Aircraft ground movement plays a key role in improving airport efficiency,as it acts as a link to all other ground operations.Finding novel approaches to coordinate the movements of a fleet of aircraft at an airport i...Aircraft ground movement plays a key role in improving airport efficiency,as it acts as a link to all other ground operations.Finding novel approaches to coordinate the movements of a fleet of aircraft at an airport in order to improve system resilience to disruptions with increasing autonomy is at the center of many key studies for airport airside operations.Moreover,autonomous taxiing is envisioned as a key component in future digitalized airports.However,state-of-the-art routing and scheduling algorithms for airport ground movements do not consider high-fidelity aircraft models at both the proactive and reactive planning phases.The majority of such algorithms do not actively seek to optimize fuel efficiency and reduce harmful greenhouse gas emissions.This paper proposes a new approach for generating efficient four-dimensional trajectories(4DTs)on the basis of a high-fidelity aircraft model and gainscheduling control strategy.Working in conjunction with a routing and scheduling algorithm that determines the taxi route,waypoints,and time deadlines,the proposed approach generates fuel-efficient 4DTs in real time,while respecting operational constraints.The proposed approach can be used in two contexts:①as a reactive decision support tool to generate new trajectories that can resolve unprecedented events;and②as an autopilot system for both partial and fully autonomous taxiing.The proposed methodology is realistic and simple to implement.Moreover,simulation studies show that the proposed approach is capable of providing an up to 11%reduction in the fuel consumed during the taxiing of a large Boeing 747-100 jumbo jet.展开更多
With the rapid development of Internet of things technology,the efficiency of data transmission between devices has been significantly improved.However,the open network environment also poses serious security risks.Th...With the rapid development of Internet of things technology,the efficiency of data transmission between devices has been significantly improved.However,the open network environment also poses serious security risks.This paper proposes an innovative fingerprint template protection scheme,which generates key streams through an improved fourdimensional superchaotic system(4CSCS),uses the space-filling property of Hilbert curves to achieve pixel scrambling,and introduces dynamic DNA encoding to improve encryption.Experimental results show that this scheme has a large key space 2^(528),encrypts image information entropy of more than 7.9970,and shows excellent performance in defending against statistical attacks and differential attacks.Compared with existing methods,this scheme has significant advantages in terms of encryption performance and security,and provides a reliable protection mechanism for fingerprint authentication systems in the Internet of things environment.展开更多
Background:Four-dimensional(4D)ultrasound is increasingly being used for prenatal diagnosis of congenital heart disease(CHD).We aimed to perform a systematic review and meta-analysis to evaluate its diagnostic accurac...Background:Four-dimensional(4D)ultrasound is increasingly being used for prenatal diagnosis of congenital heart disease(CHD).We aimed to perform a systematic review and meta-analysis to evaluate its diagnostic accuracy for fetal CHD.Methods:This systematic review was conducted in accordance with the PRISMA-DTA guidelines.We systematically searched eight databases for studies published up to July 22,2025.Data were extracted to calculate diagnostic accuracy metrics,study quality was assessed using QUADAS-2,and a bivariate random-effects model was used for the meta-analysis.Results:A total of 49 studies were included,comprising 45 retrospective and 4 prospective studies,which were mainly(91.8%)conducted in China.These studies involved 23,397 fetuses,among which 2115 were diagnosed with congenital heart disease.The pooled sensitivity of 4D ultrasound for diagnosing fetal congenital heart disease was 0.91(95%CI:0.89-0.93),the pooled specificity was 0.98(95%CI:0.97-0.99),and the area under the summary receiver operating characteristic(SROC)curve(AUC)was 0.98(95%CI:0.96-0.99).Although 4D ultrasound technology can be implemented as early as 11 weeks of gestation,its diagnostic sensitivity and specificity reached a superior level and stabilized at an average of 20 weeks of gestation(range 14-28 weeks).Meta-regression indicated that sample size and prior suspicion of fetal CHD were significant contributors to heterogeneity(p<0.05).Conclusion:Four-dimensional ultrasound has high diagnostic efficacy for fetal CHD and is suitable for prenatal screening of fetal CHD,and the diagnostic effect is optimal and stable at an average gestational age of 20 weeks(range 14-28 weeks).展开更多
Leesmidt et al present a comprehensive analysis of abdominal vascular flow in children using four-dimensional(4D)flow magnetic resonance imaging(MRI),aim to establish normal hemodynamic values for the abdominal viscer...Leesmidt et al present a comprehensive analysis of abdominal vascular flow in children using four-dimensional(4D)flow magnetic resonance imaging(MRI),aim to establish normal hemodynamic values for the abdominal visceral organs and to assess the feasibility of 4D flow MRI(4D-f-MRI)in this population.The researchers performed 4D-f-MRI on 9 pediatric patients with a history or suspi-cion of bowel pathology.Flow velocities were measured in the abdominal aorta and superior and inferior mesenteric arteries.The quality of the 4D-f-MRI images was evaluated,and the agreement between the measured flow velocities and those obtained from Duplex ultrasound was established.However,due to the specific limitations of this work,future studies should address the issues of small sample size and the specific age group design.展开更多
Addressing the core weaknesses in the innovation and entrepreneurship capabilities of vocational college graduates,such as market insight and risk tolerance,as well as issues with the existing training model,including...Addressing the core weaknesses in the innovation and entrepreneurship capabilities of vocational college graduates,such as market insight and risk tolerance,as well as issues with the existing training model,including courses that are disconnected from industry,a lack of systematic practical training,and superficial school-enterprise cooperation,this paper constructs a“three-dimensional,four-dimensional”training system.The“three-dimensional”foundational framework encompasses three pillars:curriculum,general education layer,professional integration layer,practical application layer,practice as in three stages:introductory,simulated,and practical,and support including dual mentors,policies,and platforms.The“four-dimensional”differentiated strategies include four implementation pathways:professional differentiation,stage differentiation,addressing capability shortcomings,and school-government-industry collaboration.This system is grounded in theories such as multiple intelligences theory and systems theory,forming a closed-loop process of“theoretical input—practical application—support mechanisms”.Based on the practices of Guangdong Vocational Institute of Public Administration,the paper proposes a competency development pathway tailored by major and stage,which can effectively enhance the innovative and entrepreneurial core competencies of vocational college graduates.This provides a replicable systematic solution for vocational college innovative and entrepreneurial education,supporting vocational education reform and regional economic development.展开更多
As coal mining progresses to greater depths,controlling the stability of surrounding rock in deep roadways has become an increasingly complex challenge.Although four-dimensional(4D)support theoretically offers unique ...As coal mining progresses to greater depths,controlling the stability of surrounding rock in deep roadways has become an increasingly complex challenge.Although four-dimensional(4D)support theoretically offers unique advantages in maintaining the stability of rock mass,the disaster evolution processes and multi-source information response characteristics in deep roadways with 4D support remain unclear.Consequently,a large-scale physical model testing system and self-designed 4D support components were employed to conduct similarity model tests on the surrounding rock failure process under unsupported(U-1),traditional bolt-mesh-cable support(T-2),and 4D support(4D-R-3)conditions.Combined with multi-source monitoring techniques,including stress–strain,digital image correlation(DIC),acoustic emission(AE),microseismic(MS),parallel electric(PE),and electromagnetic radiation(EMR),the mechanical behavior and multi-source information responses were comprehensively analyzed.The results show that the peak stress and displacement of the models are positively correlated with the support strength.The multi-source information exhibits distinct response characteristics under different supports.The response frequency,energy,and fluctuationsof AE,MS,and EMR signals,along with the apparent resistivity(AR)high-resistivity zone,follow the trend U-1>T-2>4D-R-3.Furthermore,multi-source information exhibits significantdifferences in sensitivity across different phases.The AE,MS,and EMR signals exhibit active responses to rock mass activity at each phase.However,AR signals are only sensitive to the fracture propagation during the plastic yield and failure phases.In summary,the 4D support significantlyenhances the bearing capacity and plastic deformation of the models,while substantially reducing the frequency,energy,and fluctuationsof multi-source signals.展开更多
