<strong>Purpose:</strong><span style="font-family:;" "=""><span style="font-family:Verdana;"> Radiotherapy is a widely accepted standard of care for early-sta...<strong>Purpose:</strong><span style="font-family:;" "=""><span style="font-family:Verdana;"> Radiotherapy is a widely accepted standard of care for early-stage prostate cancer, and it is believed that the plan quality and treatment outcome are associated with contour accuracy of both the target and organs-at-risk (OAR). The purposes of this study are to 1) assess geometric and dosimetric uncertainties due to inter-observer contour variabilities and 2) evaluate the effectiveness of geometric indicators to predict target dosimetry in prostate radiotherapy. </span><b><span style="font-family:Verdana;">Methods:</span></b><span style="font-family:Verdana;"> Twenty prostate patients were selected for this retrospective study. Five experienced clinicians created unique structure sets containing prostate, seminal vesicles, bladder, and rectum for each patient. A fully automated script and knowledge-based planning routine were utilized to create standardized and unbiased plans that could be used to evaluate changes in isodose distributions due to inter-observer variability in structure segmentation. Plans were created on a “gold-standard” structure set, as well as on each of the user-defined structure sets. </span><b><span style="font-family:Verdana;">Results:</span></b><span style="font-family:Verdana;"> Inter-observer variability of contours during structure segmentation was very low for clearly defined organs such as the bladder but increased for organs without well-defined borders (prostate, seminal vesicles, and rectum). For plans generated with the user-defined structure sets, strong/moderate correlations were observed between the geometric indicators for target structure agreement and target coverage for both low-risk and intermediate-risk patient groups, while OAR indicators showed no correlation to final dosimetry. </span><b><span style="font-family:Verdana;">Conclusions:</span></b><span style="font-family:Verdana;"> Target delineation is crucial in order to maintain adequate dosimetric coverage regardless of the associated inter-observer uncertainties in OAR contours that had a limited impact upon final dosimetry.</span></span>展开更多
Knowledge-based VisualQuestion Answering(VQA)requires the integration of visual information with external knowledge reasoning.Existing approaches typically retrieve information from external corpora and rely on pretra...Knowledge-based VisualQuestion Answering(VQA)requires the integration of visual information with external knowledge reasoning.Existing approaches typically retrieve information from external corpora and rely on pretrained language models for reasoning.However,their performance is often hindered by the limited capabilities of retrievers and the constrained size of knowledge bases.Moreover,relying on image captions to bridge the modal gap between visual and language modalities can lead to the omission of critical visual details.To address these limitations,we propose the Reflective Chain-of-Thought(ReCoT)method,a simple yet effective framework inspired by metacognition theory.ReCoT effectively activates the reasoning capabilities ofMultimodal Large LanguageModels(MLLMs),providing essential visual and knowledge cues required to solve complex visual questions.It simulates a metacognitive reasoning process that encompasses monitoring,reflection,and correction.Specifically,in the initial generation stage,an MLLM produces a preliminary answer that serves as the model’s initial cognitive output.During the reflective reasoning stage,this answer is critically examined to generate a reflective rationale that integrates key visual evidence and relevant knowledge.In the final refinement stage,a smaller language model leverages this rationale to revise the initial prediction,resulting in amore accurate final answer.By harnessing the strengths ofMLLMs in visual and knowledge grounding,ReCoT enables smaller language models to reason effectively without dependence on image captions or external knowledge bases.Experimental results demonstrate that ReCoT achieves substantial performance improvements,outperforming state-of-the-art methods by 2.26%on OK-VQA and 5.8%on A-OKVQA.展开更多
The surrogate model serves as an efficient simulation tool during the slope parameter inversion process.However,the creep constitutive model integrated with dynamic damage evolution poses challenges in development of ...The surrogate model serves as an efficient simulation tool during the slope parameter inversion process.However,the creep constitutive model integrated with dynamic damage evolution poses challenges in development of the required surrogate model.In this study,a novel physics knowledge-based surrogate model framework is proposed.In this framework,a Transformer module is employed to capture straindriven softening-hardening physical mechanisms.Positional encoding and self-attention are utilized to transform the constitutive parameters associated with shear strain,which are not directly time-related,into intermediate latent features for physical loss calculation.Next,a multi-layer stacked GRU(gated recurrent unit)network is built to provide input interfaces for time-dependent intermediate latent features,hydraulic boundary conditions,and water-rock interaction degradation equations,with static parameters introduced via external fully-connected layers.Finally,a combined loss function is constructed to facilitate the collaborative training of physical and data loss,introducing time-dependent weight adjustments to focus the surrogate model on accurate deformation predictions during critical phases.Based on the deformation of a reservoir bank landslide triggered by impoundment and subsequent restabilization,an elasto-viscoplastic constitutive model that considers water effect and sliding state dependencies is developed to validate the proposed surrogate model framework.The results indicate that the framework exhibits good performance in capturing physical mechanisms and predicting creep behavior,reducing errors by about 30 times compared to baseline models such as GRU and LSTM(long short-term memory),meeting the precision requirements for parameter inversion.Ablation experiments also confirmed the effectiveness of the framework.This framework can also serve as a reference for constructing other creep surrogate models that involve non-time-related across dimensions.展开更多
