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基于人工势场法改进MADDPG算法的AUV协同应召搜潜航路规划研究
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作者 张天浩 池晴佳 +1 位作者 林永水 陈威 《中国舰船研究》 北大核心 2026年第1期362-373,共12页
[目的]为提高AUV在复杂水下环境中的协同探测效率和稳定性,基于人工势场法(APF)改进多智能体深度确定性策略梯度(MADDPG)算法,建立一种新的自主水下航行器(AUV)协同应召搜潜航路规划模型。[方法]针对搜潜路径规划中使用APF容易局部最优,... [目的]为提高AUV在复杂水下环境中的协同探测效率和稳定性,基于人工势场法(APF)改进多智能体深度确定性策略梯度(MADDPG)算法,建立一种新的自主水下航行器(AUV)协同应召搜潜航路规划模型。[方法]针对搜潜路径规划中使用APF容易局部最优,而MADDPG算法前期盲目探索、收敛性差的问题,提出使用APF的引力场引导AUV前期运动方向并与MADDPG结合的算法(APF−MADDPG)。通过蒙特卡洛方法仿真大量目标可能轨迹,统计所有目标轨迹点不同时刻所在的海域位置,进而实现预测动态水下目标的散布规律。同时,综合考虑声呐不同距离的探测概率,并与累积探测概率(CDP)公式结合作为路径评估指标,采用该算法分别实现2艘AUV与3艘AUV的协同探测仿真。[结果]实验结果显示,APF−MADDPG算法在2艘AUV协同探测场景中相比原始MADDPG算法,能将CDP提高7%,达到80.93%;在3艘AUV协同探测场景中提升0.6%,达到92.67%。[结论]APF−MADDPG算法可有效地提升AUV协同搜潜任务的探测效率和稳定性。未来研究可以进一步探索其他深度强化学习算法在同一搜潜场景下的性能对比,以进一步提升搜潜场景下多AUV协同的探测效率与协同作战能力。 展开更多
关键词 自主水下航行器 协同探测 应召搜潜 人工势场法 强化学习 声呐 APF−maddpg 运动规划
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Defect-engineered gradient reconstruction for the upcycling of spent LiFePO_(4)to generate high-value LiFe_(1−x)Mn_(x)PO_(4)/C cathodes
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作者 Shuaijing Ji Yanqiong Tan +6 位作者 Junwei Wang Fengqian Wang Danpeng Cheng Zhenxing Wang Zhongwen Ouyang Shun Tang Yuancheng Cao 《Journal of Energy Chemistry》 2026年第1期306-316,I0008,共12页
Recycling spent lithium-ion(Li+)batteries is critical for achieving environmental conservation and the strategic recovery of essential resources.Compared with conventional methods for recovering cathode materials,whic... Recycling spent lithium-ion(Li+)batteries is critical for achieving environmental conservation and the strategic recovery of essential resources.Compared with conventional methods for recovering cathode materials,which are energy-intensive and prone to secondary pollution,the direct regeneration approach has emerged as a rapid and highly efficient method,gaining widespread attention in recent years.However,this approach faces major challenges,including degraded electrochemical performances and limited economic value.This study,therefore,proposes a high-value direct regeneration strategy to convert degraded spent LiFePO_(4)(S-LFP)into a gradient manganese(Mn)-doped regenerated LiFe_(0.7)Mn_(0.3)PO_(4)/C(R-LFMP)composite.This method leverages the inherent microcracks and Li vacancies present in S-LFP,likely acting as diffusion channels for the Mn^(2+)/Li^(+)ions.Through a two-step mechanochemical ball-milling and carbothermal reduction process,this approach achieves simultaneous Li replenishment and surface-localised Mn gradient doping with enhanced structural control.Notably,the R-LFMP exhibits an exceptional electrochemical performance.At 0.1 C,it delivers a discharge capacity of 161.4 mA h g^(−1)and an energy density of 563.5 Wh kg^(−1)(representing a 60.5%improvement over S-LFP).Additionally,it maintains 83%capacity retention after 900 cycles at 0.5C,a considerable enhancement compared to commercial LFMP(62%).Furthermore,the regenerated cathode material generates a net profit of$7.102 kg^(−1),surpassing the profitability of conventional recycling methods by 90%.Overall,this study introduces a transformative and sustainable LFP regeneration technology,achieving breakthroughs in electrochemical restoration and high-value recycling,while paving the way for the closed-loop utilisation of LFP-based energy storage systems. 展开更多
关键词 Spent LiFePO_(4)recycling Defect-guided gradient reconstruction gradient manganese doping Closed-loop recycling Economic viability
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Illusion Optics via Phase-Gradient Metasurfaces
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作者 Zhaoyao Pan Jinpeng Yang Yadong Xu 《Chinese Physics Letters》 2026年第1期31-36,共6页
