strategy to reduce the risk of misdiagnosis.CASE SUMMARY A 77-year-old man was admitted with a 1-month history of a gastric body ulcer.A gastroscopy biopsy revealed high-grade intraepithelial neoplasia,and an abdominal computed tomography scan showed multiple enlarged lymph nodes.He underwent laparoscopic subtotal gastrectomy,which confirmed early gastric cancer with neuroendocrine differentiation.However,abdominal lymph node immunohistochemistry(IHC)results were inconsistent.Multidisciplinary consultation indicated that the enlarged lymph nodes were distributed in the retroperitoneum and the vicinity of the iliac vessels,indicating pelvic tumor lymphatic drainage.Supplementary tests showed a total prostate-specific antigen(PSA)level>100 ng/mL,and lymph node tissue was positive for prostate cancer specific immunohistochemical markers PSA andα-methylacyl-CoA racemase.A bone scan confirmed multiple bone metastases,leading to a diagnosis of gastric carcinoma in situ and advanced prostate cancer.The patient received endocrine therapy for prostate cancer and bone protection treatment,with no obvious adverse symptoms reported.CONCLUSION In CUP with abdominal lymphatic metastasis,understanding anatomy,pathology,drainage,markers,and IHC aids early management and accurate diagnosis. 展开更多
关键词 Gastric cancer Prostate cancer Lymphatic metastasis Cancer of unknown primary Immunohistochemistry Case report
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Preparing For Unknowns Many changes will occur after the global battle against the novel coronavirus 认领 引用
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作者 Zhang Yansheng 《Beijing Review》 2020年第20期24-25,共2页
The novel coronavirus disease(COVID-19)outbreak is a major public health crisis unseen in about 100 years.There is also a possibility that the disease may continue to exist for a long time to come.One of the most effe... The novel coronavirus disease(COVID-19)outbreak is a major public health crisis unseen in about 100 years.There is also a possibility that the disease may continue to exist for a long time to come.One of the most effective approaches to tackling the spread of the virus is to adopt widespread lockdowns. 展开更多
关键词 Unknowns occur health
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Graph-based multi-agent reinforcement learning for collaborative search and tracking of multiple UAVs 认领 引用 被引量：4
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作者 Bocheng ZHAO Mingying HUO +4 位作者 Zheng LI Wenyu FENG Ze YU Naiming QI Shaohai WANG 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2025年第3期109-123,共15页
This paper investigates the challenges associated with Unmanned Aerial Vehicle (UAV) collaborative search and target tracking in dynamic and unknown environments characterized by limited field of view. The primary obj... This paper investigates the challenges associated with Unmanned Aerial Vehicle (UAV) collaborative search and target tracking in dynamic and unknown environments characterized by limited field of view. The primary objective is to explore the unknown environments to locate and track targets effectively. To address this problem, we propose a novel Multi-Agent Reinforcement Learning (MARL) method based on Graph Neural Network (GNN). Firstly, a method is introduced for encoding continuous-space multi-UAV problem data into spatial graphs which establish essential relationships among agents, obstacles, and targets. Secondly, a Graph AttenTion network (GAT) model is presented, which focuses exclusively on adjacent nodes, learns attention weights adaptively and allows agents to better process information in dynamic environments. Reward functions are specifically designed to tackle exploration challenges in environments with sparse rewards. By introducing a framework that integrates centralized training and distributed execution, the advancement of models is facilitated. Simulation results show that the proposed method outperforms the existing MARL method in search rate and tracking performance with less collisions. The experiments show that the proposed method can be extended to applications with a larger number of agents, which provides a potential solution to the challenging problem of multi-UAV autonomous tracking in dynamic unknown environments. 展开更多
关键词 Unmanned aerial vehicle(UAV) Multi-agent reinforcement learning(MARL) Graph attention network(GAT) Tracking Dynamic and unknown environment
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Autonomous navigation system for flapping wing aerial vehicle based on event-trigger planner 认领 引用 被引量：1
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作者 Changhao CHEN Bifeng SONG +1 位作者 Qiang FU Jiaxing GAO 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2025年第12期282-298,共17页
Flapping Wing Aerial Vehicles(FWAVs)hold immense potential for applications such as search-and-rescue missions in complex terrains,environmental monitoring in hazardous areas,and exploration in confined spaces.However... Flapping Wing Aerial Vehicles(FWAVs)hold immense potential for applications such as search-and-rescue missions in complex terrains,environmental monitoring in hazardous areas,and exploration in confined spaces.However,their adoption is hindered by the challenges of autonomous navigation in unknown environments,exacerbated by their limited onboard computational resources and demanding flight dynamics.This work addresses these challenges by presenting a lightweight,vision-based autonomous navigation system weighing 26.0 g,enabling FWAVs to achieve obstacle-avoidance flight at a speed of 9.0 m/s.Central to this system is a novel end-toend Bi-level Cooperative Policy(BCP)that significantly improves flight efficiency and safety.BCP employs lightweight neural networks for real-time performance and leverages Hierarchical Reinforcement Learning(HRL)for robust and efficient training.Quantitative evaluations show that BCP achieves up to 6.5%shorter path lengths,11.2%faster task completion time,and improved explainability compared to state-of-the-art reinforcement learning algorithms.Additionally,BCP demonstrates 35.7%more efficient and stable training,reducing computational overhead while maintaining high performance.The system design incorporates optimized lightweight components,including a 4.0 g customized stereo camera,a 6.0 g 3D-printed camera mount,and a 16.0 g onboard computer,all tailored to FWAV applications.Real-flight experiments validate the sim-toreal transferability of the proposed navigation system,demonstrating its readiness for real-world deployment in challenging scenarios.This research advances the practicality of FWAVs,paving the way for their broader adoption in critical missions where compact,agile aerial robots are indispensable. 展开更多
关键词 Autonomous navigation FWAV Hierarchical reinforcement learning Stereo Unknown environments
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