Background External knowledge representations play an essential role in knowledge-based visual question and answering to better understand complex scenarios in the open world.Recent entity-relationship embedding appro...Background External knowledge representations play an essential role in knowledge-based visual question and answering to better understand complex scenarios in the open world.Recent entity-relationship embedding approaches are deficient in representing some complex relations,resulting in a lack of topic-related knowledge and redundancy in topic-irrelevant information.Methods To this end,we propose MKEAH:Multimodal Knowledge Extraction and Accumulation on Hyperplanes.To ensure that the lengths of the feature vectors projected onto the hyperplane compare equally and to filter out sufficient topic-irrelevant information,two losses are proposed to learn the triplet representations from the complementary views:range loss and orthogonal loss.To interpret the capability of extracting topic-related knowledge,we present the Topic Similarity(TS)between topic and entity-relations.Results Experimental results demonstrate the effectiveness of hyperplane embedding for knowledge representation in knowledge-based visual question answering.Our model outperformed state-of-the-art methods by 2.12%and 3.24%on two challenging knowledge-request datasets:OK-VQA and KRVQA,respectively.Conclusions The obvious advantages of our model in TS show that using hyperplane embedding to represent multimodal knowledge can improve its ability to extract topic-related knowledge.展开更多
Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees l...Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees lead to slow convergence and force an unfavorable trade-off between path quality and traversal safety.To address these challenges,we introduce HS-APF-RRT*,a novel algorithm that fuses layered sampling,an enhanced Artificial Potential Field(APF),and a dynamic neighborhood-expansion mechanism.First,the workspace is hierarchically partitioned into macro,meso,and micro sampling layers,progressively biasing random samples toward safer,lower-energy regions.Second,we augment the traditional APF by incorporating a slope-dependent repulsive term,enabling stronger avoidance of steep obstacles.Third,a dynamic expansion strategy adaptively switches between 8 and 16 connected neighborhoods based on local obstacle density,striking an effective balance between search efficiency and collision-avoidance precision.In simulated off-road scenarios,HS-APF-RRT*is benchmarked against RRT*,GoalBiased RRT*,and APF-RRT*,and demonstrates significantly faster convergence,lower path-energy consumption,and enhanced safety margins.展开更多
Environmental problems are intensifying due to the rapid growth of the population,industry,and urban infrastructure.This expansion has resulted in increased air and water pollution,intensified urban heat island effect...Environmental problems are intensifying due to the rapid growth of the population,industry,and urban infrastructure.This expansion has resulted in increased air and water pollution,intensified urban heat island effects,and greater runoff from parks and other green spaces.Addressing these challenges requires prioritizing green infrastructure and other sustainable urban development strategies.This study introduces a novel Integrated Decision Support System that combines Pythagorean Fuzzy Sets with the Advanced Alternative Ranking Order Method allowing for Two-Step Normalization(AAROM-TN),enhanced by a dual weighting strategy.The weighting approach integrates the Criteria Importance Through Intercriteria Correlation(CRITIC)method with the Criteria Importance through Means and Standard Deviation(CIMAS)technique.The originality of the proposed framework lies in its ability to objectively quantify criteria importance using CRITIC,incorporate decision-makers’preferences through CIMAS,and capture the uncertainty and hesitation inherent in human judgment via Pythagorean Fuzzy Sets.A case study evaluating green infrastructure alternatives in metropolitan regions demonstrates the applicability and effectiveness of the framework.A sensitivity analysis is conducted to examine how variations in criteria weights affect the rankings and to evaluate the robustness of the results.Furthermore,a comparative analysis highlights the practical and financial implications of each alternative by assessing their respective strengths and weaknesses.展开更多
This study examines the methods to plan the development of offshore oilfields over the years,which are used to support the decision-making on the development of offshore oilfields.About 100 papers are analysed and cat...This study examines the methods to plan the development of offshore oilfields over the years,which are used to support the decision-making on the development of offshore oilfields.About 100 papers are analysed and categorised into different groups of main early-stage decisions.The present study stands in contrast to the contributions of the operations research and system engineering review articles,on the one hand,and the petroleum engineering review articles,on the other.This is because it does not focus on one methodological approach,nor does it limit the literature analysis by offshore oilfield characteristics.Consequently,the present analysis may offer valuable insights,for instance,by identifying environmental planning decisions as a recent yet highly significant concern that is currently being imposed on decision-making process.Thus,it is evident that the incorporation of safety criteria within the technical-economic decision-making process for the design of production systems would be a crucial requirement at development phase.展开更多
Driven by the global energy transition and the urgent“dual carbon”goals,regional integrated energy system(RIES)planning is undergoing a paradigm shift from carbon reduction to negative carbon emissions.This paper pr...Driven by the global energy transition and the urgent“dual carbon”goals,regional integrated energy system(RIES)planning is undergoing a paradigm shift from carbon reduction to negative carbon emissions.This paper provides a comprehensive review of the theoretical frameworks and technical pathways for RIES planning from a carbon-centric perspective.A key contribution is the proposed Carbon-Energy-Economy(CEE)triple-dimensional governance framework,which endogenizes carbon factors into planning decisions through emission constraints,trading mechanisms,and capture technologies.We first analyze the fundamental characteristics of RIES and their critical role in achieving carbon neutrality,detailing advancements in multi-energy coupling models,energy router concepts,and standardized energy hub modeling.The paper further explores multi-energy flow analysis methods,and systematically compares the applicability and limitations of various planning algorithms,with emphasis on addressing uncertainties from renewable integration.Finally,we highlight the integration of artificial intelligence with traditional optimization methods,offering new pathways for intelligent,adaptive,and low-carbon RIES planning.This review underscores the transition towards data-physical fusion models,cooperative uncertainty optimization,multi-market planning,and innovative zero/negative-carbon technological routes.展开更多