Optical phase-gradient metasurfaces have garnered significant attention for enabling flexible light manipulation,with applications across diverse domains.In this work,we will demonstrate that the metasurfaces with pha... Optical phase-gradient metasurfaces have garnered significant attention for enabling flexible light manipulation,with applications across diverse domains.In this work,we will demonstrate that the metasurfaces with phase gradient modulation can be used to achieve illusion optics,featuring the advantages of simple geometric structure and feasible implementation compared with the well-known transformation optics method.The underlying mechanism is the anomalous diffraction law caused by the phase gradient,which provides a theoretical basis for freely manipulating the propagation path of light.By considering a specific example,we will demonstrate that the phase gradient can transform spatial coordinates in real space into illusion space,thereby converting a plane in real space into a curved surface structure in illusion space to achieve the illusion effect.This approach provides a viable alternative to transformation optics for designing illusion devices. 展开更多
关键词 transformation optics anomalous diffraction law illusion opticsfeaturing flexible light manipulationwith illusion optics anomalous diffraction phase gradient modulation phase gradient metasurfaces
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Suffusion of sand-clay mixtures under stepwise increase in hydraulic gradient
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作者 Jooho Lee Yerim Yang +1 位作者 Hangseok Choi Jongmuk Won 《Journal of Rock Mechanics and Geotechnical Engineering》 2026年第2期1587-1600,共14页
Suffusion refers to the loss of fineparticles within the soil matrix without any associated volume change,induced by hydrodynamic forces.This study investigated the suffusion of sand-clay mixtures through one-dimensio... Suffusion refers to the loss of fineparticles within the soil matrix without any associated volume change,induced by hydrodynamic forces.This study investigated the suffusion of sand-clay mixtures through one-dimensional soil column experiments under a stepwise increase in hydraulic gradient(i),aiming to evaluate the critical hydraulic gradient(icrit)as a function of the size ratio between sand and clay,clay type,and ionic concentration.It was found that icrit was less than 0.1 for all sand-clay mixtures examined in this study.In addition,the lower peak concentrations of filtrated clay observed in sand-illite mixtures,compared to those of sand-kaolinite mixtures at the same level of i,suggest that illite particles are more susceptible to suffusion.Overall,the observed breakthrough curves,mass fraction of filtrated clay,volume of outflow,and total injection time presented in this study highlight the importance of considering clay type,sand-to-clay size ratio,and ionic concentration when assessing the suffusion behavior of clay-containing soils under a stepwise increase in hydraulic gradient. 展开更多
关键词 Critical hydraulic gradient Suffusion Breakthrough curve Sand-clay mixture Ionic concentration Clay mineralogy
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Mechanisms driving anammox bacteria enrichment in constructed wetlands for self-purification of high-nitrogen polluted wastewater:Environmental gradients and microbial interactions
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作者 Lin Liu Jie Li +2 位作者 Yu Xin Quan-Bao Zhao Yu-Ming Zheng 《Journal of Environmental Sciences》 2026年第1期44-53,共10页
Anammox bacteria in constructed wetlands(CWs)play pivotal role in sustainable nitrogen transformation,yet existing studies lack comprehensive analysis of environmental gradients and microbial interactions,both key fac... Anammox bacteria in constructed wetlands(CWs)play pivotal role in sustainable nitrogen transformation,yet existing studies lack comprehensive analysis of environmental gradients and microbial interactions,both key factors in anammox bacteria enrichment.This study investigated the mechanisms driving anammox bacteria enrichment in lab-scale simulated CWs treating high-nitrogen wastewater,focusing on bacterial community re-sponses across wetland layers with various strategies,including continuous up-flow influent,nitrogen loading increase,effluent recirculation,intermittent influent,and anammox bacteria inoculation.Results showed that total relative and absolute abundances of anammox bacteria ranged from 0.77%to 12.50%and from 0.13 to 6.46×10^(7) copies/g,respectively.Dissolved oxygen and pH had significant positive correlations