The Qinba Mountains are climatically and ecologically recognized as the north-south transitional zone of China.Analysis of its phenology is critical for comprehending the response of vegetation to climatic change.We r...The Qinba Mountains are climatically and ecologically recognized as the north-south transitional zone of China.Analysis of its phenology is critical for comprehending the response of vegetation to climatic change.We retrieved the start of spring phenology(SOS)of eight forest communities from the MODIS products and adopted it as an indicator for spring phenology.Trend analysis,partial correlation analysis,and GeoDetector were employed to reveal the spatio-temporal patterns and climatic drivers of SOS.The results indicated that the SOS presented an advance trend from 2001 to 2020,with a mean rate of−0.473 d yr^(−1).The SOS of most forests correlated negatively with air temperature(TEMP)and positively with precipitation(PRE),suggesting that rising TEMP and increasing PRE in spring would forward and delay SOS,respectively.The dominant factors influencing the sensitivity of SOS to climatic variables were altitude,forest type,and latitude,while the effects of slope and aspect were relatively minor.The response of SOS to climatic factors varied significantly in space and among forest communities,partly due to the influence of altitude,slope,and aspect.展开更多
The roles of diurnal temperature in providing heat accumulation and chilling requirements for vegetation spring phenology differ.Although previous studies have established a stronger correlation between leaf onset and...The roles of diurnal temperature in providing heat accumulation and chilling requirements for vegetation spring phenology differ.Although previous studies have established a stronger correlation between leaf onset and diurnal temperature than between leaf onset and average temperature,current research on modeling spring phenology based on diurnal temperature indicators remains limited.In this study,we confirmed the start of the growing season(SOS)sensitivity to diurnal temperature and average temperature in boreal forest.The estimation of SOS was carried out by employing K-Nearest Neighbor Regression(KNR-TDN)model,Random Forest Regres-sion(RFR-TDN)model,eXtreme Gradient Boosting(XGB-TDN)model and Light Gradient Boosting Machine model(LightGBM-TDN)driven by diurnal temperature indicators during 1982-2015,and the SOS was projected from 2015 to 2100 based on the Coupled Model Intercomparison Project Phase 6(CMIP6)climate scenario datasets.The sensitivity of boreal forest SOS to daytime temperature is greater than that to average temperature and nighttime temperature.The LightGBM-TDN model perform best across all vegetation types,exhibiting the lowest RMSE and bias compared to the KNR-TDN model,RFR-TDN model and XGB-TDN model.By incorporating diurn-al temperature indicators instead of relying only on average temperature indicators to simulate spring phenology,an improvement in the accuracy of the model is achieved.Furthermore,the preseason accumulated daytime temperature,daytime temperature and snow cover end date emerged as significant drivers of the SOS simulation in the study area.The simulation results based on LightGBM-TDN model exhibit a trend of advancing SOS followed by stabilization under future climate scenarios.This study underscores the potential of diurn-al temperature indicators as a viable alternative to average temperature indicators in driving spring phenology models,offering a prom-ising new method for simulating spring phenology.展开更多
Wireless capsule endoscopy(WCE)has the potential to fully replace conventional wired counterparts for its low invasiveness.Recent studies have attempted to expand the functions of capsules toward this goal.However,lim...Wireless capsule endoscopy(WCE)has the potential to fully replace conventional wired counterparts for its low invasiveness.Recent studies have attempted to expand the functions of capsules toward this goal.However,limitations in space and energy supply have resulted in the inability to perform multiple diagnostic and treatment tasks using a single capsule.In this study,we developed a dual-functional capsule robot(DFCR)for drug delivery and tissue biopsy based on magnetic torsion spring technology.The delivery module was shown to rotate the push rod with a thrust of 894 mN to release approximately 0.3 mL of semisolid drug.The biopsy module used a built-in blade to cut tissue with a shear stress of 22.87 MPa,producing a sample of approximately 1.8 mm3.Additionally,a five-degree-of-freedom permanent magnet drive system was developed.By adjusting the strength of the unidirectional magnetic field generated by an external magnet,the capsule can be wirelessly controlled to sequentially trigger the two functions.Ex vivo tests on porcine stomachs confirmed the feasibility of the prototype capsule(12 mm in diameter and 45 mm in length)in active movement,medication,and tissue biopsy.The newly developed DFCR further expands the clinical application prospects of WCE robots in minimally invasive surgery.展开更多
Mason Reset(MR),a groundbreaking invention by Clesson E.Mason in 1930 that later became a part of“the universal approach to process control instrumentation”,is revisited in this paper and is shown to consists of thr...Mason Reset(MR),a groundbreaking invention by Clesson E.Mason in 1930 that later became a part of“the universal approach to process control instrumentation”,is revisited in this paper and is shown to consists of three actions:fast(errorcorrection),medium(negative feedback for expanded proportional band)and slow(reset for zero steady-state error).The focus of the paper is on the reset action,generated from a positive feedback loop,and its underlying principles with profound implications to our understanding and practice of automatic control,both basic and advanced.For example,we note that reset control and integral control,contrary to common belief,differ fundamentally in design principle and in practicality.Such difference comes to a head in the event of integrator windup:while reset windup is a problem of actuator saturation,the integrator windup is a runaway situation due to controller instability.In fact,there is no advantage gained in replacing MR with an integrator.In other words,one should not integrate the error directly as in standard PID,since doing so makes the closed-loop system internally unstable.With MR-based control formulated in this paper,there is no such threat of instability and,therefore,no need for any anti-windup mechanisms.Furthermore,the integral control is made scalable in this framework as a tradeoff between the steady-state accuracy and the controller stability.This leads to a novel MR-based control design,scalable in gain and in time to accommodate various process characteristics and design specifications.Simple in construction and transparent in principle,this MR-based control,as a basic framework of design,is readily deployable in scale.展开更多