This paper introduces a novel nature-inspired metaheuristic algorithm called the Gekko japonicus algorithm.The algo-rithm draws inspiration mainly from the predation strategies and survival behaviors of the Gekko japo...This paper introduces a novel nature-inspired metaheuristic algorithm called the Gekko japonicus algorithm.The algo-rithm draws inspiration mainly from the predation strategies and survival behaviors of the Gekko japonicus.The math-ematical model is developed by simulating various biological behaviors of the Gekko japonicus,such as hybrid loco-motion patterns,directional olfactory guidance,implicit group advantage tendencies,and the tail autotomy mechanism.By integrating multi-stage mutual constraints and dynamically adjusting parameters,GJA maintains an optimal balance between global exploration and local exploitation,thereby effectively solving complex optimization problems.To assess the performance of GJA,comparative analyses were performed against fourteen state-of-the-art metaheuristic algorithms using the CEC2017 and CEC2022 benchmark test sets.Additionally,a Friedman test was performed on the experimen-tal results to assess the statistical significance of differences between various algorithms.And GJA was evaluated using multiple qualitative indicators,further confirming its superiority in exploration and exploitation.Finally,GJA was utilized to solve four engineering optimization problems and further implemented in robotic path planning to verify its practical applicability.Experimental results indicate that,compared to other high-performance algorithms,GJA demonstrates excep-tional performance as a powerful optimization algorithm in complex optimization problems.We make the code publicly available at:https://github.com/zhy1109/Gekko-japonicusalgorithm.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
With the rapid development of intelligent navigation technology,efficient and safe path planning for mobile robots has become a core requirement.To address the challenges of complex dynamic environments,this paper pro...With the rapid development of intelligent navigation technology,efficient and safe path planning for mobile robots has become a core requirement.To address the challenges of complex dynamic environments,this paper proposes an intelligent path planning framework based on grid map modeling.First,an improved Safe and Smooth A*(SSA*)algorithm is employed for global path planning.By incorporating obstacle expansion and cornerpoint optimization,the proposed SSA*enhances the safety and smoothness of the planned path.Then,a Partitioned Dynamic Window Approach(PDWA)is integrated for local planning,which is triggered when dynamic or sudden static obstacles appear,enabling real-time obstacle avoidance and path adjustment.A unified objective function is constructed,considering path length,safety,and smoothness comprehensively.Multiple simulation experiments are conducted on typical port grid maps.The results demonstrate that the improved SSA*significantly reduces the number of expanded nodes and computation time in static environmentswhile generating smoother and safer paths.Meanwhile,the PDWA exhibits strong real-time performance and robustness in dynamic scenarios,achieving shorter paths and lower planning times compared to other graph search algorithms.The proposedmethodmaintains stable performance across maps of different scales and various port scenarios,verifying its practicality and potential for wider application.展开更多
Theauthor proposes a dual layer source grid load storage collaborative planning model based on Benders decomposition to optimize the low-carbon and economic performance of the distribution network.The model plans the ...Theauthor proposes a dual layer source grid load storage collaborative planning model based on Benders decomposition to optimize the low-carbon and economic performance of the distribution network.The model plans the configuration of photovoltaic(3.8 MW),wind power(2.5 MW),energy storage(2.2 MWh),and SVC(1.2 Mvar)through interaction between upper and lower layers,and modifies lines 2–3,8–9,etc.to improve transmission capacity and voltage stability.The author uses normal distribution and Monte Carlo method to model load uncertainty,and combines Weibull distribution to describe wind speed characteristics.Compared to the traditional three-layer model(TLM),Benders decomposition-based two-layer model(BLBD)has a 58.1%reduction in convergence time(5.36 vs.12.78 h),a 51.1%reduction in iteration times(23 vs.47 times),a 8.07%reduction in total cost(12.436 vs.13.528 million yuan),and a 9.62%reduction in carbon emissions(12,456 vs.13,782 t).After optimization,the peak valley difference decreased from4.1 to 2.9MW,the renewable energy consumption rate reached 93.4%,and the energy storage efficiency was 87.6%.Themodel has been validated in the IEEE 33 node system,demonstrating its superiority in terms of economy,low-carbon,and reliability.展开更多
Planning in lexical-prior-free environments presents a fundamental challenge for evaluating whether large language models(LLMs)possess genuine structural reasoning capabilities beyond lexical memorization.When predica...Planning in lexical-prior-free environments presents a fundamental challenge for evaluating whether large language models(LLMs)possess genuine structural reasoning capabilities beyond lexical memorization.When predicates and action names are replaced with semantically irrelevant random symbols while preserving logical structures,existing direct generation approaches exhibit severe performance degradation.This paper proposes a symbol-agnostic closed-loop planning pipeline that enables models to construct executable plans through systematic validation and iterative refinement.The system implements a complete generate-verify-repair cycle through six core processing components:semantic comprehension extracts structural constraints,language planner generates text plans,symbol translator performs structure-preserving mapping,consistency checker conducts static screening,Stanford Research Institute Problem Solver(STRIPS)simulator executes step-by-step validation,and VAL(Validator)provides semantic verification.A repair controller orchestrates four targeted strategies addressing typical failure patterns including first-step precondition errors andmid-segment statemaintenance issues.Comprehensive evaluation on PlanBench Mystery Blocksworld demonstrates substantial improvements over baseline approaches across both language models and reasoning models.Ablation studies confirm that each architectural component contributes non-redundantly