with the absolute abundance of anammox bacteria,while organic matter and nitrate negatively impacted their relative abundance.Permutational multivariate analysis of variance indicated that spatial heterogeneity explained more variation in anammox bacteria abundance(43.44%)compared to operational strategies(8.58%).In terms of microbial interactions,60 dominant species exhibited potential correlations with anammox bacteria,comprising 170 interactions(105 positive and 65 negative),which suggested that anammox bacteria generally foster cooperative relationships with dominant bacteria.Notably,significant interspecies interactions were observed between Candidatus Kuenenia(dominant anammox bacteria in CWs)and species within the genera Chitinivibrio-nia and Anaerolineaceae,suggesting that microbial interactions primarily manifest as indirect facilitative effects rather than direct mutualistic relationships.Given that the Normalized Stochasticity Ratio in CWs were<50%,this study inferred that environmental gradients have greater influence on anammox bacteria than microbial interactions. 展开更多
关键词 Self-purifying capacity Anammox bacteria Environmental gradient Constructed wetland Co-occurrence network Nature-based solution
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Bioextrusion of hydrogels with controlled mineral gradients for regenerative engineering of osteochondral interfaces
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作者 Xiao Zhao Weiwei Wang +2 位作者 Xiaojun Yu Dilhan M.Kalyon Cevat Erisken 《Bio-Design and Manufacturing》 2026年第1期122-136,I0019,I0020,共17页
The osteochondral(OC)interface exhibits a mineral gradient,varying in thickness by several hundred micrometers across different species.Disruptions in this interface damage OC tissues,leading to osteoarthritis.The nat... The osteochondral(OC)interface exhibits a mineral gradient,varying in thickness by several hundred micrometers across different species.Disruptions in this interface damage OC tissues,leading to osteoarthritis.The natural architecture and composition of native OC interfaces can be replicated using biomaterial scaffolds via regenerative engineering approaches.A novel one-step bioextrusion process was employed to fabricate a unitary synthetic graft(USG),which mimics the native OC interface’s mineral concentration gradient.This novel USG is composed of an agarose-based cartilage layer and a bone layer,consisting of agarose enriched with 20%(200 g/L)hydroxyapatite.The USG features a gradient interface with mineral concentrations transitioning from 0%to 20%(mass fraction),mimicking the transition between the cartilage and bone.Thermogravimetric analysis revealed that the gradient transition lengths of the graft and native OC tissue harvested from bovine knees were similar((647±21)vs.(633±124)μm).The linear viscoelastic properties of the grafts,which were evaluated using strain sweep and frequency sweep tests with oscillatory shear,indicated a dominant storage modulus over loss modulus similar to that of native OC tissues.The compressive and stress relaxation behaviors of the USGs demonstrated that the graft maintained structural integrity under mechanical stress.Viability assays performed after bioextrusion showed that chondrocytes and human fetal osteoblast cells successfully integrated and survived within their designated regions of the graft.The novel USGs exhibit properties similar to native OC tissue and are promising candidates for regenerating OC defects and restoring knee joint functionality. 展开更多
关键词 Osteochondral(OC)interface Mineral gradient Bioextrusion Hydrogel scaffold Regenerative engineering
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Physics-informed machine learning for identifying gradient-distributed plastic parameters of the S38C axle by nano-indentation
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作者 Siyu Li Lvfeng Jiang +4 位作者 Yanan Hu Jian Li Xu Zhang Qianhua Kan Guozheng Kang 《Acta Mechanica Sinica》 2026年第1期105-121,共17页