BACKGROUND Four-dimensional(4D)flow magnetic resonance imaging(MRI)is used as a noninvasive modality for assessing hemodynamic information with neurovascular and body applications.The application of 4D flow MRI for as...BACKGROUND Four-dimensional(4D)flow magnetic resonance imaging(MRI)is used as a noninvasive modality for assessing hemodynamic information with neurovascular and body applications.The application of 4D flow MRI for assessment of bowel disease in children has not been previously described.AIM To determine feasibility of superior mesenteric venous and arterial flow quantitation in pediatric patients using 4D flow MRI.METHODS Nine pediatric patients(7-14 years old,5 male and 4 female)with history or suspicion of bowel pathology,who underwent magnetic resonance(MR)enterography with 4D flow MR protocol from November 2022 to October 2023.Field strength/sequence:3T MRI using 4D flow MR protocol.Flow velocity and peak speed measurements were performed by two diagnostic radiologists placing the region of interest in perpendicular plane to blood flow on each cross section of superior mesenteric artery(SMA)and superior mesenteric vein(SMV)at three predetermined levels.Bland-Altman analysis,showed good agreement of flow velocity and peak speed measurements of SMV and SMA between two readers.RESULTS Mean SMV flow velocity increased from proximal to mid to distal(0.14 L/minute,0.17 L/minute,0.22 L/minute respectively).Mean SMA flow velocity decreased from proximal to mid to distal(0.35 L/minute,0.27 L/minute,0.21 L/minute respectively).Observed agreement was good for flow velocity measurements of SMV(mean bias-0.01 L/minute and 95%limits of agreement,-0.09 to 0.08 L/minute)and SMA(mean bias-0.03 L/minute and 95%limits of agreement,-0.23 to 0.17 L/minute)between two readers.Good agreement for peak speed measurements of SMV(mean bias-1.2 cm/second and 95%limits of agreement,-9.4 to 7.0 cm/second)and SMA(mean bias-3.2 cm/second and 95%limits of agreement,-31.4 to 24.9 cm/second).CONCLUSION Flow quantitation using 4D Flow is feasible to provide hemodynamic information for SMV and SMA in children.展开更多
The article"Assessment of superior mesenteric vascular flow quantitation in children using four-dimensional flow magnetic resonance imaging"suggests to use of four-dimensional(4D)flow magnetic resonance imag...The article"Assessment of superior mesenteric vascular flow quantitation in children using four-dimensional flow magnetic resonance imaging"suggests to use of four-dimensional(4D)flow magnetic resonance imaging(MRI)which is also to measure the blood flow in the superior mesenteric vein(SMV)in pediatric patients over the traditional method.The study focuses on assessing the potential of SMV and superior mesenteric artery(SMA)flow quantification in children utilizing 4D flow MRI.It included 9 pediatric patients aged 18 years and below where 5 were male and 4 were female patients,on whom magnetic resonance enterorrhaphy(MRE)with 4D flow MRI protocol was used.Statistical analysis was performed using MedCalc.Measurements of SMV and SMA between two readers were calculated using Bland-Altman analysis.The results stated that six patients showed no MRE evidence of active inflammatory bowel disease,two patients showed unmarkable bowel appearance on MRI and one patient showed normal MRE without endoscopy performed at the same timeframe.The study utilized available 4D flow MRI sequences in this study aiming to show the feasibility of 4D flow quantitation of SMA and SMV flow in pediatric patients.The study also discovered good agreement for both peak velocity and peak speed measurements of SMA and SMV.展开更多
Objective:Sepsis exhibits remarkable heterogeneity in disease progression trajectories,and accurate identificationof distinct trajectory-based phenotypes is critical for implementing personalized therapeutic strategie...Objective:Sepsis exhibits remarkable heterogeneity in disease progression trajectories,and accurate identificationof distinct trajectory-based phenotypes is critical for implementing personalized therapeutic strategies and prognostic assessment.However,trajectory clustering analysis of time-series clinical data poses substantial methodological challenges for researchers.This study provides a comprehensive tutorial framework demonstrating six trajectory modeling approaches integrated with proteomic analysis to guide researchers in identifying sepsis subtypes after laparoscopic surgery.Methods:This study employs simulated longitudinal data from 300 septic patients after laparoscopic surgery to demonstrate six trajectory modeling methods(group-based trajectory modeling,latent growth mixture modeling,latent transition analysis,time-varying effect modeling,K-means for longitudinal data,agglomerative hierarchical clustering)for identifying associations between predefinedsequential organ failure assessment trajectories and 25 proteomic biomarkers.Clustering performance was evaluated via multiple metrics,and a biomarker discovery pipeline integrating principal component analysis,random forests,feature selection,and receiver operating characteristic analysis was developed.Results:The six methods demonstrated varying performance in identifying trajectory structures,with each approach exhibiting distinct analytical characteristics.The performance metrics revealed differences across methods,which may inform context-specificmethod selection and interpretation strategies.Conclusion:This study illustrates practical implementations of trajectory modeling approaches under controlled conditions,facilitating informed method selection for clinical researchers.The inclusion of complete R code and integrated proteomics workflows offers a reproducible analytical framework connecting temporal pattern recognition to biomarker discovery.Beyond sepsis,this pipeline-oriented approach may be adapted to diverse clinical scenarios requiring longitudinal disease characterization and precision medicine applications.The comparative analysis reveals that each method has distinct strengths,providing a practical guide for clinical researchers in selecting appropriate methods based on their specificstudy goals and data characteristics.展开更多
Background:The trajectory of intrinsic capacity(IC)among the older population is characterized by its diversity and is predictive of adverse health outcomes such as disability,nursing home admission,decline in quality...Background:The trajectory of intrinsic capacity(IC)among the older population is characterized by its diversity and is predictive of adverse health outcomes such as disability,nursing home admission,decline in quality of life,and mortality.Gaining an understanding of the trajectory of IC and the factors that influence it is of paramount importance for fostering healthy aging.This research is focused on exploring the trajectory of IC among older adults in China and examining the factors that influence it.Methods:This observational longitudinal cohort study leveraged data from the China Health and Retirement Longitudinal Study(CHARLS),which was conducted in the years 2011,2013,and 2015.For the purpose of this analysis,a total of 2,233 participants who were aged 60 and over were included.A Growth Mixture Model(GMM)was utilized to define trajectory categories for IC.Influential factors were ascertained based on the health ecology model,and binary logistic regression analysis was utilized to investigate the factors linked with the different trajectory categories.Results:Two distinct trajectory classes of IC were identified:Class 1,the normal-stable group,encompassed 90.4%of the elderly population,while Class 2,the declining group,made up 9.6%.Advanced age and a history of stroke were found to be significantly associated with Class 2.High scores in activities of daily living(ADL),employment status,receiving primary or junior high school education,and residence in the East or Central regions of China were significantly linked with Class 1.Conclusion:The trajectory of IC among older Chinese adults is marked by its heterogeneity.Advanced age and a history of stroke are significant risk factors for a declining IC trajectory,while higher ADL scores,being employed,receiving primary or junior high school education,and residing in the East or Central regions of China are protective factors associated with a stable IC trajectory.Healthcare institutions must closely monitor IC levels and understand these trajectory patterns to implement personalized and targeted interventions promptly to maintain IC at a healthy level and advocate for healthy aging.展开更多