to overall effectiveness,with targeted repair providing the largest impact,followed by deep constraint extraction and stepwise validation,demonstrating that superior performance emerges from synergistic integration of these mechanisms rather than any single dominant factor.Analysis reveals distinct failure patterns betweenmodel types—languagemodels struggle with local precondition satisfaction while reasoning models face global goal achievement challenges—yet the validation-driven mechanism successfully addresses these diverse weaknesses.A particularly noteworthy finding is the convergence of final success rates across models with varying intrinsic capabilities,suggesting that systematic validation and repair mechanisms play a more decisive role than raw model capacity in lexical-prior-free scenarios.This work establishes a rigorous evaluation framework incorporating statistical significance testing and mechanistic failure analysis,providingmethodological contributions for fair assessment and practical insights into building reliable planning systems under extreme constraint conditions.展开更多
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
Efficient multiple unmanned aerial vehicles(UAVs)path planning is crucial for improving mission completion efficiency in UAV operations.However,during the actual flight of UAVs,the flight time between nodes is always ...Efficient multiple unmanned aerial vehicles(UAVs)path planning is crucial for improving mission completion efficiency in UAV operations.However,during the actual flight of UAVs,the flight time between nodes is always influenced by external factors,making the original path planning solution ineffective.In this paper,the multi-depot multi-UAV path planning problem with uncertain flight time is modeled as a robust optimization model with a budget uncertainty set.Then,the robust optimization model is transformed into a mixed integer linear programming model by the strong duality theorem,which makes the problem easy to solve.To effectively solve large-scale instances,a simulated annealing algorithm with a robust feasibility check(SA-RFC)is developed.The numerical experiment shows that the SA-RFC can find high-quality solutions within a few seconds.Moreover,the effect of the task location distribution,depot counts,and variations in robustness parameters on the robust optimization solution is analyzed by using Monte Carlo experiments.The results demonstrate that the proposed robust model can effectively reduce the risk of the UAV failing to return to the depot without significantly compromising the profit.展开更多
Aqueous zinc-ion batteries(AZIBs) have advantages including low economic cost and high safety.Nevertheless,the serious hydrogen evolution reactions(HER) and rampant growth of Zn dendrite hinder their further developme...Aqueous zinc-ion batteries(AZIBs) have advantages including low economic cost and high safety.Nevertheless,the serious hydrogen evolution reactions(HER) and rampant growth of Zn dendrite hinder their further development.Herein,potassium acetate(KAc) additive with cation/anion synergy effect is added into the ZnSO_(4) electrolyte to effectively promote the oriented uniform Zn deposition and suppress side reactions.According to density functional theory calculation and experimental results,CH_(3)COO^(-)(Ac^(-))anions are capable of forming stronger hydrogen bonds with H_(2)O molecules,leading to an expanded electrochemical stability window,reduced the reactivity of H_(2)O,and hence suppressing HER.Meanwhile,Ac-anions can also preferentially adsorb onto the Zn anode,promoting dense deposition towards the(100) crystal plane.Besides,dissociated K^(+) ions serve as electrostatic shielding cations,which significantly promote uniform Zn deposition and prevent dendrite formation.Thus,the Zn||Zn symmetric cell demonstrates an impressive cycle lifespan of 3000 h at 1.0 m A/cm^(2).Furthermore,the Zn||MnO_(2) full battery exhibits superior stability with a capacity retention of 86.95 % at 2.0 A/g after 4000 cycles.Therefore,the cation/anion synergy effect in KAc additive offers a viable solution to address HER and hinder dendrite growth at the interface of Zn anodes.展开更多
Shenzhen,a major city in southern China,has experienced rapid advancements in Unmanned Aerial Vehicle(UAV)technology,resulting in extensive logistics networks with thousands of daily flights.However,frequent disruptio...Shenzhen,a major city in southern China,has experienced rapid advancements in Unmanned Aerial Vehicle(UAV)technology,resulting in extensive logistics networks with thousands of daily flights.However,frequent disruptions due to its subtropical monsoon climate,including typhoons and gusty winds,present ongoing challenges.Despite the growing focus on operational costs and third-party risks,research on low-altitude urban wind fields remains scarce.This study addresses this gap by integrating wind field analysis into UAV path planning,introducing key innovations to the classical model.First,UAV wind resistance and turbulence constraints are analyzed,mapping high-wind-speed and turbulence-prone zones in the airspace.Second,wind dynamics are incorporated into path planning by considering airspeed and groundspeed variation,optimizing waypoint selection and flight speed adjustments to improve overall energy efficiency.Additionally,a wind-aware Theta*algorithm is proposed,leveraging wind vectors to expedite search process,while Computational Fluid Dynamics(CFD)techniques are employed to calculate wind fields.A case study of Shenzhen,examining wind patterns over the past decade,demonstrates a 6.23%improvement in groundspeed and a 7.69%reduction in energy consumption compared to wind-agnostic models.This framework advances UAV logistics by enhancing route safety and energy efficiency,contributing to more cost-effective operations.展开更多
Situs inversus totalis(SIT)is a rare congenital anomaly in which the major organs are reversed from their normal positions.In patients with SIT,the right-lobe graft must be placed in the left upper quadrant(LUQ).Howev...Situs inversus totalis(SIT)is a rare congenital anomaly in which the major organs are reversed from their normal positions.In patients with SIT,the right-lobe graft must be placed in the left upper quadrant(LUQ).However,hepatic outflow obstruction is a critical issue,often requiring radiologic intervention because of compression or kinking following graft regeneration of the vessels[1–3].Therefore,preoperative planning is essential to address the challenges of graft placement and vein reconstruction.Despite these complexities,we previously reported techniques using a reversed modified right-lobe(mRL)graft from a donor in a conventional recipient with SIT[2].Here,we successfully applied a similar concept.展开更多