The S38C railway axle undergoes induction hardening,resulting in a gradient-distributed microstructure and mechanical properties.The accurate identification of gradient-distributed plastic parameters for the S38C axle... The S38C railway axle undergoes induction hardening,resulting in a gradient-distributed microstructure and mechanical properties.The accurate identification of gradient-distributed plastic parameters for the S38C axle remains a challenging task.To tackle this challenge,the present study proposes a novel approach for identifying the gradient-distributed plastic parameters for the S38C axle by integrating nano-indentation techniques with the machine learning method.Firstly,nano-indentation tests are conducted along the radial direction of the S38C axle to obtain the gradient-distributed load-displacement curves,nano-hardness,and elastic modulus.Subsequently,the dimensionless analysis is performed to obtain the representative stress,strain,and yield stress from load-displacement curves.These parameters are then incorporated into the machine learning method as physical information to identify the gradient-distributed plastic parameters of the S38C axle.The results indicate that the proposed method based on the physics-informed neural network and multi-fidelity neural network successfully identifies the gradient-distributed plastic parameters of the S38C axles and demonstrates superior prediction accuracy and generalization compared with the purely data-driven machine learning method. 展开更多
关键词 S38C axle Nanoindentation Physics-informed machine learning gradient structure Plastic parameters
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Fluid migration in calcite nanopores under salinity gradients:Insights from molecular dynamics
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作者 Yi Chen Yan Zhang +1 位作者 Run-Sheng Han Lei Wang 《Acta Geochimica》 2026年第1期185-203,共19页
The migration mechanisms of ore-forming fluids have long been a focus in the field of ore deposit studies.Calcite is ubiquitously present in various types of rocks in the lithosphere,and the underlying mechanisms of i... The migration mechanisms of ore-forming fluids have long been a focus in the field of ore deposit studies.Calcite is ubiquitously present in various types of rocks in the lithosphere,and the underlying mechanisms of its influence on fluid migration are of crucial importance.While previous studies have revealed that salinity changes can modulate fluid migration,the underlying mechanisms remain poorly understood.We employ molecular dynamics simulations to elucidate how salinity variations in ore-forming fluids modulate the adsorption onto calcite nanopore walls,thereby revealing the microscopic mechanisms governing ore fluid transport through calcite nano-fractures.The results show that the adsorption energy Eint of the solution on the calcite surface increased from -14,948.84±182.48 kcal/mol to -12,144.08±118.2 kcal/mol as salinity increased,which is conducive to the long-range transport of the fluid in the calcite nanopore. 展开更多
关键词 Fluid transport dynamics Salinity gradient regulation Calcite nanopores Molecular dynamics simulation
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Biomimetic Gradient Lubrication Hydrogel Contrived by Self-Reinforced MOFs Nanoparticle Network
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作者 Desheng Liu Yixian Wang +8 位作者 Changcheng Bai Danli Hu Xingxing Yang Yaozhong Lu Tao Wu Fei Zhai Pan Jiang Xiaolong Wang Weimin Liu 《Nano-Micro Letters》 2026年第5期217-234,共18页
The development of gradient lubrication materials is critical for numerous biomedical applications,particularly in magnifying mechanical properties and service longevity.Herein,we present an innovative approach to fab... The development of gradient lubrication materials is critical for numerous biomedical applications,particularly in magnifying mechanical properties and service longevity.Herein,we present an innovative approach to fabricate biomimetic gradient lubrication hydrogel through the synergistic integration of three-dimensional(3D)printed metal-organic frameworks(MOFs)nanoparticle network hydrogel skeletons with bioinspired lubrication design.Specifically,robust hydrogel skeletons were engineered through single or multi-material 3D printing,followed by the in situ growth of MOFs nanoparticles within this hydrogel