Scalable simulation leveraging real-world data plays an essential role in advancing autonomous driving,owing to its efficiency and applicability in both training and evaluating algorithms.Consequently,there has been i...Scalable simulation leveraging real-world data plays an essential role in advancing autonomous driving,owing to its efficiency and applicability in both training and evaluating algorithms.Consequently,there has been increasing attention on generating highly realistic and consistent driving videos,particularly those involving viewpoint changes guided by the control commands or trajectories of ego vehicles.However,current reconstruction approaches,such as Neural Radiance Fields and 3D Gaussian Splatting,frequently suffer from limited generalization and depend on substantial input data.Meanwhile,2D generative models,though capable of producing unknown scenes,still have room for improvement in terms of coherence and visual realism.To overcome these challenges,we introduce GenScene,a world model that synthesizes front-view driving videos conditioned on trajectories.A new temporal module is presented to improve video consistency by extracting the global context of each frame,calculating relationships of frames using these global representations,and fusing frame contexts accordingly.Moreover,we propose an innovative attention mechanism that computes relations of pixels within each frame and pixels in the corresponding window range of the initial frame.Extensive experiments show that our approach surpasses various state-of-the-art models in driving video generation,and the introduced modules contribute significantly to model performance.This work establishes a new paradigm for goal-oriented video synthesis in autonomous driving,which facilitates on-demand simulation to expedite algorithm development.展开更多
The generation of synthetic trajectories has become essential in various fields for analyzing complex movement patterns.However,the use of real-world trajectory data poses significant privacy risks,such as location re...The generation of synthetic trajectories has become essential in various fields for analyzing complex movement patterns.However,the use of real-world trajectory data poses significant privacy risks,such as location reidentification and correlation attacks.To address these challenges,privacy-preserving trajectory generation methods are critical for applications relying on sensitive location data.This paper introduces DPIL-Traj,an advanced framework designed to generate synthetic trajectories while achieving a superior balance between data utility and privacy preservation.Firstly,the framework incorporates Differential Privacy Clustering,which anonymizes trajectory data by applying differential privacy techniques that add noise,ensuring the protection of sensitive user information.Secondly,Imitation Learning is used to replicate decision-making behaviors observed in real-world trajectories.By learning from expert trajectories,this component generates synthetic data that closely mimics real-world decision-making processes while optimizing the quality of the generated trajectories.Finally,Markov-based Trajectory Generation is employed to capture and maintain the inherent temporal dynamics of movement patterns.Extensive experiments conducted on the GeoLife trajectory dataset show that DPIL-Traj improves utility performance by an average of 19.85%,and in terms of privacy performance by an average of 12.51%,compared to state-of-the-art approaches.Ablation studies further reveal that DP clustering effectively safeguards privacy,imitation learning enhances utility under noise,and the Markov module strengthens temporal coherence.展开更多
Re-entry gliding vehicles exhibit high maneuverability,making trajectory prediction a key factor in the effectiveness of defense systems.To overcome the limited fitting accuracy of existing methods and their poor adap...Re-entry gliding vehicles exhibit high maneuverability,making trajectory prediction a key factor in the effectiveness of defense systems.To overcome the limited fitting accuracy of existing methods and their poor adaptability to maneuver mode mutations,a trajectory prediction method is proposed that integrates online maneuver mode identification with dynamic modeling.Characteristic parameters are extracted from tracking data for parameterized modeling,enabling real-time identification of maneuver modes.In addition,a maneuver detection mechanism based on higher-order cumulants is introduced to detect lateral maneuver mutations and optimize the use of historical data.Simulation results show that the proposed method achieves accurate trajectory prediction during the glide phase and maintains high accuracy under maneuver mutations,significantly enhancing the prediction performance of both three-dimensional trajectories and ground tracks.展开更多
BACKGROUND Lumbar interbody fusion(LIF)is the primary treatment for lumbar degenerative diseases.Elderly patients are prone to anxiety and depression after undergoing surgery,which affects their postoperative recovery...BACKGROUND Lumbar interbody fusion(LIF)is the primary treatment for lumbar degenerative diseases.Elderly patients are prone to anxiety and depression after undergoing surgery,which affects their postoperative recovery speed and quality of life.Effective prevention of anxiety and depression in elderly patients has become an urgent problem.AIM To investigate the trajectory of anxiety and depression levels in elderly patients after LIF,and the influencing factors.METHODS Random sampling was used to select 239 elderly patients who underwent LIF from January 2020 to December 2024 in Shenzhen Pingle Orthopedic Hospital.General information and surgery-related indices were recorded,and participants completed measures of psychological status,lumbar spine dysfunction,and quality of life.A latent class growth model was used to analyze the post-LIF trajectory of anxiety and depression levels,and unordered multi-categorical logistic regression was used to analyze the influencing factors.RESULTS Three trajectories of change in anxiety level were identified:Increasing anxiety(n=26,10.88%),decreasing anxiety(n=27,11.30%),and stable anxiety(n=186,77.82%).Likewise,three trajectories of change in depression level were identified:Increasing depression(n=30,12.55%),decreasing depression(n=26,10.88%),and stable depression(n=183,76.57%).Regression analysis showed that having no partner,female sex,elevated Oswestry dysfunction index(ODI)scores,and reduced 36-Item Short Form Health Survey scores all contributed to increased anxiety levels,whereas female sex,postoperative opioid use,and elevated ODI scores all contributed to increased depression levels.CONCLUSION During clinical observation,combining factors to predict anxiety and depression in post-LIF elderly patients enables timely intervention,quickens recovery,and enhances quality of life.展开更多
Circumlunar abort trajectories constitute a vital contingency return strategy during the translunar phase of crewed lunar missions.This paper proposes a methodology for constructing the solution set of the circumlunar...Circumlunar abort trajectories constitute a vital contingency return strategy during the translunar phase of crewed lunar missions.This paper proposes a methodology for constructing the solution set of the circumlunar abort trajectory and leverages its advantageous properties to address the optimization design problem of abort trajectories.Initially,a solution set of all feasible abort trajectories,originating from an abort point on the nominal trajectory and complying with fundamental reentry constraints,is formulated through the introduction of two novel design parameters.Subsequently,the geometric characteristics of the solution set,as well as the distributional properties of key iterative constraint responses,including flight time and velocity increment,are analyzed.Finally,the characteristics exhibited in the solution set are employed to directly identify the design parameters of the abort trajectories with minimum flight time and velocity increment,thereby providing solutions to two distinct types of optimization problems.The simulation results for a variety of nominal trajectories,encompassing the reconstruction and redesign of the Apollo13 abort trajectory,validate the proposed method,demonstrating its ability to directly generate optimal abort trajectories.The method proposed in this paper investigates feasible abort trajectories from a global perspective,providing both a framework and convenience for mission planning and iterative optimization in abort trajectory design.展开更多