A safe and reliable path planning algorithm is fundamental for unmanned surface vehicles(USVs)to perform autonomous navigation tasks.However,a single global or local planning strategy cannot fully meet the requirement...A safe and reliable path planning algorithm is fundamental for unmanned surface vehicles(USVs)to perform autonomous navigation tasks.However,a single global or local planning strategy cannot fully meet the requirements of complex maritime environments.Global planning alone cannot effectively handle dynamic obstacles,while local planning alone may fall into local optima.To address these issues,this paper proposes a multi-dynamic-obstacle avoidance path planning method that integrates an improved A^(*)algorithm with the dynamic window approach(DWA).The traditional A^(*)algorithm often generates paths that are too close to obstacle boundaries and contain excessive turning points,whereas the traditional DWA tends to skirt densely clustered obstacles,resulting in longer routes and insufficient dynamic obstacle avoidance.To overcome these limitations,improved versions of both algorithms are developed.Key points extracted from the optimized A^(*)path are used as intermediate start-destination pairs for the improved DWA,and the weights of the DWA evaluation function are adjusted to achieve effective fusion.Furthermore,a multi-dynamic-obstacle avoidance strategy is designed for complex navigation scenarios.Simulation results demonstrate that the USV can adaptively switch between dynamic obstacle avoidance and path tracking based on obstacle distribution,validating the effectiveness of the proposed method.展开更多
Manned aerial vehicle-unmanned aerial vehicle(MAV-UAV)combat organization is a MAV-UAV combat collective formed from the perspective of organization design theory and methodology,and the generation of force formation ...Manned aerial vehicle-unmanned aerial vehicle(MAV-UAV)combat organization is a MAV-UAV combat collective formed from the perspective of organization design theory and methodology,and the generation of force formation plan is a key step in the organizational planning.Based on the description of the problem and the definition of organizational elements,the matching model of platform-target attack wave is constructed to minimize the redundancy of command and decision-making capability,resource capability and the number of platforms used.Based on the non-dominated sorting genetic algorithmⅢ(NSGA-Ⅲ)framework,which includes encoding/decoding method and constraint handling method,the generation model of organizational force formation plan is solved,and the effectiveness and superiority of the algorithm are verified by simulation experiments.展开更多
文摘<strong>Purpose:</strong><span style="font-family:;" "=""><span style="font-family:Verdana;"> Radiotherapy is a widely accepted standard of care for early-stage prostate cancer, and it is believed that the plan quality and treatment outcome are associated with contour accuracy of both the target and organs-at-risk (OAR). The purposes of this study are to 1) assess geometric and dosimetric uncertainties due to inter-observer contour variabilities and 2) evaluate the effectiveness of geometric indicators to predict target dosimetry in prostate radiotherapy. </span><b><span style="font-family:Verdana;">Methods:</span></b><span style="font-family:Verdana;"> Twenty prostate patients were selected for this retrospective study. Five experienced clinicians created unique structure sets containing prostate, seminal vesicles, bladder, and rectum for each patient. A fully automated script and knowledge-based planning routine were utilized to create standardized and unbiased plans that could be used to evaluate changes in isodose distributions due to inter-observer variability in structure segmentation. Plans were created on a “gold-standard” structure set, as well as on each of the user-defined structure sets. </span><b><span style="font-family:Verdana;">Results:</span></b><span style="font-family:Verdana;"> Inter-observer variability of contours during structure segmentation was very low for clearly defined organs such as the bladder but increased for organs without well-defined borders (prostate, seminal vesicles, and rectum). For plans generated with the user-defined structure sets, strong/moderate correlations were observed between the geometric indicators for target structure agreement and target coverage for both low-risk and intermediate-risk patient groups, while OAR indicators showed no correlation to final dosimetry. </span><b><span style="font-family:Verdana;">Conclusions:</span></b><span style="font-family:Verdana;"> Target delineation is crucial in order to maintain adequate dosimetric coverage regardless of the associated inter-observer uncertainties in OAR contours that had a limited impact upon final dosimetry.</span></span>
基金supported by the National Natural Science Foundation of China(Nos.62572017,62441232,62206007)R&D Program of Beijing Municipal Education Commission(KZ202210005008).
文摘Knowledge-based VisualQuestion Answering(VQA)requires the integration of visual information with external knowledge reasoning.Existing approaches typically retrieve information from external corpora and rely on pretrained language models for reasoning.However,their performance is often hindered by the limited capabilities of retrievers and the constrained size of knowledge bases.Moreover,relying on image captions to bridge the modal gap between visual and language modalities can lead to the omission of critical visual details.To address these limitations,we propose the Reflective Chain-of-Thought(ReCoT)method,a simple yet effective framework inspired by metacognition theory.ReCoT effectively activates the reasoning capabilities ofMultimodal Large LanguageModels(MLLMs),providing essential visual and knowledge cues required to solve complex visual questions.It simulates a metacognitive reasoning process that encompasses monitoring,reflection,and correction.Specifically,in the initial generation stage,an MLLM produces a preliminary answer that serves as the model’s initial cognitive output.During the reflective reasoning stage,this answer is critically examined to generate a reflective rationale that integrates key visual evidence and relevant knowledge.In the final refinement stage,a smaller language model leverages this rationale to revise the initial prediction,resulting in amore accurate final answer.By harnessing the strengths ofMLLMs in visual and knowledge grounding,ReCoT enables smaller language models to reason effectively without dependence on image captions or external knowledge bases.Experimental results demonstrate that ReCoT achieves substantial performance improvements,outperforming state-of-the-art methods by 2.26%on OK-VQA and 5.8%on A-OKVQA.
基金supported by the National Natural Science Foundation of China(Grant No.41961134032).
