Unmanned aerial vehicles(UAVs)are widely utilized in area coverage tasks due to their flexibility and efficiency in geo-graphic information acquisition.However,complex boundary conditions in actual water area maps oft...Unmanned aerial vehicles(UAVs)are widely utilized in area coverage tasks due to their flexibility and efficiency in geo-graphic information acquisition.However,complex boundary conditions in actual water area maps often reduce coverage efficiency.To address this issue,this paper proposes a map preprocessing algorithm that linearizes boundary lines and processes concave areas into concave polygons,followed by gridding the map.Additionally,a collaborative area coverage method for UAV swarms is introduced based on region partitioning,which considers the comprehensive cost of energy consumption and time.An improved Hungarian algorithm is utilized for region partitioning,and a Dubins-A*-based plow-ing area full coverage path planning method is proposed to achieve path smoothing and collaborative coverage of each partition.Two sets of simulation experiments are conducted.The first experiment verifies the effectiveness of the map preprocessing algorithm,and the second compares the proposed collaborative area coverage algorithm with other methods,demonstrating its performance advantages.展开更多
针对含光伏(photovoltaic,PV)、电动汽车(electric vehicle,EV)及家庭电器负荷的智能社区,以车入户(vehicle to home,V2H)的形式将EV纳入家庭需求响应框架,利用EV的双向输能特性并考虑EV充/放电带来的电池容量退化成本,协同PV、电网的...针对含光伏(photovoltaic,PV)、电动汽车(electric vehicle,EV)及家庭电器负荷的智能社区,以车入户(vehicle to home,V2H)的形式将EV纳入家庭需求响应框架,利用EV的双向输能特性并考虑EV充/放电带来的电池容量退化成本,协同PV、电网的实时电价和用户需求的可容忍时延,基于Lyapunov优化理论提出随机环境下V2H用户的EV充/放电调度策略和每户家庭的负荷响应策略,最小化家庭用户的长期平均购电成本。并提出一种智能社区在线能量交易方案,旨在最小化智能社区总的购电成本、最大限度提高社区能源利用率。理论分析和仿真结果表明,所提算法无需实时电价、PV出力、用户负荷需求的先验概率信息,仅基于当前系统状态就可使优化目标趋于最优值,实现家庭用户的能量调度和家庭用户之间的能量共享,减少家庭购电成本,提高用户之间能量交易的灵活性。展开更多
背景:H型血管(CD31hiEmcnhi)因独特的功能为深入理解血管介导的骨代谢调控机制提供了新的视角和切入点,引发了骨科学研究范式从“骨本位”向“骨-血管整合”的重要转变。目的:基于H型血管领域的文献数据进行可视化分析,探讨该领域的研...背景:H型血管(CD31hiEmcnhi)因独特的功能为深入理解血管介导的骨代谢调控机制提供了新的视角和切入点,引发了骨科学研究范式从“骨本位”向“骨-血管整合”的重要转变。目的:基于H型血管领域的文献数据进行可视化分析,探讨该领域的研究热点和前沿趋势。方法:系统检索CNKI和Web of Science核心合集中与H型血管相关的中英文文献,文献检索时限为2014-2024年。采用CiteSpace 6.2.R4信息可视化软件对文献的发表国家、作者、机构、关键词、时间线视图等进行可视化分析。结果与结论:①共纳入中文文献59篇、英文文献185篇。自2014年提出H型血管概念以来,相关研究文献数量逐年增加,中国在该领域的研究处于领先地位,主要研究机构包括南方医科大学、四川大学和上海交通大学等。关键词分析揭示,当前研究热点主要集中在H型血管的生成与调控机制、H型血管在骨生成和骨重塑过程中的作用以及H型血管与骨质代谢相关疾病的关系;此外,出现“诱导膜”“软骨修复”“中医药”等新兴关键词,表明研究正在向多样化和多学科交叉的方向发展。②H型血管在骨骼疾病的发生发展中发挥着关键作用,相关研究对深入理解骨组织的生理与病理过程具有重要意义。未来应进一步探讨H型血管在不同疾病背景下的具体作用机制,推动基础研究成果的临床转化,为骨骼疾病的预防和治疗提供新的思路与策略。展开更多
In the current era of intelligent technologies,comprehensive and precise regional coverage path planning is critical for tasks such as environmental monitoring,emergency rescue,and agricultural plant protection.Owing ...In the current era of intelligent technologies,comprehensive and precise regional coverage path planning is critical for tasks such as environmental monitoring,emergency rescue,and agricultural plant protection.Owing to their exceptional flexibility and rapid deployment capabilities,unmanned aerial vehicles(UAVs)have emerged as the ideal platforms for accomplishing these tasks.This study proposes a swarm A^(*)-guided Deep Q-Network(SADQN)algorithm to address the coverage path planning(CPP)problem for UAV swarms in complex environments.Firstly,to overcome the dependency of traditional modeling methods on regular terrain environments,this study proposes an improved cellular decomposition method for map discretization.Simultaneously,a distributed UAV swarm system architecture is adopted,which,through the integration of multi-scale maps,addresses the issues of redundant operations and flight conflicts inmulti-UAV cooperative coverage.Secondly,the heuristic mechanism of the A^(*)algorithmis combinedwith full-coverage path planning,and this approach is incorporated at the initial stage ofDeep Q-Network(DQN)algorithm training to provide effective guidance in action selection,thereby accelerating convergence.Additionally,a prioritized experience replay mechanism is introduced to further enhance the coverage performance of the algorithm.To evaluate the efficacy of the proposed algorithm,simulation experiments were conducted in several irregular environments and compared with several popular algorithms.Simulation results show that the SADQNalgorithmoutperforms othermethods,achieving performance comparable to that of the baseline prior algorithm,with an average coverage efficiency exceeding 2.6 and fewer turning maneuvers.In addition,the algorithm demonstrates excellent generalization ability,enabling it to adapt to different environments.展开更多
基金National Natural Science Foundation of China(62402020,62303022)Beijing Nova Program(20240484720)+1 种基金Project of Cultivation for Young Top-Notch Talents of Beijing Municipal Institutions(BPHR202203043)BTBU Digital Business Platform Project byBMEC.
