Planning in lexical-prior-free environments presents a fundamental challenge for evaluating whether large language models(LLMs)possess genuine structural reasoning capabilities beyond lexical memorization.When predica...Planning in lexical-prior-free environments presents a fundamental challenge for evaluating whether large language models(LLMs)possess genuine structural reasoning capabilities beyond lexical memorization.When predicates and action names are replaced with semantically irrelevant random symbols while preserving logical structures,existing direct generation approaches exhibit severe performance degradation.This paper proposes a symbol-agnostic closed-loop planning pipeline that enables models to construct executable plans through systematic validation and iterative refinement.The system implements a complete generate-verify-repair cycle through six core processing components:semantic comprehension extracts structural constraints,language planner generates text plans,symbol translator performs structure-preserving mapping,consistency checker conducts static screening,Stanford Research Institute Problem Solver(STRIPS)simulator executes step-by-step validation,and VAL(Validator)provides semantic verification.A repair controller orchestrates four targeted strategies addressing typical failure patterns including first-step precondition errors andmid-segment statemaintenance issues.Comprehensive evaluation on PlanBench Mystery Blocksworld demonstrates substantial improvements over baseline approaches across both language models and reasoning models.Ablation studies confirm that each architectural component contributes non-redundantly to overall effectiveness,with targeted repair providing the largest impact,followed by deep constraint extraction and stepwise validation,demonstrating that superior performance emerges from synergistic integration of these mechanisms rather than any single dominant factor.Analysis reveals distinct failure patterns betweenmodel types—languagemodels struggle with local precondition satisfaction while reasoning models face global goal achievement challenges—yet the validation-driven mechanism successfully addresses these diverse weaknesses.A particularly noteworthy finding is the convergence of final success rates across models with varying intrinsic capabilities,suggesting that systematic validation and repair mechanisms play a more decisive role than raw model capacity in lexical-prior-free scenarios.This work establishes a rigorous evaluation framework incorporating statistical significance testing and mechanistic failure analysis,providingmethodological contributions for fair assessment and practical insights into building reliable planning systems under extreme constraint conditions.展开更多
Local damages to a structure will cause disproportional collapse if the system is lack of robustness.This structural safety cannot be guaranteed by traditional ways, such as reliability analysis tools and construction...Local damages to a structure will cause disproportional collapse if the system is lack of robustness.This structural safety cannot be guaranteed by traditional ways, such as reliability analysis tools and construction management approaches. Therefore, it is very important to develop related theories for structural robustness.This paper presents a methodology to quantitatively assess the structural robustness from the topological point of view. In the proposed method, the structural failure is viewed as a feedback process. The transformations between the damage input and failure output form a closed-loop. The decisive factor of the operation of such a closed-loop is thought as the structural topology. Furthermore, the damage input and the failure output of the structure are measured by the uncertain disturbance and the change of the topology, respectively. After the sensitivity of the structural topology to the uncertain disturbance is studied, the transfer matrix is discovered to indicate the rationality of the topological relationship. The importance of each loading path, the structural robustness and the most vulnerable part of the system can be found concisely in accordance with this matrix.展开更多
According to the current problems of safety management processes in coalmine enterprises,we introduced barrel theory to coal mine safety management,constructedthe closed-loop structure of a coal mine safety management...According to the current problems of safety management processes in coalmine enterprises,we introduced barrel theory to coal mine safety management,constructedthe closed-loop structure of a coal mine safety management system,andpointed out that efficient safety management lies in three factors:safety quality of all ofthe staff in coal mine enterprises,weak links in security management systems,and cooperationamong departments.After conducting detailed analysis of these three factors,we proposed concrete ways of preventing and controlling potential safety hazards duringthe process of coal mine production.展开更多
A compact common-mode filter is proposed to suppress common-mode noise for application of high-speed differential signal traces. The filter adopts one big C-shaped defected ground structure （DGS） cell in the left of...A compact common-mode filter is proposed to suppress common-mode noise for application of high-speed differential signal traces. The filter adopts one big C-shaped defected ground structure （DGS） cell in the left of ground plane and two small C-shaped DGS cells with opposite direction in the right of ground plane. Because these DGS cells have different dimensions, the filter has three adjacent equivalent resonant points, which can suppress wideband common-mode noise effectively. The left C-shaped DGS and its adjacent C-shaped DGS cell form an approximate closed structure, which can efficiently reduce the influence of the mutual capacitance. The filter provides a common-mode suppression from 3.6 GHz to 14.4 GHz over 15 dB while it has a small size of 10 minx 10 mm. The fractional bandwidth of the filter is 120%, and the differential signals still keep good signal integrity. The experimental results are in good agreement with the simulated results.展开更多