network to create a reinforced,load-bearing architecture.Subsequently,biomimetic lubrication capability was enabled by mechanically coupling another lubricating hydrogel within 3D-printed MOFs nanoparticle network hydrogel skeleton.The superficial layer is highly lubricious to ensure low coefficient of friction(~0.1141)and wear resistance(40,000 cycles),while the deeper layer is stiffer to afford the obligatory mechanical support(fracture strength~2.50 MPa).Furthermore,the gradient architecture stiffness of the hydrogel can be modulated by manipulating the spatial distribution of MOFs within the 3D-printed hydrogel skeleton.As a proof-of-concept,biomimetic gradient hydrogel meniscus structures with C-and O-shaped configurations were constructed by leveraging multi-material 3D printing,demonstrating exceptional lubrication performance.This innovative biomimetic design opens new avenues for creating implantable biomedical gradient lubricating materials with reinforced mechanical and lubrication performance. 展开更多
关键词 Biomimetic gradient architecture DIW 3D printing Lubricating hydrogel MOFs nanoparticle network Slippery meniscus
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Scalable and Healable Gradient Textiles for Multi‑Scenario Radiative Cooling via Bicomponent Blow Spinning
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作者 Baiyu Ji Yufeng Wang +6 位作者 Ying Liu Yongxu Zhao Fankun Xu Jian Huang Yue‑EMiao Chao Zhang Tianxi Liu 《Nano-Micro Letters》 2026年第3期338-353,共16页
Radiative cooling textiles with spectrally selective surfaces offer a promising energy-efficient approach for sub-ambient cooling of outdoor objects and individuals.However,the spectrally selective mid-infrared emissi... Radiative cooling textiles with spectrally selective surfaces offer a promising energy-efficient approach for sub-ambient cooling of outdoor objects and individuals.However,the spectrally selective mid-infrared emission of these textiles significantly hinders their efficient radiative heat exchange with self-heated objects,thereby posing a significant challenge to their versatile cooling applicability.Herein,we present a bicomponent blow spinning strategy for the production of scalable,ultra-flexible,and healable textiles featuring a tailored dual gradient in both chemical composition and fiber diameter.The gradient in the fiber diameter of this textile introduces a hierarchically porous structure across the sunlight incident area,thereby achieving a competitive solar reflectivity of 98.7%on its outer surface.Additionally,the gradient in the chemical composition of this textile contributes to the formation of Janus infrared-absorbing surfaces:The outer surface demonstrates a high mid-infrared emission,whereas the inner surface shows a broad infrared absorptivity,facilitating radiative heat exchange with underlying self-heated objects.Consequently,this textile demonstrates multi-scenario radiative cooling capabilities,enabling versatile outdoor cooling for unheated objects by 7.8℃ and self-heated objects by 13.6℃,compared to commercial sunshade fabrics. 展开更多
关键词 gradient cooling textile Bicomponent blow spinning Janus spectral selectivity Radiative heat exchange Multi-scenario radiative cooling
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Gradient Descent-Based Prediction of Heat-Transmission Rate of Engine Oil-Based Hybrid Nanofluid over Trapezoidal and Rectangular Fins for Sustainable Energy Systems
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作者 Maddina Dinesh Kumar S.U.Mamatha +2 位作者 Khalid Masood Nehad Ali Shah Se-Jin Yook 《Computer Modeling in Engineering & Sciences》 2026年第1期627-660,共34页