In scenarios where ground-based cloud computing infrastructure is unavailable,unmanned aerial vehicles(UAVs)act as mobile edge computing(MEC)servers to provide on-demand computation services for ground terminals.To ad...In scenarios where ground-based cloud computing infrastructure is unavailable,unmanned aerial vehicles(UAVs)act as mobile edge computing(MEC)servers to provide on-demand computation services for ground terminals.To address the challenge of jointly optimizing task scheduling and UAV trajectory under limited resources and high mobility of UAVs,this paper presents PER-MATD3,a multi-agent deep reinforcement learning algorithm with prioritized experience replay(PER)into the Centralized Training with Decentralized Execution(CTDE)framework.Specifically,PER-MATD3 enables each agent to learn a decentralized policy using only local observations during execution,while leveraging a shared replay buffer with prioritized sampling and centralized critic during training to accelerate convergence and improve sample efficiency.Simulation results show that PER-MATD3 reduces average task latency by up to 23%,improves energy efficiency by 21%,and enhances service coverage compared to state-of-the-art baselines,demonstrating its effectiveness and practicality in scenarios without terrestrial networks.展开更多
As carrier aircraft sortie frequency and flight deck operational density increase,autonomous dispatch trajectory planning for carrier-based vehicles demands efficient,safe,and kinematically feasible solutions.This pap...As carrier aircraft sortie frequency and flight deck operational density increase,autonomous dispatch trajectory planning for carrier-based vehicles demands efficient,safe,and kinematically feasible solutions.This paper presents an Iterative Safe Dispatch Corridor(iSDC)framework,addressing the suboptimality of the traditional SDC method caused by static corridor construction and redundant obstacle exploration.First,a Kinodynamic-Informed-Bidirectional Rapidly-exploring Random Tree Star(KIBRRT^(*))algorithm is proposed for the front-end coarse planning.By integrating bidirectional tree expansion,goal-biased elliptical sampling,and artificial potential field guidance,it reduces unnecessary exploration near concave obstacles and generates kinematically admissible paths.Secondly,the traditional SDC is implemented in an iterative manner,and the obtained trajectory in the current iteration is fed into the next iteration for corridor generation,thus progressively improving the quality of withincorridor constraints.For tractors,a reverse-motion penalty function is incorporated into the back-end optimizer to prioritize forward driving,aligning with mechanical constraints and human operational preferences.Numerical validations on the data of Gerald R.Ford-class carrier demonstrate that the KIBRRT^(*)reduces average computational time by 75%and expansion nodes by 25%compared to conventional RRT^(*)algorithms.Meanwhile,the iSDC framework yields more time-efficient trajectories for both carrier aircraft and tractors,with the dispatch time reduced by 31.3%and tractor reverse motion proportion decreased by 23.4%relative to traditional SDC.The presented framework offers a scalable solution for autonomous dispatch in confined and safety-critical environment,and an illustrative animation is available at bilibili.com/video/BV1tZ7Zz6Eyz.Moreover,the framework can be easily extended to three-dimension scenarios,and thus applicable for trajectory planning of aerial and underwater vehicles.展开更多
Trajectory tracking for nonlinear robotic systems remains a fundamental yet challenging problem in control engineering,particularly when both precision and efficiency must be ensured.Conventional control methods are o...Trajectory tracking for nonlinear robotic systems remains a fundamental yet challenging problem in control engineering,particularly when both precision and efficiency must be ensured.Conventional control methods are often effective for stabilization but may not directly optimize long-term performance.To address this limitation,this study develops an integrated framework that combines optimal control principles with reinforcement learning for a single-link robotic manipulator.The proposed scheme adopts an actor–critic structure,where the critic network approximates the value function associated with the Hamilton–Jacobi–Bellman equation,and the actor network generates near-optimal control signals in real time.This dual adaptation enables the controller to refine its policy online without explicit system knowledge.Stability of the closed-loop system is analyzed through Lyapunov theory,ensuring boundedness of the tracking error.Numerical simulations on the single-link manipulator demonstrate that themethod achieves accurate trajectory followingwhile maintaining lowcontrol effort.The results further showthat the actor–critic learning mechanism accelerates convergence of the control policy compared with conventional optimization-based strategies.This work highlights the potential of reinforcement learning integrated with optimal control for robotic manipulators and provides a foundation for future extensions to more complex multi-degree-of-freedom systems.The proposed controller is further validated in a physics-based virtual Gazebo environment,demonstrating stable adaptation and real-time feasibility.展开更多
In Human–Robot Interaction(HRI),generating robot trajectories that accurately reflect user intentions while ensuring physical realism remains challenging,especially in unstructured environments.In this study,we devel...In Human–Robot Interaction(HRI),generating robot trajectories that accurately reflect user intentions while ensuring physical realism remains challenging,especially in unstructured environments.In this study,we develop a multimodal framework that integrates symbolic task reasoning with continuous trajectory generation.The approach employs transformer models and adversarial training to map high-level intent to robotic motion.Information from multiple data sources,such as voice traits,hand and body keypoints,visual observations,and recorded paths,is integrated simultaneously.These signals are mapped into a shared representation that supports interpretable reasoning while enabling smooth and realistic motion generation.Based on this design,two different learning strategies are investigated.In the first step,grammar-constrained Linear Temporal Logic(LTL)expressions are created from multimodal human inputs.These expressions are subsequently decoded into robot trajectories.The second method generates trajectories directly from symbolic intent and linguistic data,bypassing an intermediate logical representation.Transformer encoders combine multiple types of information,and autoregressive transformer decoders generate motion sequences.Adding smoothness and speed limits during training increases the likelihood of physical feasibility.To improve the realism and stability of the generated trajectories during training,an adversarial discriminator is also included to guide them toward the distribution of actual robot motion.Tests on the NATSGLD dataset indicate that the complete system exhibits stable training behaviour and performance.In normalised coordinates,the logic-based pipeline has an Average Displacement Error(ADE)of 0.040 and a Final Displacement Error(FDE)of 0.036.The adversarial generator makes substantially more progress,reducing ADE to 0.021 and FDE to 0.018.Visual examination confirms that the generated trajectories closely align with observed motion patterns while preserving smooth temporal dynamics.展开更多
In the field of intelligent air combat,real-time and accurate recognition of within-visual-range(WVR)maneuver actions serves as the foundational cornerstone for constructing autonomous decision-making systems.However,...In the field of intelligent air combat,real-time and accurate recognition of within-visual-range(WVR)maneuver actions serves as the foundational cornerstone for constructing autonomous decision-making systems.However,existing methods face two major challenges:traditional feature engineering suffers from insufficient effective dimensionality in the feature space due to kinematic coupling,making it difficult to distinguish essential differences between maneuvers,while end-to-end deep learning models lack controllability in implicit feature learning and fail to model high-order long-range temporal dependencies.This paper proposes a trajectory feature pre-extraction method based on a Long-range Masked Autoencoder(LMAE),incorporating three key innovations:(1)Random Fragment High-ratio Masking(RFH-Mask),which enforces the model to learn long-range temporal correlations by masking 80%of trajectory data while retaining continuous fragments;(2)Kalman Filter-Guided Objective Function(KFG-OF),integrating trajectory continuity constraints to align the feature space with kinematic principles;and(3)Two-stage Decoupled Architecture,enabling efficient and controllable feature learning through unsupervised pre-training and frozen-feature transfer.Experimental results demonstrate that LMAE significantly improves the average recognition accuracy for 20-class maneuvers compared to traditional end-to-end models,while significantly accelerating convergence speed.The contributions of this work lie in:introducing high-masking-rate autoencoders into low-informationdensity trajectory analysis,proposing a feature engineering framework with enhanced controllability and efficiency,and providing a novel technical pathway for intelligent air combat decision-making systems.展开更多
基金This work was funded by the UK Engineering and Physical Sciences Research Council(EP/N029496/1,EP/N029496/2,EP/N029356/1,EP/N029577/1,and EP/N029577/2).