文摘Unmanned aerial vehicles(UAVs)are widely utilized in area coverage tasks due to their flexibility and efficiency in geo-graphic information acquisition.However,complex boundary conditions in actual water area maps often reduce coverage efficiency.To address this issue,this paper proposes a map preprocessing algorithm that linearizes boundary lines and processes concave areas into concave polygons,followed by gridding the map.Additionally,a collaborative area coverage method for UAV swarms is introduced based on region partitioning,which considers the comprehensive cost of energy consumption and time.An improved Hungarian algorithm is utilized for region partitioning,and a Dubins-A*-based plow-ing area full coverage path planning method is proposed to achieve path smoothing and collaborative coverage of each partition.Two sets of simulation experiments are conducted.The first experiment verifies the effectiveness of the map preprocessing algorithm,and the second compares the proposed collaborative area coverage algorithm with other methods,demonstrating its performance advantages.
文摘针对含光伏(photovoltaic,PV)、电动汽车(electric vehicle,EV)及家庭电器负荷的智能社区,以车入户(vehicle to home,V2H)的形式将EV纳入家庭需求响应框架,利用EV的双向输能特性并考虑EV充/放电带来的电池容量退化成本,协同PV、电网的实时电价和用户需求的可容忍时延,基于Lyapunov优化理论提出随机环境下V2H用户的EV充/放电调度策略和每户家庭的负荷响应策略,最小化家庭用户的长期平均购电成本。并提出一种智能社区在线能量交易方案,旨在最小化智能社区总的购电成本、最大限度提高社区能源利用率。理论分析和仿真结果表明,所提算法无需实时电价、PV出力、用户负荷需求的先验概率信息,仅基于当前系统状态就可使优化目标趋于最优值,实现家庭用户的能量调度和家庭用户之间的能量共享,减少家庭购电成本,提高用户之间能量交易的灵活性。
文摘背景:H型血管(CD31hiEmcnhi)因独特的功能为深入理解血管介导的骨代谢调控机制提供了新的视角和切入点,引发了骨科学研究范式从“骨本位”向“骨-血管整合”的重要转变。目的:基于H型血管领域的文献数据进行可视化分析,探讨该领域的研究热点和前沿趋势。方法:系统检索CNKI和Web of Science核心合集中与H型血管相关的中英文文献,文献检索时限为2014-2024年。采用CiteSpace 6.2.R4信息可视化软件对文献的发表国家、作者、机构、关键词、时间线视图等进行可视化分析。结果与结论:①共纳入中文文献59篇、英文文献185篇。自2014年提出H型血管概念以来,相关研究文献数量逐年增加,中国在该领域的研究处于领先地位,主要研究机构包括南方医科大学、四川大学和上海交通大学等。关键词分析揭示,当前研究热点主要集中在H型血管的生成与调控机制、H型血管在骨生成和骨重塑过程中的作用以及H型血管与骨质代谢相关疾病的关系;此外,出现“诱导膜”“软骨修复”“中医药”等新兴关键词,表明研究正在向多样化和多学科交叉的方向发展。②H型血管在骨骼疾病的发生发展中发挥着关键作用,相关研究对深入理解骨组织的生理与病理过程具有重要意义。未来应进一步探讨H型血管在不同疾病背景下的具体作用机制,推动基础研究成果的临床转化,为骨骼疾病的预防和治疗提供新的思路与策略。
文摘In the current era of intelligent technologies,comprehensive and precise regional coverage path planning is critical for tasks such as environmental monitoring,emergency rescue,and agricultural plant protection.Owing to their exceptional flexibility and rapid deployment capabilities,unmanned aerial vehicles(UAVs)have emerged as the ideal platforms for accomplishing these tasks.This study proposes a swarm A^(*)-guided Deep Q-Network(SADQN)algorithm to address the coverage path planning(CPP)problem for UAV swarms in complex environments.Firstly,to overcome the dependency of traditional modeling methods on regular terrain environments,this study proposes an improved cellular decomposition method for map discretization.Simultaneously,a distributed UAV swarm system architecture is adopted,which,through the integration of multi-scale maps,addresses the issues of redundant operations and flight conflicts inmulti-UAV cooperative coverage.Secondly,the heuristic mechanism of the A^(*)algorithmis combinedwith full-coverage path planning,and this approach is incorporated at the initial stage ofDeep Q-Network(DQN)algorithm training to provide effective guidance in action selection,thereby accelerating convergence.Additionally,a prioritized experience replay mechanism is introduced to further enhance the coverage performance of the algorithm.To evaluate the efficacy of the proposed algorithm,simulation experiments were conducted in several irregular environments and compared with several popular algorithms.Simulation results show that the SADQNalgorithmoutperforms othermethods,achieving performance comparable to that of the baseline prior algorithm,with an average coverage efficiency exceeding 2.6 and fewer turning maneuvers.In addition,the algorithm demonstrates excellent generalization ability,enabling it to adapt to different environments.