Fluid dynamic research on rectangular and trapezoidal fins is aimed at increasing heat transfer by means of large surfaces.The trapezoidal cavity form is compared with its thermal and flow performance,and it is reveal... Fluid dynamic research on rectangular and trapezoidal fins is aimed at increasing heat transfer by means of large surfaces.The trapezoidal cavity form is compared with its thermal and flow performance,and it is revealed that trapezoidal fins tend to be more efficient,particularly when material optimization is critical.Motivated by the increasing need for sustainable energy management,this work analyses the thermal performance of inclined trapezoidal and rectangular porous fins utilising a unique hybrid nanofluid.The effectiveness of nanoparticles in a working fluid is primarily determined by their thermophysical properties;hence,optimising these properties can significantly improve overall performance.This study considers the dispersion of Graphene Oxide(GO)and Molybdenum Disulfide in the base fluid,engine oil.Temperature profiles are analysed by altering the radiative,porosity,wet porous,and angle of inclination parameters.Surface and contour plots are constructed by using the Lobatto IIIa Collocation Method with BVP5C solver in MATLAB and Gradient Descent Optimisation to predict the combined heat transfer rate.According to the study,fluid temperature consistently decreases when the angle of inclination,wet porous parameter,porosity parameter,and radiative parameter increase,suggesting significantly improved heat dissipation.The trapezoidal fin consistently exhibits a superior heat transfer mechanism than a rectangular fin.It is found that the trapezoidal fin transmits heat at a rate that is 0.05%higher than that of the rectangular fin.Validation of the present study is done through the comparison of previous studies.This research provides useful design insights for sophisticated engineering uses,including electrical cooling devices,heat exchangers,radiators,and solar heaters. 展开更多
关键词 Rectangular fin hybrid nanofluid trapezoidal fin angle of inclination gradient descent optimization Lobatto IIIa collocation method
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Examining the Nonlinear Effects of Urban Population Polycentricity on Carbon Emissions Efficiency Using a Gradient Boosting Decision Tree Model:Evidence from 295 Chinese Cities
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作者 WANG Cheng YANG Xingzhu 《Chinese Geographical Science》 2026年第2期222-238,共17页
Transforming urban spatial structures to promote green and low-carbon development is an effective strategy.Although prior studies have examined the impact of urban polycentricity on carbon emissions and economic devel... Transforming urban spatial structures to promote green and low-carbon development is an effective strategy.Although prior studies have examined the impact of urban polycentricity on carbon emissions and economic development,research on its role in the synergistic relationship between these factors regarding carbon emission efficiency is limited.Furthermore,existing literature often overlooks nonlinear effects and interactions with other urban variables.This paper analyzed data from 295 Chinese cities in 2020,calculating urban population polycentricity,population dispersion indices,and carbon emission efficiency.Utilizing local spatial autocorrelation tools,we reveal interactions among urban population polycentricity,dispersion,carbon emissions,and carbon emission efficiency.We then employ a gradient boosting decision tree model(GBDT)to explore nonlinear and synergistic effects of polycentric urbanization.Key findings include:1)polycentric urbanization in Chinese cities exhibits significant spatial differentiation characteristics.The Polycentricity index is relatively high in economically developed eastern coastal regions with an overall low level,carbon emissions are concentrated in industrialized north-central cities and some Yangtze River Delta hubs,and carbon emission efficiency is the highest in the Yangtze River Delta while relatively low in Northeast China;there are significant spatially heterogeneous interaction characteristics among population polycentricity,population dispersion,carbon emissions,and carbon emission efficiency.2)Urban population polycentricity contributes 9.42%to total carbon emissions and 6.24%to carbon emission efficiency.3)The polycentricity index has a nonlinear impact on carbon emissions and carbon emission efficiency:no significant effect when below 0.50 or above 0.55,increased carbon emissions in 0.50-0.53,and reduced carbon emissions with improved efficiency in 0.53-0.55.4)The polycentricity index has an interaction effect with other variables;specifically,when the polycentricity index is between 0.53 and 0.55,its interaction with urban gross domestic product(GDP),urban population,urban built-up area,green coverage rate in built-up areas,urban technological expenditure,and the proportion of the output value of the secondary industry will reduce carbon emissions and improve carbon emission efficiency.These findings enhance the understanding of urban spatial structures and carbon emissions,providing valuable insights for policymakers in developing green and low-carbon strategies. 展开更多