文摘Aircraft ground movement plays a key role in improving airport efficiency,as it acts as a link to all other ground operations.Finding novel approaches to coordinate the movements of a fleet of aircraft at an airport in order to improve system resilience to disruptions with increasing autonomy is at the center of many key studies for airport airside operations.Moreover,autonomous taxiing is envisioned as a key component in future digitalized airports.However,state-of-the-art routing and scheduling algorithms for airport ground movements do not consider high-fidelity aircraft models at both the proactive and reactive planning phases.The majority of such algorithms do not actively seek to optimize fuel efficiency and reduce harmful greenhouse gas emissions.This paper proposes a new approach for generating efficient four-dimensional trajectories(4DTs)on the basis of a high-fidelity aircraft model and gainscheduling control strategy.Working in conjunction with a routing and scheduling algorithm that determines the taxi route,waypoints,and time deadlines,the proposed approach generates fuel-efficient 4DTs in real time,while respecting operational constraints.The proposed approach can be used in two contexts:①as a reactive decision support tool to generate new trajectories that can resolve unprecedented events;and②as an autopilot system for both partial and fully autonomous taxiing.The proposed methodology is realistic and simple to implement.Moreover,simulation studies show that the proposed approach is capable of providing an up to 11%reduction in the fuel consumed during the taxiing of a large Boeing 747-100 jumbo jet.
文摘With the rapid development of Internet of things technology,the efficiency of data transmission between devices has been significantly improved.However,the open network environment also poses serious security risks.This paper proposes an innovative fingerprint template protection scheme,which generates key streams through an improved fourdimensional superchaotic system(4CSCS),uses the space-filling property of Hilbert curves to achieve pixel scrambling,and introduces dynamic DNA encoding to improve encryption.Experimental results show that this scheme has a large key space 2^(528),encrypts image information entropy of more than 7.9970,and shows excellent performance in defending against statistical attacks and differential attacks.Compared with existing methods,this scheme has significant advantages in terms of encryption performance and security,and provides a reliable protection mechanism for fingerprint authentication systems in the Internet of things environment.
基金supported by the Open Research Fund of National Health Commission Key Laboratory of Birth Defects Prevention&Henan Key Laboratory of Population Defects Prevention(ZD202308).
文摘Background:Four-dimensional(4D)ultrasound is increasingly being used for prenatal diagnosis of congenital heart disease(CHD).We aimed to perform a systematic review and meta-analysis to evaluate its diagnostic accuracy for fetal CHD.Methods:This systematic review was conducted in accordance with the PRISMA-DTA guidelines.We systematically searched eight databases for studies published up to July 22,2025.Data were extracted to calculate diagnostic accuracy metrics,study quality was assessed using QUADAS-2,and a bivariate random-effects model was used for the meta-analysis.Results:A total of 49 studies were included,comprising 45 retrospective and 4 prospective studies,which were mainly(91.8%)conducted in China.These studies involved 23,397 fetuses,among which 2115 were diagnosed with congenital heart disease.The pooled sensitivity of 4D ultrasound for diagnosing fetal congenital heart disease was 0.91(95%CI:0.89-0.93),the pooled specificity was 0.98(95%CI:0.97-0.99),and the area under the summary receiver operating characteristic(SROC)curve(AUC)was 0.98(95%CI:0.96-0.99).Although 4D ultrasound technology can be implemented as early as 11 weeks of gestation,its diagnostic sensitivity and specificity reached a superior level and stabilized at an average of 20 weeks of gestation(range 14-28 weeks).Meta-regression indicated that sample size and prior suspicion of fetal CHD were significant contributors to heterogeneity(p<0.05).Conclusion:Four-dimensional ultrasound has high diagnostic efficacy for fetal CHD and is suitable for prenatal screening of fetal CHD,and the diagnostic effect is optimal and stable at an average gestational age of 20 weeks(range 14-28 weeks).
文摘Leesmidt et al present a comprehensive analysis of abdominal vascular flow in children using four-dimensional(4D)flow magnetic resonance imaging(MRI),aim to establish normal hemodynamic values for the abdominal visceral organs and to assess the feasibility of 4D flow MRI(4D-f-MRI)in this population.The researchers performed 4D-f-MRI on 9 pediatric patients with a history or suspi-cion of bowel pathology.Flow velocities were measured in the abdominal aorta and superior and inferior mesenteric arteries.The quality of the 4D-f-MRI images was evaluated,and the agreement between the measured flow velocities and those obtained from Duplex ultrasound was established.However,due to the specific limitations of this work,future studies should address the issues of small sample size and the specific age group design.
基金2024 University-level Innovation and Entrepreneurship Educational Reform Project,“Research on the Innovation and Entrepreneurship Education Model of Higher Vocational Colleges Based on the Theory of Technological Innovation Diffusion”(Project No.:CYJG202414)Academic Year Higher Education Institution Graduate Employment and Entrepreneurship Research Project,“Research on Strategies for Cultivating Innovation and Entrepreneurship Abilities Among Graduates of Higher Vocational Colleges”(Project No.:GJXY2024N083)2024 Guangdong Province General Higher Education Institution Specialized Innovation Project,“Research on a Specialized-Entrepreneurial Integration Talent Development System Guided by Core Competencies in the Era of Artificial Intelligence”(Project No.:2024WTSCX339)。
文摘Addressing the core weaknesses in the innovation and entrepreneurship capabilities of vocational college graduates,such as market insight and risk tolerance,as well as issues with the existing training model,including courses that are disconnected from industry,a lack of systematic practical training,and superficial school-enterprise cooperation,this paper constructs a“three-dimensional,four-dimensional”training system.The“three-dimensional”foundational framework encompasses three pillars:curriculum,general education layer,professional integration layer,practical application layer,practice as in three stages:introductory,simulated,and practical,and support including dual mentors,policies,and platforms.The“four-dimensional”differentiated strategies include four implementation pathways:professional differentiation,stage differentiation,addressing capability shortcomings,and school-government-industry collaboration.This system is grounded in theories such as multiple intelligences theory and systems theory,forming a closed-loop process of“theoretical input—practical application—support mechanisms”.Based on the practices of Guangdong Vocational Institute of Public Administration,the paper proposes a competency development pathway tailored by major and stage,which can effectively enhance the innovative and entrepreneurial core competencies of vocational college graduates.This provides a replicable systematic solution for vocational college innovative and entrepreneurial education,supporting vocational education reform and regional economic development.
基金supported by the National Natural Science Foundation of China(Grant Nos.U22A20598 and 52104107)the"Qinglan Project"of Jiangsu Colleges and Universities,Young Elite Scientists Sponsorship Program of Jiangsu Province(Grant No.TJ-2023-086).
文摘As coal mining progresses to greater depths,controlling the stability of surrounding rock in deep roadways has become an increasingly complex challenge.Although four-dimensional(4D)support theoretically offers unique advantages in maintaining the stability of rock mass,the disaster evolution processes and multi-source information response characteristics in deep roadways with 4D support remain unclear.Consequently,a large-scale physical model testing system and self-designed 4D support components were employed to conduct similarity model tests on the surrounding rock failure process under unsupported(U-1),traditional bolt-mesh-cable support(T-2),and 4D support(4D-R-3)conditions.Combined with multi-source monitoring techniques,including stress–strain,digital image correlation(DIC),acoustic emission(AE),microseismic(MS),parallel electric(PE),and electromagnetic radiation(EMR),the mechanical behavior and multi-source information responses were comprehensively analyzed.The results show that the peak stress and displacement of the models are positively correlated with the support strength.The multi-source information exhibits distinct response characteristics under different supports.The response frequency,energy,and fluctuationsof AE,MS,and EMR signals,along with the apparent resistivity(AR)high-resistivity zone,follow the trend U-1>T-2>4D-R-3.Furthermore,multi-source information exhibits significantdifferences in sensitivity across different phases.The AE,MS,and EMR signals exhibit active responses to rock mass activity at each phase.However,AR signals are only sensitive to the fracture propagation during the plastic yield and failure phases.In summary,the 4D support significantlyenhances the bearing capacity and plastic deformation of the models,while substantially reducing the frequency,energy,and fluctuationsof multi-source signals.