文摘The surrogate model serves as an efficient simulation tool during the slope parameter inversion process.However,the creep constitutive model integrated with dynamic damage evolution poses challenges in development of the required surrogate model.In this study,a novel physics knowledge-based surrogate model framework is proposed.In this framework,a Transformer module is employed to capture straindriven softening-hardening physical mechanisms.Positional encoding and self-attention are utilized to transform the constitutive parameters associated with shear strain,which are not directly time-related,into intermediate latent features for physical loss calculation.Next,a multi-layer stacked GRU(gated recurrent unit)network is built to provide input interfaces for time-dependent intermediate latent features,hydraulic boundary conditions,and water-rock interaction degradation equations,with static parameters introduced via external fully-connected layers.Finally,a combined loss function is constructed to facilitate the collaborative training of physical and data loss,introducing time-dependent weight adjustments to focus the surrogate model on accurate deformation predictions during critical phases.Based on the deformation of a reservoir bank landslide triggered by impoundment and subsequent restabilization,an elasto-viscoplastic constitutive model that considers water effect and sliding state dependencies is developed to validate the proposed surrogate model framework.The results indicate that the framework exhibits good performance in capturing physical mechanisms and predicting creep behavior,reducing errors by about 30 times compared to baseline models such as GRU and LSTM(long short-term memory),meeting the precision requirements for parameter inversion.Ablation experiments also confirmed the effectiveness of the framework.This framework can also serve as a reference for constructing other creep surrogate models that involve non-time-related across dimensions.
基金Supported by National Nature Science Foudation of China(61976160,61906137,61976158,62076184,62076182)Shanghai Science and Technology Plan Project(21DZ1204800)。
文摘Background External knowledge representations play an essential role in knowledge-based visual question and answering to better understand complex scenarios in the open world.Recent entity-relationship embedding approaches are deficient in representing some complex relations,resulting in a lack of topic-related knowledge and redundancy in topic-irrelevant information.Methods To this end,we propose MKEAH:Multimodal Knowledge Extraction and Accumulation on Hyperplanes.To ensure that the lengths of the feature vectors projected onto the hyperplane compare equally and to filter out sufficient topic-irrelevant information,two losses are proposed to learn the triplet representations from the complementary views:range loss and orthogonal loss.To interpret the capability of extracting topic-related knowledge,we present the Topic Similarity(TS)between topic and entity-relations.Results Experimental results demonstrate the effectiveness of hyperplane embedding for knowledge representation in knowledge-based visual question answering.Our model outperformed state-of-the-art methods by 2.12%and 3.24%on two challenging knowledge-request datasets:OK-VQA and KRVQA,respectively.Conclusions The obvious advantages of our model in TS show that using hyperplane embedding to represent multimodal knowledge can improve its ability to extract topic-related knowledge.
基金supported in part by 14th Five Year National Key R&D Program Project(Project Number:2023YFB3211001)the National Natural Science Foundation of China(62273339,U24A201397).
文摘Rapidly-exploring Random Tree(RRT)and its variants have become foundational in path-planning research,yet in complex three-dimensional off-road environments their uniform blind sampling and limited safety guarantees lead to slow convergence and force an unfavorable trade-off between path quality and traversal safety.To address these challenges,we introduce HS-APF-RRT*,a novel algorithm that fuses layered sampling,an enhanced Artificial Potential Field(APF),and a dynamic neighborhood-expansion mechanism.First,the workspace is hierarchically partitioned into macro,meso,and micro sampling layers,progressively biasing random samples toward safer,lower-energy regions.Second,we augment the traditional APF by incorporating a slope-dependent repulsive term,enabling stronger avoidance of steep obstacles.Third,a dynamic expansion strategy adaptively switches between 8 and 16 connected neighborhoods based on local obstacle density,striking an effective balance between search efficiency and collision-avoidance precision.In simulated off-road scenarios,HS-APF-RRT*is benchmarked against RRT*,GoalBiased RRT*,and APF-RRT*,and demonstrates significantly faster convergence,lower path-energy consumption,and enhanced safety margins.
基金supported by the Princess Nourah bint Abdulrahman University Researchers Supporting Project number(PNURSP2026R259)Princess Nourah bint Abdulrahman University,Riyadh,Saudi Arabia.Ashit Kumar Dutta would like to thank AlMaarefa University for supporting this research under project number MHIRSP2025017.
文摘Environmental problems are intensifying due to the rapid growth of the population,industry,and urban infrastructure.This expansion has resulted in increased air and water pollution,intensified urban heat island effects,and greater runoff from parks and other green spaces.Addressing these challenges requires prioritizing green infrastructure and other sustainable urban development strategies.This study introduces a novel Integrated Decision Support System that combines Pythagorean Fuzzy Sets with the Advanced Alternative Ranking Order Method allowing for Two-Step Normalization(AAROM-TN),enhanced by a dual weighting strategy.The weighting approach integrates the Criteria Importance Through Intercriteria Correlation(CRITIC)method with the Criteria Importance through Means and Standard Deviation(CIMAS)technique.The originality of the proposed framework lies in its ability to objectively quantify criteria importance using CRITIC,incorporate decision-makers’preferences through CIMAS,and capture the uncertainty and hesitation inherent in human judgment via Pythagorean Fuzzy Sets.A case study evaluating green infrastructure alternatives in metropolitan regions demonstrates the applicability and effectiveness of the framework.A sensitivity analysis is conducted to examine how variations in criteria weights affect the rankings and to evaluate the robustness of the results.Furthermore,a comparative analysis highlights the practical and financial implications of each alternative by assessing their respective strengths and weaknesses.