Domain randomization is a widely adopted technique in deep reinforcement learning(DRL)to improve agent generalization by exposing policies to diverse environmental conditions.This paper investigates the impact of diff...Domain randomization is a widely adopted technique in deep reinforcement learning(DRL)to improve agent generalization by exposing policies to diverse environmental conditions.This paper investigates the impact of different reset strategies,normal,non-randomized,and randomized,on agent performance using the Deep Deterministic Policy Gradient(DDPG)and Twin Delayed DDPG(TD3)algorithms within the CarRacing-v2 environment.Two experimental setups were conducted:an extended training regime with DDPG for 1000 steps per episode across 1000 episodes,and a fast execution setup comparing DDPG and TD3 for 30 episodes with 50 steps per episode under constrained computational resources.A step-based reward scaling mechanism was applied under the randomized reset condition to promote broader state exploration.Experimental results showthat randomized resets significantly enhance learning efficiency and generalization,with DDPG demonstrating superior performance across all reset strategies.In particular,DDPG combined with randomized resets achieves the highest smoothed rewards(reaching approximately 15),best stability,and fastest convergence.These differences are statistically significant,as confirmed by t-tests:DDPG outperforms TD3 under randomized(t=−101.91,p<0.0001),normal(t=−21.59,p<0.0001),and non-randomized(t=−62.46,p<0.0001)reset conditions.The findings underscore the critical role of reset strategy and reward shaping in enhancing the robustness and adaptability of DRL agents in continuous control tasks,particularly in environments where computational efficiency and training stability are crucial.展开更多
基金National Key Research and Development Program of China,No.2023YFE0208100,No.2021YFC3000201Natural Science Foundation of Henan Province,No.232300420165。
文摘The Qinba Mountains are climatically and ecologically recognized as the north-south transitional zone of China.Analysis of its phenology is critical for comprehending the response of vegetation to climatic change.We retrieved the start of spring phenology(SOS)of eight forest communities from the MODIS products and adopted it as an indicator for spring phenology.Trend analysis,partial correlation analysis,and GeoDetector were employed to reveal the spatio-temporal patterns and climatic drivers of SOS.The results indicated that the SOS presented an advance trend from 2001 to 2020,with a mean rate of−0.473 d yr^(−1).The SOS of most forests correlated negatively with air temperature(TEMP)and positively with precipitation(PRE),suggesting that rising TEMP and increasing PRE in spring would forward and delay SOS,respectively.The dominant factors influencing the sensitivity of SOS to climatic variables were altitude,forest type,and latitude,while the effects of slope and aspect were relatively minor.The response of SOS to climatic factors varied significantly in space and among forest communities,partly due to the influence of altitude,slope,and aspect.
基金Under the auspices of National Natural Science Foundation of China(No.42201374,42071359)。
文摘The roles of diurnal temperature in providing heat accumulation and chilling requirements for vegetation spring phenology differ.Although previous studies have established a stronger correlation between leaf onset and diurnal temperature than between leaf onset and average temperature,current research on modeling spring phenology based on diurnal temperature indicators remains limited.In this study,we confirmed the start of the growing season(SOS)sensitivity to diurnal temperature and average temperature in boreal forest.The estimation of SOS was carried out by employing K-Nearest Neighbor Regression(KNR-TDN)model,Random Forest Regres-sion(RFR-TDN)model,eXtreme Gradient Boosting(XGB-TDN)model and Light Gradient Boosting Machine model(LightGBM-TDN)driven by diurnal temperature indicators during 1982-2015,and the SOS was projected from 2015 to 2100 based on the Coupled Model Intercomparison Project Phase 6(CMIP6)climate scenario datasets.The sensitivity of boreal forest SOS to daytime temperature is greater than that to average temperature and nighttime temperature.The LightGBM-TDN model perform best across all vegetation types,exhibiting the lowest RMSE and bias compared to the KNR-TDN model,RFR-TDN model and XGB-TDN model.By incorporating diurn-al temperature indicators instead of relying only on average temperature indicators to simulate spring phenology,an improvement in the accuracy of the model is achieved.Furthermore,the preseason accumulated daytime temperature,daytime temperature and snow cover end date emerged as significant drivers of the SOS simulation in the study area.The simulation results based on LightGBM-TDN model exhibit a trend of advancing SOS followed by stabilization under future climate scenarios.This study underscores the potential of diurn-al temperature indicators as a viable alternative to average temperature indicators in driving spring phenology models,offering a prom-ising new method for simulating spring phenology.