文摘BACKGROUND Four-dimensional(4D)flow magnetic resonance imaging(MRI)is used as a noninvasive modality for assessing hemodynamic information with neurovascular and body applications.The application of 4D flow MRI for assessment of bowel disease in children has not been previously described.AIM To determine feasibility of superior mesenteric venous and arterial flow quantitation in pediatric patients using 4D flow MRI.METHODS Nine pediatric patients(7-14 years old,5 male and 4 female)with history or suspicion of bowel pathology,who underwent magnetic resonance(MR)enterography with 4D flow MR protocol from November 2022 to October 2023.Field strength/sequence:3T MRI using 4D flow MR protocol.Flow velocity and peak speed measurements were performed by two diagnostic radiologists placing the region of interest in perpendicular plane to blood flow on each cross section of superior mesenteric artery(SMA)and superior mesenteric vein(SMV)at three predetermined levels.Bland-Altman analysis,showed good agreement of flow velocity and peak speed measurements of SMV and SMA between two readers.RESULTS Mean SMV flow velocity increased from proximal to mid to distal(0.14 L/minute,0.17 L/minute,0.22 L/minute respectively).Mean SMA flow velocity decreased from proximal to mid to distal(0.35 L/minute,0.27 L/minute,0.21 L/minute respectively).Observed agreement was good for flow velocity measurements of SMV(mean bias-0.01 L/minute and 95%limits of agreement,-0.09 to 0.08 L/minute)and SMA(mean bias-0.03 L/minute and 95%limits of agreement,-0.23 to 0.17 L/minute)between two readers.Good agreement for peak speed measurements of SMV(mean bias-1.2 cm/second and 95%limits of agreement,-9.4 to 7.0 cm/second)and SMA(mean bias-3.2 cm/second and 95%limits of agreement,-31.4 to 24.9 cm/second).CONCLUSION Flow quantitation using 4D Flow is feasible to provide hemodynamic information for SMV and SMA in children.
文摘The article"Assessment of superior mesenteric vascular flow quantitation in children using four-dimensional flow magnetic resonance imaging"suggests to use of four-dimensional(4D)flow magnetic resonance imaging(MRI)which is also to measure the blood flow in the superior mesenteric vein(SMV)in pediatric patients over the traditional method.The study focuses on assessing the potential of SMV and superior mesenteric artery(SMA)flow quantification in children utilizing 4D flow MRI.It included 9 pediatric patients aged 18 years and below where 5 were male and 4 were female patients,on whom magnetic resonance enterorrhaphy(MRE)with 4D flow MRI protocol was used.Statistical analysis was performed using MedCalc.Measurements of SMV and SMA between two readers were calculated using Bland-Altman analysis.The results stated that six patients showed no MRE evidence of active inflammatory bowel disease,two patients showed unmarkable bowel appearance on MRI and one patient showed normal MRE without endoscopy performed at the same timeframe.The study utilized available 4D flow MRI sequences in this study aiming to show the feasibility of 4D flow quantitation of SMA and SMV flow in pediatric patients.The study also discovered good agreement for both peak velocity and peak speed measurements of SMA and SMV.
基金funding from the China National Key Research and Development Program(No.2023YFC3603104)the National Natural Science Foundation of China(Nos.82472243 and 82272180)+6 种基金the Fundamental Research Funds for the Central Universities(No.226-2025-00024)the Huadong Medicine Joint Funds of the Zhejiang Provincial Natural Science Foundation of China(No.LHDMD24H150001)the Key Research&Development Project of Zhejiang Province(No.2024C03240)a collaborative scientific project co-established by the Science and Technology Department of the National Administration of Traditional Chinese Medicine and the Zhejiang Provincial Administration of Traditional Chinese Medicine(No.GZY-ZJ-KJ-24082)he General Health Science and Technology Program of Zhejiang Province(No.2024KY1099)the Project of Zhejiang University Longquan Innovation Center(No.ZJDXLQCXZCJBGS2024016)Wu Jieping Medical Foundation Special Research Grant(No.320.6750.2024-23-07).
文摘Objective:Sepsis exhibits remarkable heterogeneity in disease progression trajectories,and accurate identificationof distinct trajectory-based phenotypes is critical for implementing personalized therapeutic strategies and prognostic assessment.However,trajectory clustering analysis of time-series clinical data poses substantial methodological challenges for researchers.This study provides a comprehensive tutorial framework demonstrating six trajectory modeling approaches integrated with proteomic analysis to guide researchers in identifying sepsis subtypes after laparoscopic surgery.Methods:This study employs simulated longitudinal data from 300 septic patients after laparoscopic surgery to demonstrate six trajectory modeling methods(group-based trajectory modeling,latent growth mixture modeling,latent transition analysis,time-varying effect modeling,K-means for longitudinal data,agglomerative hierarchical clustering)for identifying associations between predefinedsequential organ failure assessment trajectories and 25 proteomic biomarkers.Clustering performance was evaluated via multiple metrics,and a biomarker discovery pipeline integrating principal component analysis,random forests,feature selection,and receiver operating characteristic analysis was developed.Results:The six methods demonstrated varying performance in identifying trajectory structures,with each approach exhibiting distinct analytical characteristics.The performance metrics revealed differences across methods,which may inform context-specificmethod selection and interpretation strategies.Conclusion:This study illustrates practical implementations of trajectory modeling approaches under controlled conditions,facilitating informed method selection for clinical researchers.The inclusion of complete R code and integrated proteomics workflows offers a reproducible analytical framework connecting temporal pattern recognition to biomarker discovery.Beyond sepsis,this pipeline-oriented approach may be adapted to diverse clinical scenarios requiring longitudinal disease characterization and precision medicine applications.The comparative analysis reveals that each method has distinct strengths,providing a practical guide for clinical researchers in selecting appropriate methods based on their specificstudy goals and data characteristics.
基金China Health and Retirement Longitudinal Study(CHARLS)the 2022-2023 Nursing Research Project of Chinese Medical Association Publishing House(Grant No.CMAPH-NRD2022024)。
文摘Background:The trajectory of intrinsic capacity(IC)among the older population is characterized by its diversity and is predictive of adverse health outcomes such as disability,nursing home admission,decline in quality of life,and mortality.Gaining an understanding of the trajectory of IC and the factors that influence it is of paramount importance for fostering healthy aging.This research is focused on exploring the trajectory of IC among older adults in China and examining the factors that influence it.Methods:This observational longitudinal cohort study leveraged data from the China Health and Retirement Longitudinal Study(CHARLS),which was conducted in the years 2011,2013,and 2015.For the purpose of this analysis,a total of 2,233 participants who were aged 60 and over were included.A Growth Mixture Model(GMM)was utilized to define trajectory categories for IC.Influential factors were ascertained based on the health ecology model,and binary logistic regression analysis was utilized to investigate the factors linked with the different trajectory categories.Results:Two distinct trajectory classes of IC were identified:Class 1,the normal-stable group,encompassed 90.4%of the elderly population,while Class 2,the declining group,made up 9.6%.Advanced age and a history of stroke were found to be significantly associated with Class 2.High scores in activities of daily living(ADL),employment status,receiving primary or junior high school education,and residence in the East or Central regions of China were significantly linked with Class 1.Conclusion:The trajectory of IC among older Chinese adults is marked by its heterogeneity.Advanced age and a history of stroke are significant risk factors for a declining IC trajectory,while higher ADL scores,being employed,receiving primary or junior high school education,and residing in the East or Central regions of China are protective factors associated with a stable IC trajectory.Healthcare institutions must closely monitor IC levels and understand these trajectory patterns to implement personalized and targeted interventions promptly to maintain IC at a healthy level and advocate for healthy aging.