基金the Strategic Research Plan of the Centre for Marine Technology and Ocean Engineering(CENTEC),which is financed by the Portuguese Foundation for Science and Technology(Fundação para a Ciência e a Tecnologia FCT)under contract UIDB/UIDP/00134/2020.
文摘This study examines the methods to plan the development of offshore oilfields over the years,which are used to support the decision-making on the development of offshore oilfields.About 100 papers are analysed and categorised into different groups of main early-stage decisions.The present study stands in contrast to the contributions of the operations research and system engineering review articles,on the one hand,and the petroleum engineering review articles,on the other.This is because it does not focus on one methodological approach,nor does it limit the literature analysis by offshore oilfield characteristics.Consequently,the present analysis may offer valuable insights,for instance,by identifying environmental planning decisions as a recent yet highly significant concern that is currently being imposed on decision-making process.Thus,it is evident that the incorporation of safety criteria within the technical-economic decision-making process for the design of production systems would be a crucial requirement at development phase.
基金supported by the Natural Science Foundation of China(Grants U2166211)Zhejiang Provincial Natural Science Foundation of China(Grants LY24E070006 and LMS25E070002).
文摘Driven by the global energy transition and the urgent“dual carbon”goals,regional integrated energy system(RIES)planning is undergoing a paradigm shift from carbon reduction to negative carbon emissions.This paper provides a comprehensive review of the theoretical frameworks and technical pathways for RIES planning from a carbon-centric perspective.A key contribution is the proposed Carbon-Energy-Economy(CEE)triple-dimensional governance framework,which endogenizes carbon factors into planning decisions through emission constraints,trading mechanisms,and capture technologies.We first analyze the fundamental characteristics of RIES and their critical role in achieving carbon neutrality,detailing advancements in multi-energy coupling models,energy router concepts,and standardized energy hub modeling.The paper further explores multi-energy flow analysis methods,and systematically compares the applicability and limitations of various planning algorithms,with emphasis on addressing uncertainties from renewable integration.Finally,we highlight the integration of artificial intelligence with traditional optimization methods,offering new pathways for intelligent,adaptive,and low-carbon RIES planning.This review underscores the transition towards data-physical fusion models,cooperative uncertainty optimization,multi-market planning,and innovative zero/negative-carbon technological routes.
基金CHINA POSTDOCTORAL SCIENCE FOUNDATION(Grant No.2025M771925)Young Scientists Fund(C Class)(Grant No.32501636)Special Fund of Fundamental Scientific Research Business Expense for Higher School of Central Government(Grant No.2572025JT04).
文摘This paper introduces a novel nature-inspired metaheuristic algorithm called the Gekko japonicus algorithm.The algo-rithm draws inspiration mainly from the predation strategies and survival behaviors of the Gekko japonicus.The math-ematical model is developed by simulating various biological behaviors of the Gekko japonicus,such as hybrid loco-motion patterns,directional olfactory guidance,implicit group advantage tendencies,and the tail autotomy mechanism.By integrating multi-stage mutual constraints and dynamically adjusting parameters,GJA maintains an optimal balance between global exploration and local exploitation,thereby effectively solving complex optimization problems.To assess the performance of GJA,comparative analyses were performed against fourteen state-of-the-art metaheuristic algorithms using the CEC2017 and CEC2022 benchmark test sets.Additionally,a Friedman test was performed on the experimen-tal results to assess the statistical significance of differences between various algorithms.And GJA was evaluated using multiple qualitative indicators,further confirming its superiority in exploration and exploitation.Finally,GJA was utilized to solve four engineering optimization problems and further implemented in robotic path planning to verify its practical applicability.Experimental results indicate that,compared to other high-performance algorithms,GJA demonstrates excep-tional performance as a powerful optimization algorithm in complex optimization problems.We make the code publicly available at:https://github.com/zhy1109/Gekko-japonicusalgorithm.
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.
文摘With the rapid development of intelligent navigation technology,efficient and safe path planning for mobile robots has become a core requirement.To address the challenges of complex dynamic environments,this paper proposes an intelligent path planning framework based on grid map modeling.First,an improved Safe and Smooth A*(SSA*)algorithm is employed for global path planning.By incorporating obstacle expansion and cornerpoint optimization,the proposed SSA*enhances the safety and smoothness of the planned path.Then,a Partitioned Dynamic Window Approach(PDWA)is integrated for local planning,which is triggered when dynamic or sudden static obstacles appear,enabling real-time obstacle avoidance and path adjustment.A unified objective function is constructed,considering path length,safety,and smoothness comprehensively.Multiple simulation experiments are conducted on typical port grid maps.The results demonstrate that the improved SSA*significantly reduces the number of expanded nodes and computation time in static environmentswhile generating smoother and safer paths.Meanwhile,the PDWA exhibits strong real-time performance and robustness in dynamic scenarios,achieving shorter paths and lower planning times compared to other graph search algorithms.The proposedmethodmaintains stable performance across maps of different scales and various port scenarios,verifying its practicality and potential for wider application.
文摘Theauthor proposes a dual layer source grid load storage collaborative planning model based on Benders decomposition to optimize the low-carbon and economic performance of the distribution network.The model plans the configuration of photovoltaic(3.8 MW),wind power(2.5 MW),energy storage(2.2 MWh),and SVC(1.2 Mvar)through interaction between upper and lower layers,and modifies lines 2–3,8–9,etc.to improve transmission capacity and voltage stability.The author uses normal distribution and Monte Carlo method to model load uncertainty,and combines Weibull distribution to describe wind speed characteristics.Compared to the traditional three-layer model(TLM),Benders decomposition-based two-layer model(BLBD)has a 58.1%reduction in convergence time(5.36 vs.12.78 h),a 51.1%reduction in iteration times(23 vs.47 times),a 8.07%reduction in total cost(12.436 vs.13.528 million yuan),and a 9.62%reduction in carbon emissions(12,456 vs.13,782 t).After optimization,the peak valley difference decreased from4.1 to 2.9MW,the renewable energy consumption rate reached 93.4%,and the energy storage efficiency was 87.6%.Themodel has been validated in the IEEE 33 node system,demonstrating its superiority in terms of economy,low-carbon,and reliability.