关键词 urban polycentricity carbon emission efficiency gradient boosting decision tree(GBDT) nonlinear threshold effects Chinese cities
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基于动态权重多指标经验回放的MADDPG算法研究
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作者 胡金泽 唐宏伟 +2 位作者 程翰超 谢培淼 贺露谊 《农业装备与车辆工程》 2026年第1期73-80,共8页
针对多智能体深度强化学习中传统经验回放机制存在的评估指标单一与权重策略静态化问题,提出一种基于动态权重多指标经验回放的改进MADDPG算法。设计了多维度经验评估体系,将时序差分误差、经验年龄和合作贡献度3个指标系统融合,实现对... 针对多智能体深度强化学习中传统经验回放机制存在的评估指标单一与权重策略静态化问题,提出一种基于动态权重多指标经验回放的改进MADDPG算法。设计了多维度经验评估体系,将时序差分误差、经验年龄和合作贡献度3个指标系统融合,实现对经验样本价值的全面评估;提出了动态权重调整机制,通过训练进程自适应的权重系数调整,使算法在训练初期注重个体价值函数准确性,后期偏向团队协作优化;构建了协作感知的优先级框架,通过合作贡献度指标显式量化经验在多智能体协作中的价值,提升团队协作效率。在OpenAI多智能体粒子环境的3个典型场景中的实验结果表明:与对比算法相比,所提算法在平均回合奖励、目标达成率与冲突规避率等关键性能指标上均有提升,收敛速度更快,验证了其有效性与优越性。 展开更多
关键词 多智能体强化学习 多智能体深度确定性策略梯度算法 经验回放 动态权重 合作贡献度 协作探索
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基于MADDPG的多无人机协同攻击方法 被引量:1
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作者 张波 刘满国 刘梦焱 《弹箭与制导学报》 北大核心 2025年第3期344-350,共7页
多无人机协同完成特定打击任务是未来无人机军事领域发展的重要方向。针对多无人机协同攻击问题,构建典型对抗场景。将多无人机协同攻击问题建模成分布式部分可观测马尔可夫决策过程(Dec-POMDP),设计独特奖励函数,采用多智能体深度确定... 多无人机协同完成特定打击任务是未来无人机军事领域发展的重要方向。针对多无人机协同攻击问题,构建典型对抗场景。将多无人机协同攻击问题建模成分布式部分可观测马尔可夫决策过程(Dec-POMDP),设计独特奖励函数,采用多智能体深度确定性策略梯度(MADDPG)算法训练攻击策略。使用蒙特卡洛法分析仿真实验,结果表明在该多智能体强化学习算法训练之后,特定对抗场景下多无人机协同攻击任务完成率达到82.9%。 展开更多
关键词 多智能体 深度强化学习 分布式部分可观测马尔可夫决策过程(Dec-POMDP) 多智能体深度确定性策略梯度算法(maddpg) 无人机集群
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基于融合课程思想MADDPG的无人机编队控制
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作者 吴凯峰 刘磊 +1 位作者 刘晨 梁成庆 《计算机工程》 北大核心 2025年第5期73-82,共10页
多智能体深度确定性梯度(MADDPG)算法由深度确定性策略梯度(DDPG)算法扩展而来,专门针对多智能体环境设计,算法中每个智能体不仅考虑自身的观察和行动,还考虑其他智能体的策略,以更好地进行集体决策,这种设计显著提升了其在复杂、多变... 多智能体深度确定性梯度(MADDPG)算法由深度确定性策略梯度(DDPG)算法扩展而来,专门针对多智能体环境设计,算法中每个智能体不仅考虑自身的观察和行动,还考虑其他智能体的策略,以更好地进行集体决策,这种设计显著提升了其在复杂、多变的环境中的性能和稳定性。基于MADDPG算法框架,设计算法的网络结构、状态空间、动作空间和奖励函数,实现无人机编队控制。为解决多智能体算法收敛困难的问题,训练过程中使用课程强化学习将任务进行阶段分解,针对每次任务不同,设计层次递进的奖励函数,并使用人工势场思想设计稠密奖励,使得训练难度大大降低。在自主搭建的软件在环(SITL)仿真环境中,通过消融、对照实验,验证了MADDPG算法在多智能体环境中的有效性和稳定性。最后进行实机实验,在现实环境中进一步验证了所设计算法的实用性。 展开更多
关键词 无人机编队 深度强化学习 多智能体深度确定性策略梯度 课程学习 神经网络
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基于MADDPG的再入飞行器协同制导方法
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作者 王嘉磊 郭建国 《弹道学报》 北大核心 2025年第4期30-37,47,共9页
临近空间再入阶段的多飞行器协同制导任务面临强气动耦合、剧烈非线性特性以及复杂任务与威胁约束。传统制导方法大多依赖解析模型或单体优化策略,在实时决策、复杂约束处理及协同能力方面均存在不足,难以满足未来高动态集群作战场景的... 临近空间再入阶段的多飞行器协同制导任务面临强气动耦合、剧烈非线性特性以及复杂任务与威胁约束。传统制导方法大多依赖解析模型或单体优化策略,在实时决策、复杂约束处理及协同能力方面均存在不足,难以满足未来高动态集群作战场景的需求。针对这一问题,提出了一种基于多智能体深度确定性策略梯度(MADDPG)的主-从式协同制导方法。首先,在视线坐标系下构建主-从相对动力学模型,为构建多飞行器协同编队模型提供了理论支撑;其次,为提升智能体在多约束环境下的策略学习能力,设计了以视线角变化率、相对距离保持误差与编队偏差为核心的复合奖励函数,并引入雷达威胁区惩罚项,以实现对编队保持、终端需求满足及威胁规避等多目标的统一描述;最后,结合残差网络结构框架进行主-从飞行器的策略学习与训练,实现了多飞行器的协同控制。仿真结果表明,所提出的方法在控制精度、稳定性及计算效率方面均显著优于传统制导策略。该方法能够在高动态环境下保持从飞行器对主飞行器的稳定编队跟随,显著降低相对距离误差与视线角抖动,并有效规避雷达威胁区,提高了整体协同制导的完成质量与任务成功率。研究内容为临近空间再入阶段多飞行器协同制导,提供了一种可扩展、智能化、高可靠性的技术路径,提高了多飞行器协同制导的稳定性与决策能力。 展开更多
关键词 多飞行器编队 maddpg算法 再入段 协同制导
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改进MADDPG算法的未知环境下多智能体单目标协同探索
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作者 韩慧妍 石树熙 +2 位作者 况立群 韩燮 熊风光 《计算机工程与应用》 北大核心 2025年第22期320-328,共9页
针对多智能体深度确定性策略梯度算法(multi-agent deep deterministic policy gradient,MADDPG)在未知环境下探索效率低下的问题,提出多智能体深度强化学习算法RE-MADDPG-C。利用残差网络(residual network,ResNet)缓解网络中的梯度消... 针对多智能体深度确定性策略梯度算法(multi-agent deep deterministic policy gradient,MADDPG)在未知环境下探索效率低下的问题,提出多智能体深度强化学习算法RE-MADDPG-C。利用残差网络(residual network,ResNet)缓解网络中的梯度消失和梯度爆炸问题,提高算法的收敛速度。为解决未知环境下单目标探索中奖励稀疏导致的收敛困难问题,引入多智能体内在好奇心模块(intrinsic curiosity module,ICM),将好奇心奖励作为智能体的内在奖励,为其提供额外的探索动机。通过设计合理的探索奖励函数,使得多智能体能够在未知环境下完成单目标探索任务。仿真实验结果表明,该算法在训练阶段获得的奖励提升更快,能够快速完成探索任务,相比MADDPG及其他算法训练时间缩短,且获得的全局平均奖励更高。 展开更多