基金supported by the Cultivation Program for Major Scientific Research Projects of Harbin Institute of Technology(ZDXMPY20180109).
文摘Scalable simulation leveraging real-world data plays an essential role in advancing autonomous driving,owing to its efficiency and applicability in both training and evaluating algorithms.Consequently,there has been increasing attention on generating highly realistic and consistent driving videos,particularly those involving viewpoint changes guided by the control commands or trajectories of ego vehicles.However,current reconstruction approaches,such as Neural Radiance Fields and 3D Gaussian Splatting,frequently suffer from limited generalization and depend on substantial input data.Meanwhile,2D generative models,though capable of producing unknown scenes,still have room for improvement in terms of coherence and visual realism.To overcome these challenges,we introduce GenScene,a world model that synthesizes front-view driving videos conditioned on trajectories.A new temporal module is presented to improve video consistency by extracting the global context of each frame,calculating relationships of frames using these global representations,and fusing frame contexts accordingly.Moreover,we propose an innovative attention mechanism that computes relations of pixels within each frame and pixels in the corresponding window range of the initial frame.Extensive experiments show that our approach surpasses various state-of-the-art models in driving video generation,and the introduced modules contribute significantly to model performance.This work establishes a new paradigm for goal-oriented video synthesis in autonomous driving,which facilitates on-demand simulation to expedite algorithm development.
基金supported by the Natural Science Foundation of Fujian Province of China(2025J01380)National Natural Science Foundation of China(No.62471139)+3 种基金the Major Health Research Project of Fujian Province(2021ZD01001)Fujian Provincial Units Special Funds for Education and Research(2022639)Fujian University of Technology Research Start-up Fund(GY-S24002)Fujian Research and Training Grants for Young and Middle-aged Leaders in Healthcare(GY-H-24179).
文摘The generation of synthetic trajectories has become essential in various fields for analyzing complex movement patterns.However,the use of real-world trajectory data poses significant privacy risks,such as location reidentification and correlation attacks.To address these challenges,privacy-preserving trajectory generation methods are critical for applications relying on sensitive location data.This paper introduces DPIL-Traj,an advanced framework designed to generate synthetic trajectories while achieving a superior balance between data utility and privacy preservation.Firstly,the framework incorporates Differential Privacy Clustering,which anonymizes trajectory data by applying differential privacy techniques that add noise,ensuring the protection of sensitive user information.Secondly,Imitation Learning is used to replicate decision-making behaviors observed in real-world trajectories.By learning from expert trajectories,this component generates synthetic data that closely mimics real-world decision-making processes while optimizing the quality of the generated trajectories.Finally,Markov-based Trajectory Generation is employed to capture and maintain the inherent temporal dynamics of movement patterns.Extensive experiments conducted on the GeoLife trajectory dataset show that DPIL-Traj improves utility performance by an average of 19.85%,and in terms of privacy performance by an average of 12.51%,compared to state-of-the-art approaches.Ablation studies further reveal that DP clustering effectively safeguards privacy,imitation learning enhances utility under noise,and the Markov module strengthens temporal coherence.
基金supported by the National Natural Science Foundation of China(12302056)the Postdoctoral Fellowship Program of China Postdoctoral Science Foundation(GZC20233445)。
文摘Re-entry gliding vehicles exhibit high maneuverability,making trajectory prediction a key factor in the effectiveness of defense systems.To overcome the limited fitting accuracy of existing methods and their poor adaptability to maneuver mode mutations,a trajectory prediction method is proposed that integrates online maneuver mode identification with dynamic modeling.Characteristic parameters are extracted from tracking data for parameterized modeling,enabling real-time identification of maneuver modes.In addition,a maneuver detection mechanism based on higher-order cumulants is introduced to detect lateral maneuver mutations and optimize the use of historical data.Simulation results show that the proposed method achieves accurate trajectory prediction during the glide phase and maintains high accuracy under maneuver mutations,significantly enhancing the prediction performance of both three-dimensional trajectories and ground tracks.
基金Supported by the Scientific Research Projects of the Health System in Pingshan District,No.2023122.
文摘BACKGROUND Lumbar interbody fusion(LIF)is the primary treatment for lumbar degenerative diseases.Elderly patients are prone to anxiety and depression after undergoing surgery,which affects their postoperative recovery speed and quality of life.Effective prevention of anxiety and depression in elderly patients has become an urgent problem.AIM To investigate the trajectory of anxiety and depression levels in elderly patients after LIF,and the influencing factors.METHODS Random sampling was used to select 239 elderly patients who underwent LIF from January 2020 to December 2024 in Shenzhen Pingle Orthopedic Hospital.General information and surgery-related indices were recorded,and participants completed measures of psychological status,lumbar spine dysfunction,and quality of life.A latent class growth model was used to analyze the post-LIF trajectory of anxiety and depression levels,and unordered multi-categorical logistic regression was used to analyze the influencing factors.RESULTS Three trajectories of change in anxiety level were identified:Increasing anxiety(n=26,10.88%),decreasing anxiety(n=27,11.30%),and stable anxiety(n=186,77.82%).Likewise,three trajectories of change in depression level were identified:Increasing depression(n=30,12.55%),decreasing depression(n=26,10.88%),and stable depression(n=183,76.57%).Regression analysis showed that having no partner,female sex,elevated Oswestry dysfunction index(ODI)scores,and reduced 36-Item Short Form Health Survey scores all contributed to increased anxiety levels,whereas female sex,postoperative opioid use,and elevated ODI scores all contributed to increased depression levels.CONCLUSION During clinical observation,combining factors to predict anxiety and depression in post-LIF elderly patients enables timely intervention,quickens recovery,and enhances quality of life.
文摘Circumlunar abort trajectories constitute a vital contingency return strategy during the translunar phase of crewed lunar missions.This paper proposes a methodology for constructing the solution set of the circumlunar abort trajectory and leverages its advantageous properties to address the optimization design problem of abort trajectories.Initially,a solution set of all feasible abort trajectories,originating from an abort point on the nominal trajectory and complying with fundamental reentry constraints,is formulated through the introduction of two novel design parameters.Subsequently,the geometric characteristics of the solution set,as well as the distributional properties of key iterative constraint responses,including flight time and velocity increment,are analyzed.Finally,the characteristics exhibited in the solution set are employed to directly identify the design parameters of the abort trajectories with minimum flight time and velocity increment,thereby providing solutions to two distinct types of optimization problems.The simulation results for a variety of nominal trajectories,encompassing the reconstruction and redesign of the Apollo13 abort trajectory,validate the proposed method,demonstrating its ability to directly generate optimal abort trajectories.The method proposed in this paper investigates feasible abort trajectories from a global perspective,providing both a framework and convenience for mission planning and iterative optimization in abort trajectory design.