Networked robots can perceive their surroundings, interact with each other or humans,and make decisions to accomplish specified tasks in remote/hazardous/complex environments. Satelliteunmanned aerial vehicle(UAV) net...Networked robots can perceive their surroundings, interact with each other or humans,and make decisions to accomplish specified tasks in remote/hazardous/complex environments. Satelliteunmanned aerial vehicle(UAV) networks can support such robots by providing on-demand communication services. However, under traditional open-loop communication paradigm, the network resources are usually divided into user-wise mostly-independent links,via ignoring the task-level dependency of robot collaboration. Thus, it is imperative to develop a new communication paradigm, taking into account the highlevel content and values behind, to facilitate multirobot operation. Inspired by Wiener’s Cybernetics theory, this article explores a closed-loop communication paradigm for the robot-oriented satellite-UAV network. This paradigm turns to handle group-wise structured links, so as to allocate resources in a taskoriented manner. It could also exploit the mobility of robots to liberate the network from full coverage,enabling new orchestration between network serving and positive mobility control of robots. Moreover,the integration of sensing, communications, computing and control would enlarge the benefit of this new paradigm. We present a case study for joint mobile edge computing(MEC) offloading and mobility control of robots, and finally outline potential challenges and open issues.展开更多
Objective High Energy Photon Source-Test Facility(HEPS-TF)is a pre-research project for the construction of high energy synchrotron radiation source in the 12th five-year plan period.The purpose is to research the key...Objective High Energy Photon Source-Test Facility(HEPS-TF)is a pre-research project for the construction of high energy synchrotron radiation source in the 12th five-year plan period.The purpose is to research the key technology and develop the key equipment of high energy synchrotron radiation source.Superconducting 3W1 magnet is the first self-developed superconducting wiggler magnet in China,and it is also one of the key research topics of HEPS.The author has completed a new digital closed-loop control algorithm for the superconducting 3W1 magnet with large load time constant and the nonlinear characteristics of inductance increasing with current,namely three-branch structure algorithm.In the face of the rapid development of high energy accelerator technology,the application of intelligent technology has become an inevitable development trend in the field of accelerator magnet power supply technology.Although the digital control of accelerator magnet power supply has been widely used,it is the first time to apply the new closed-loop control algorithm to realize fast adjustment and precision tracking in accelerator superconducting magnet power supply in China.Method According to the nonlinear characteristics of inductance and output current of superconducting magnet,a new digital closed-loop control algorithm for the load of superconducting magnet power supply with large time constant is proposed.Conclusion This algorithm is quite different from the traditional algorithm and can attain the independent tracking and adjust-ment of the control target.Finally,by testing the ripple,error and stability of superconducting 3W1 magnet power supply,the correctness,practicability and reliability of power supply system as well as the digital control algorithm are verified.The results provide a new idea for the control of accelerator magnet power supply.展开更多
基金supported by the Information,Production and Systems Research Center,Waseda University,and partly supported by the Future Robotics Organization,Waseda Universitythe Humanoid Robotics Institute,Waseda University,under the Humanoid Project+1 种基金the Waseda University Grant for Special Research Projects(grant numbers 2024C-518 and 2025E-027)was partly executed under the cooperation of organization between Kioxia Corporation andWaseda University.
文摘Planning in lexical-prior-free environments presents a fundamental challenge for evaluating whether large language models(LLMs)possess genuine structural reasoning capabilities beyond lexical memorization.When predicates and action names are replaced with semantically irrelevant random symbols while preserving logical structures,existing direct generation approaches exhibit severe performance degradation.This paper proposes a symbol-agnostic closed-loop planning pipeline that enables models to construct executable plans through systematic validation and iterative refinement.The system implements a complete generate-verify-repair cycle through six core processing components:semantic comprehension extracts structural constraints,language planner generates text plans,symbol translator performs structure-preserving mapping,consistency checker conducts static screening,Stanford Research Institute Problem Solver(STRIPS)simulator executes step-by-step validation,and VAL(Validator)provides semantic verification.A repair controller orchestrates four targeted strategies addressing typical failure patterns including first-step precondition errors andmid-segment statemaintenance issues.Comprehensive evaluation on PlanBench Mystery Blocksworld demonstrates substantial improvements over baseline approaches across both language models and reasoning models.Ablation studies confirm that each architectural component contributes non-redundantly to overall effectiveness,with targeted repair providing the largest impact,followed by deep constraint extraction and stepwise validation,demonstrating that superior performance emerges from synergistic integration of these mechanisms rather than any single dominant factor.Analysis reveals distinct failure patterns betweenmodel types—languagemodels struggle with local precondition satisfaction while reasoning models face global goal achievement challenges—yet the validation-driven mechanism successfully addresses these diverse weaknesses.A particularly noteworthy finding is the convergence of final success rates across models with varying intrinsic capabilities,suggesting that systematic validation and repair mechanisms play a more decisive role than raw model capacity in lexical-prior-free scenarios.This work establishes a rigorous evaluation framework incorporating statistical significance testing and mechanistic failure analysis,providingmethodological contributions for fair assessment and practical insights into building reliable planning systems under extreme constraint conditions.