关键词 深度强化学习 RE-maddpg-C 残差网络 内在好奇心模块(ICM) 奖励稀疏
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A Modified PRP-HS Hybrid Conjugate Gradient Algorithm for Solving Unconstrained Optimization Problems 被引量:1
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作者 LI Xiangli WANG Zhiling LI Binglan 《应用数学》 北大核心 2025年第2期553-564,共12页
In this paper,we propose a three-term conjugate gradient method for solving unconstrained optimization problems based on the Hestenes-Stiefel(HS)conjugate gradient method and Polak-Ribiere-Polyak(PRP)conjugate gradien... In this paper,we propose a three-term conjugate gradient method for solving unconstrained optimization problems based on the Hestenes-Stiefel(HS)conjugate gradient method and Polak-Ribiere-Polyak(PRP)conjugate gradient method.Under the condition of standard Wolfe line search,the proposed search direction is the descent direction.For general nonlinear functions,the method is globally convergent.Finally,numerical results show that the proposed method is efficient. 展开更多
关键词 Conjugate gradient method Unconstrained optimization Sufficient descent condition Global convergence
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基于LDE-MADDPG算法的无人机集群编队集结控制策略
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作者 肖玮 高甲博 柯学良 《系统仿真学报》 北大核心 2025年第9期2335-2351,共17页
针对MADDPG算法用于无人机集群编队集结控制的局限性,提出基于LDE-MADDPG算法的无人机集群编队集结控制策略。通过设计状态特征学习网络和解耦式Critic网络提出LDEMADDPG算法,用以改善MADDPG算法的泛化性、可扩展性及集群训练效率。将... 针对MADDPG算法用于无人机集群编队集结控制的局限性,提出基于LDE-MADDPG算法的无人机集群编队集结控制策略。通过设计状态特征学习网络和解耦式Critic网络提出LDEMADDPG算法,用以改善MADDPG算法的泛化性、可扩展性及集群训练效率。将该算法结合构建的解耦式奖励函数、集群状态空间和无人机动作空间等要素,生成了能够适应不同队形和不同数量的无人机集群编队集结策略。仿真实验表明:较MADDPG算法,LDE-MADDPG算法提升了19.6%的训练效率;生成的集群编队集结控制策略能够在60 s内完成包括“菱形”在内的6种无人机队形集结,80 s内实现从6~21架次的无人机集群编队集结,表现出了良好的泛化性和可扩展性。 展开更多
关键词 LDE-maddpg算法 状态特征学习网络 解耦式Critic网络 编队集结
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Dynamic Task Offloading and Resource Allocation for Air-Ground Integrated Networks Based on MADDPG
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作者 Jianbin Xue Peipei Mao +2 位作者 Luyao Wang Qingda Yu Changwang Fan 《Journal of Beijing Institute of Technology》 2025年第3期243-267,共25页
With the rapid growth of connected devices,traditional edge-cloud systems are under overload pressure.Using mobile edge computing(MEC)to assist unmanned aerial vehicles(UAVs)as low altitude platform stations(LAPS)for ... With the rapid growth of connected devices,traditional edge-cloud systems are under overload pressure.Using mobile edge computing(MEC)to assist unmanned aerial vehicles(UAVs)as low altitude platform stations(LAPS)for communication and computation to build air-ground integrated networks(AGINs)offers a promising solution for seamless network coverage of remote internet of things(IoT)devices in the future.To address the performance demands of future mobile devices(MDs),we proposed an MEC-assisted AGIN system.The goal is to minimize the long-term computational overhead of MDs by jointly optimizing transmission power,flight trajecto-ries,resource allocation,and offloading ratios,while utilizing non-orthogonal multiple access(NOMA)to improve device connectivity of large-scale MDs and spectral efficiency.We first designed an adaptive clustering scheme based on K-Means to cluster MDs and established commu-nication links,improving efficiency and load balancing.Then,considering system dynamics,we introduced a partial computation offloading algorithm based on multi-agent deep deterministic pol-icy gradient(MADDPG),modeling the multi-UAV computation offloading problem as a Markov decision process(MDP).This algorithm optimizes resource allocation through centralized training and distributed execution,reducing computational overhead.Simulation results show that the pro-posed algorithm not only converges stably but also outperforms other benchmark algorithms in han-dling complex scenarios with multiple devices. 展开更多
关键词 air-ground integrated network(AGIN) resource allocation dynamic task offloading multi-agent deep deterministic policy gradient(maddpg) non-orthogonal multiple access(NOMA)
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