基金supported by the National Natural Science Foundation of China under Grant No.61701100.
文摘In scenarios where ground-based cloud computing infrastructure is unavailable,unmanned aerial vehicles(UAVs)act as mobile edge computing(MEC)servers to provide on-demand computation services for ground terminals.To address the challenge of jointly optimizing task scheduling and UAV trajectory under limited resources and high mobility of UAVs,this paper presents PER-MATD3,a multi-agent deep reinforcement learning algorithm with prioritized experience replay(PER)into the Centralized Training with Decentralized Execution(CTDE)framework.Specifically,PER-MATD3 enables each agent to learn a decentralized policy using only local observations during execution,while leveraging a shared replay buffer with prioritized sampling and centralized critic during training to accelerate convergence and improve sample efficiency.Simulation results show that PER-MATD3 reduces average task latency by up to 23%,improves energy efficiency by 21%,and enhances service coverage compared to state-of-the-art baselines,demonstrating its effectiveness and practicality in scenarios without terrestrial networks.
基金support of the National Key Research and Development Plan(Grant No.2021YFB3302501)the financial support of the National Science Foundation of China(Grant No.12161076)the financial support of the Fundamental Research Funds for the Central Universities(Grant No.DUT24LAB129).
文摘As carrier aircraft sortie frequency and flight deck operational density increase,autonomous dispatch trajectory planning for carrier-based vehicles demands efficient,safe,and kinematically feasible solutions.This paper presents an Iterative Safe Dispatch Corridor(iSDC)framework,addressing the suboptimality of the traditional SDC method caused by static corridor construction and redundant obstacle exploration.First,a Kinodynamic-Informed-Bidirectional Rapidly-exploring Random Tree Star(KIBRRT^(*))algorithm is proposed for the front-end coarse planning.By integrating bidirectional tree expansion,goal-biased elliptical sampling,and artificial potential field guidance,it reduces unnecessary exploration near concave obstacles and generates kinematically admissible paths.Secondly,the traditional SDC is implemented in an iterative manner,and the obtained trajectory in the current iteration is fed into the next iteration for corridor generation,thus progressively improving the quality of withincorridor constraints.For tractors,a reverse-motion penalty function is incorporated into the back-end optimizer to prioritize forward driving,aligning with mechanical constraints and human operational preferences.Numerical validations on the data of Gerald R.Ford-class carrier demonstrate that the KIBRRT^(*)reduces average computational time by 75%and expansion nodes by 25%compared to conventional RRT^(*)algorithms.Meanwhile,the iSDC framework yields more time-efficient trajectories for both carrier aircraft and tractors,with the dispatch time reduced by 31.3%and tractor reverse motion proportion decreased by 23.4%relative to traditional SDC.The presented framework offers a scalable solution for autonomous dispatch in confined and safety-critical environment,and an illustrative animation is available at bilibili.com/video/BV1tZ7Zz6Eyz.Moreover,the framework can be easily extended to three-dimension scenarios,and thus applicable for trajectory planning of aerial and underwater vehicles.
基金supported in part by the National Science and Technology Council under Grant NSTC 114-2221-E-027-104.
文摘Trajectory tracking for nonlinear robotic systems remains a fundamental yet challenging problem in control engineering,particularly when both precision and efficiency must be ensured.Conventional control methods are often effective for stabilization but may not directly optimize long-term performance.To address this limitation,this study develops an integrated framework that combines optimal control principles with reinforcement learning for a single-link robotic manipulator.The proposed scheme adopts an actor–critic structure,where the critic network approximates the value function associated with the Hamilton–Jacobi–Bellman equation,and the actor network generates near-optimal control signals in real time.This dual adaptation enables the controller to refine its policy online without explicit system knowledge.Stability of the closed-loop system is analyzed through Lyapunov theory,ensuring boundedness of the tracking error.Numerical simulations on the single-link manipulator demonstrate that themethod achieves accurate trajectory followingwhile maintaining lowcontrol effort.The results further showthat the actor–critic learning mechanism accelerates convergence of the control policy compared with conventional optimization-based strategies.This work highlights the potential of reinforcement learning integrated with optimal control for robotic manipulators and provides a foundation for future extensions to more complex multi-degree-of-freedom systems.The proposed controller is further validated in a physics-based virtual Gazebo environment,demonstrating stable adaptation and real-time feasibility.
基金The authors extend their appreciation to Prince Sattam bin Abdulaziz University for funding this research work through the project number(PSAU/2024/01/32082).
文摘In Human–Robot Interaction(HRI),generating robot trajectories that accurately reflect user intentions while ensuring physical realism remains challenging,especially in unstructured environments.In this study,we develop a multimodal framework that integrates symbolic task reasoning with continuous trajectory generation.The approach employs transformer models and adversarial training to map high-level intent to robotic motion.Information from multiple data sources,such as voice traits,hand and body keypoints,visual observations,and recorded paths,is integrated simultaneously.These signals are mapped into a shared representation that supports interpretable reasoning while enabling smooth and realistic motion generation.Based on this design,two different learning strategies are investigated.In the first step,grammar-constrained Linear Temporal Logic(LTL)expressions are created from multimodal human inputs.These expressions are subsequently decoded into robot trajectories.The second method generates trajectories directly from symbolic intent and linguistic data,bypassing an intermediate logical representation.Transformer encoders combine multiple types of information,and autoregressive transformer decoders generate motion sequences.Adding smoothness and speed limits during training increases the likelihood of physical feasibility.To improve the realism and stability of the generated trajectories during training,an adversarial discriminator is also included to guide them toward the distribution of actual robot motion.Tests on the NATSGLD dataset indicate that the complete system exhibits stable training behaviour and performance.In normalised coordinates,the logic-based pipeline has an Average Displacement Error(ADE)of 0.040 and a Final Displacement Error(FDE)of 0.036.The adversarial generator makes substantially more progress,reducing ADE to 0.021 and FDE to 0.018.Visual examination confirms that the generated trajectories closely align with observed motion patterns while preserving smooth temporal dynamics.
文摘In the field of intelligent air combat,real-time and accurate recognition of within-visual-range(WVR)maneuver actions serves as the foundational cornerstone for constructing autonomous decision-making systems.However,existing methods face two major challenges:traditional feature engineering suffers from insufficient effective dimensionality in the feature space due to kinematic coupling,making it difficult to distinguish essential differences between maneuvers,while end-to-end deep learning models lack controllability in implicit feature learning and fail to model high-order long-range temporal dependencies.This paper proposes a trajectory feature pre-extraction method based on a Long-range Masked Autoencoder(LMAE),incorporating three key innovations:(1)Random Fragment High-ratio Masking(RFH-Mask),which enforces the model to learn long-range temporal correlations by masking 80%of trajectory data while retaining continuous fragments;(2)Kalman Filter-Guided Objective Function(KFG-OF),integrating trajectory continuity constraints to align the feature space with kinematic principles;and(3)Two-stage Decoupled Architecture,enabling efficient and controllable feature learning through unsupervised pre-training and frozen-feature transfer.Experimental results demonstrate that LMAE significantly improves the average recognition accuracy for 20-class maneuvers compared to traditional end-to-end models,while significantly accelerating convergence speed.The contributions of this work lie in:introducing high-masking-rate autoencoders into low-informationdensity trajectory analysis,proposing a feature engineering framework with enhanced controllability and efficiency,and providing a novel technical pathway for intelligent air combat decision-making systems.