文摘Local damages to a structure will cause disproportional collapse if the system is lack of robustness.This structural safety cannot be guaranteed by traditional ways, such as reliability analysis tools and construction management approaches. Therefore, it is very important to develop related theories for structural robustness.This paper presents a methodology to quantitatively assess the structural robustness from the topological point of view. In the proposed method, the structural failure is viewed as a feedback process. The transformations between the damage input and failure output form a closed-loop. The decisive factor of the operation of such a closed-loop is thought as the structural topology. Furthermore, the damage input and the failure output of the structure are measured by the uncertain disturbance and the change of the topology, respectively. After the sensitivity of the structural topology to the uncertain disturbance is studied, the transfer matrix is discovered to indicate the rationality of the topological relationship. The importance of each loading path, the structural robustness and the most vulnerable part of the system can be found concisely in accordance with this matrix.
文摘According to the current problems of safety management processes in coalmine enterprises,we introduced barrel theory to coal mine safety management,constructedthe closed-loop structure of a coal mine safety management system,andpointed out that efficient safety management lies in three factors:safety quality of all ofthe staff in coal mine enterprises,weak links in security management systems,and cooperationamong departments.After conducting detailed analysis of these three factors,we proposed concrete ways of preventing and controlling potential safety hazards duringthe process of coal mine production.
基金supported by the National Science and Technology Major Project (2012ZX03002-001-02)the Fundamental Research Funds for the Central Universities of China (JB151109)
文摘A compact common-mode filter is proposed to suppress common-mode noise for application of high-speed differential signal traces. The filter adopts one big C-shaped defected ground structure （DGS） cell in the left of ground plane and two small C-shaped DGS cells with opposite direction in the right of ground plane. Because these DGS cells have different dimensions, the filter has three adjacent equivalent resonant points, which can suppress wideband common-mode noise effectively. The left C-shaped DGS and its adjacent C-shaped DGS cell form an approximate closed structure, which can efficiently reduce the influence of the mutual capacitance. The filter provides a common-mode suppression from 3.6 GHz to 14.4 GHz over 15 dB while it has a small size of 10 minx 10 mm. The fractional bandwidth of the filter is 120%, and the differential signals still keep good signal integrity. The experimental results are in good agreement with the simulated results.
基金supported in part by the National Key Research and Development Program of China (Grant No.2020YFA0711301)in part by the National Natural Science Foundation of China (Grant No.62341110 and U22A2002)in part by the Suzhou Science and Technology Project。
文摘Networked robots can perceive their surroundings, interact with each other or humans,and make decisions to accomplish specified tasks in remote/hazardous/complex environments. Satelliteunmanned aerial vehicle(UAV) networks can support such robots by providing on-demand communication services. However, under traditional open-loop communication paradigm, the network resources are usually divided into user-wise mostly-independent links,via ignoring the task-level dependency of robot collaboration. Thus, it is imperative to develop a new communication paradigm, taking into account the highlevel content and values behind, to facilitate multirobot operation. Inspired by Wiener’s Cybernetics theory, this article explores a closed-loop communication paradigm for the robot-oriented satellite-UAV network. This paradigm turns to handle group-wise structured links, so as to allocate resources in a taskoriented manner. It could also exploit the mobility of robots to liberate the network from full coverage,enabling new orchestration between network serving and positive mobility control of robots. Moreover,the integration of sensing, communications, computing and control would enlarge the benefit of this new paradigm. We present a case study for joint mobile edge computing(MEC) offloading and mobility control of robots, and finally outline potential challenges and open issues.
基金the Accelerator Centre of Insti-tute of High Energy Physics for financial support
文摘Objective High Energy Photon Source-Test Facility(HEPS-TF)is a pre-research project for the construction of high energy synchrotron radiation source in the 12th five-year plan period.The purpose is to research the key technology and develop the key equipment of high energy synchrotron radiation source.Superconducting 3W1 magnet is the first self-developed superconducting wiggler magnet in China,and it is also one of the key research topics of HEPS.The author has completed a new digital closed-loop control algorithm for the superconducting 3W1 magnet with large load time constant and the nonlinear characteristics of inductance increasing with current,namely three-branch structure algorithm.In the face of the rapid development of high energy accelerator technology,the application of intelligent technology has become an inevitable development trend in the field of accelerator magnet power supply technology.Although the digital control of accelerator magnet power supply has been widely used,it is the first time to apply the new closed-loop control algorithm to realize fast adjustment and precision tracking in accelerator superconducting magnet power supply in China.Method According to the nonlinear characteristics of inductance and output current of superconducting magnet,a new digital closed-loop control algorithm for the load of superconducting magnet power supply with large time constant is proposed.Conclusion This algorithm is quite different from the traditional algorithm and can attain the independent tracking and adjust-ment of the control target.Finally,by testing the ripple,error and stability of superconducting 3W1 magnet power supply,the correctness,practicability and reliability of power supply system as well as the digital control algorithm are verified.The results provide a new idea for the control of accelerator magnet power supply.