基金supported by the National Natural Science Foundation of China(No.52105072)Zhejiang Provincial Natural Science Foundation of China(No.LZ24E050004)+2 种基金Jiangsu Provincial Outstanding Youth Program(No.BK20230072)a grant from Suzhou Industrial Foresight and Key Core Technology Project(No.SYC2022044)grants from Jiangsu Qinglan Project and Jiangsu 333 High-level Talents.
文摘Wireless capsule endoscopy(WCE)has the potential to fully replace conventional wired counterparts for its low invasiveness.Recent studies have attempted to expand the functions of capsules toward this goal.However,limitations in space and energy supply have resulted in the inability to perform multiple diagnostic and treatment tasks using a single capsule.In this study,we developed a dual-functional capsule robot(DFCR)for drug delivery and tissue biopsy based on magnetic torsion spring technology.The delivery module was shown to rotate the push rod with a thrust of 894 mN to release approximately 0.3 mL of semisolid drug.The biopsy module used a built-in blade to cut tissue with a shear stress of 22.87 MPa,producing a sample of approximately 1.8 mm3.Additionally,a five-degree-of-freedom permanent magnet drive system was developed.By adjusting the strength of the unidirectional magnetic field generated by an external magnet,the capsule can be wirelessly controlled to sequentially trigger the two functions.Ex vivo tests on porcine stomachs confirmed the feasibility of the prototype capsule(12 mm in diameter and 45 mm in length)in active movement,medication,and tissue biopsy.The newly developed DFCR further expands the clinical application prospects of WCE robots in minimally invasive surgery.
文摘Mason Reset(MR),a groundbreaking invention by Clesson E.Mason in 1930 that later became a part of“the universal approach to process control instrumentation”,is revisited in this paper and is shown to consists of three actions:fast(errorcorrection),medium(negative feedback for expanded proportional band)and slow(reset for zero steady-state error).The focus of the paper is on the reset action,generated from a positive feedback loop,and its underlying principles with profound implications to our understanding and practice of automatic control,both basic and advanced.For example,we note that reset control and integral control,contrary to common belief,differ fundamentally in design principle and in practicality.Such difference comes to a head in the event of integrator windup:while reset windup is a problem of actuator saturation,the integrator windup is a runaway situation due to controller instability.In fact,there is no advantage gained in replacing MR with an integrator.In other words,one should not integrate the error directly as in standard PID,since doing so makes the closed-loop system internally unstable.With MR-based control formulated in this paper,there is no such threat of instability and,therefore,no need for any anti-windup mechanisms.Furthermore,the integral control is made scalable in this framework as a tradeoff between the steady-state accuracy and the controller stability.This leads to a novel MR-based control design,scalable in gain and in time to accommodate various process characteristics and design specifications.Simple in construction and transparent in principle,this MR-based control,as a basic framework of design,is readily deployable in scale.
基金supported by the Deputyship for Research&Innovation,Ministry of Education in Saudi Arabia(Project No.MoE-IF-UJ-R2-22-04220773-1).
文摘Domain randomization is a widely adopted technique in deep reinforcement learning(DRL)to improve agent generalization by exposing policies to diverse environmental conditions.This paper investigates the impact of different reset strategies,normal,non-randomized,and randomized,on agent performance using the Deep Deterministic Policy Gradient(DDPG)and Twin Delayed DDPG(TD3)algorithms within the CarRacing-v2 environment.Two experimental setups were conducted:an extended training regime with DDPG for 1000 steps per episode across 1000 episodes,and a fast execution setup comparing DDPG and TD3 for 30 episodes with 50 steps per episode under constrained computational resources.A step-based reward scaling mechanism was applied under the randomized reset condition to promote broader state exploration.Experimental results showthat randomized resets significantly enhance learning efficiency and generalization,with DDPG demonstrating superior performance across all reset strategies.In particular,DDPG combined with randomized resets achieves the highest smoothed rewards(reaching approximately 15),best stability,and fastest convergence.These differences are statistically significant,as confirmed by t-tests:DDPG outperforms TD3 under randomized(t=−101.91,p<0.0001),normal(t=−21.59,p<0.0001),and non-randomized(t=−62.46,p<0.0001)reset conditions.The findings underscore the critical role of reset strategy and reward shaping in enhancing the robustness and adaptability of DRL agents in continuous control tasks,particularly in environments where computational efficiency and training stability are crucial.