基金supported by the Information,Production and Systems Research Center,Waseda University,and partly supported by the Future Robotics Organization,Waseda Universitythe Humanoid Robotics Institute,Waseda University,under the Humanoid Project+1 种基金the Waseda University Grant for Special Research Projects(grant numbers 2024C-518 and 2025E-027)was partly executed under the cooperation of organization between Kioxia Corporation andWaseda University.
文摘Planning in lexical-prior-free environments presents a fundamental challenge for evaluating whether large language models(LLMs)possess genuine structural reasoning capabilities beyond lexical memorization.When predicates and action names are replaced with semantically irrelevant random symbols while preserving logical structures,existing direct generation approaches exhibit severe performance degradation.This paper proposes a symbol-agnostic closed-loop planning pipeline that enables models to construct executable plans through systematic validation and iterative refinement.The system implements a complete generate-verify-repair cycle through six core processing components:semantic comprehension extracts structural constraints,language planner generates text plans,symbol translator performs structure-preserving mapping,consistency checker conducts static screening,Stanford Research Institute Problem Solver(STRIPS)simulator executes step-by-step validation,and VAL(Validator)provides semantic verification.A repair controller orchestrates four targeted strategies addressing typical failure patterns including first-step precondition errors andmid-segment statemaintenance issues.Comprehensive evaluation on PlanBench Mystery Blocksworld demonstrates substantial improvements over baseline approaches across both language models and reasoning models.Ablation studies confirm that each architectural component contributes non-redundantly to overall effectiveness,with targeted repair providing the largest impact,followed by deep constraint extraction and stepwise validation,demonstrating that superior performance emerges from synergistic integration of these mechanisms rather than any single dominant factor.Analysis reveals distinct failure patterns betweenmodel types—languagemodels struggle with local precondition satisfaction while reasoning models face global goal achievement challenges—yet the validation-driven mechanism successfully addresses these diverse weaknesses.A particularly noteworthy finding is the convergence of final success rates across models with varying intrinsic capabilities,suggesting that systematic validation and repair mechanisms play a more decisive role than raw model capacity in lexical-prior-free scenarios.This work establishes a rigorous evaluation framework incorporating statistical significance testing and mechanistic failure analysis,providingmethodological contributions for fair assessment and practical insights into building reliable planning systems under extreme constraint conditions.
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.
基金supported by the National Natural Science Foundation of China(72571094,72271076,71871079)。
文摘Efficient multiple unmanned aerial vehicles(UAVs)path planning is crucial for improving mission completion efficiency in UAV operations.However,during the actual flight of UAVs,the flight time between nodes is always influenced by external factors,making the original path planning solution ineffective.In this paper,the multi-depot multi-UAV path planning problem with uncertain flight time is modeled as a robust optimization model with a budget uncertainty set.Then,the robust optimization model is transformed into a mixed integer linear programming model by the strong duality theorem,which makes the problem easy to solve.To effectively solve large-scale instances,a simulated annealing algorithm with a robust feasibility check(SA-RFC)is developed.The numerical experiment shows that the SA-RFC can find high-quality solutions within a few seconds.Moreover,the effect of the task location distribution,depot counts,and variations in robustness parameters on the robust optimization solution is analyzed by using Monte Carlo experiments.The results demonstrate that the proposed robust model can effectively reduce the risk of the UAV failing to return to the depot without significantly compromising the profit.
基金financially supported by the National Natural Science Foundation of China (No.52372188)the 111 Project (No.D17007)2023 Introduction of studying abroad talent program。
文摘Aqueous zinc-ion batteries(AZIBs) have advantages including low economic cost and high safety.Nevertheless,the serious hydrogen evolution reactions(HER) and rampant growth of Zn dendrite hinder their further development.Herein,potassium acetate(KAc) additive with cation/anion synergy effect is added into the ZnSO_(4) electrolyte to effectively promote the oriented uniform Zn deposition and suppress side reactions.According to density functional theory calculation and experimental results,CH_(3)COO^(-)(Ac^(-))anions are capable of forming stronger hydrogen bonds with H_(2)O molecules,leading to an expanded electrochemical stability window,reduced the reactivity of H_(2)O,and hence suppressing HER.Meanwhile,Ac-anions can also preferentially adsorb onto the Zn anode,promoting dense deposition towards the(100) crystal plane.Besides,dissociated K^(+) ions serve as electrostatic shielding cations,which significantly promote uniform Zn deposition and prevent dendrite formation.Thus,the Zn||Zn symmetric cell demonstrates an impressive cycle lifespan of 3000 h at 1.0 m A/cm^(2).Furthermore,the Zn||MnO_(2) full battery exhibits superior stability with a capacity retention of 86.95 % at 2.0 A/g after 4000 cycles.Therefore,the cation/anion synergy effect in KAc additive offers a viable solution to address HER and hinder dendrite growth at the interface of Zn anodes.
基金supported by the National Natural Science Foundation of China(No.U2433214)。
文摘Shenzhen,a major city in southern China,has experienced rapid advancements in Unmanned Aerial Vehicle(UAV)technology,resulting in extensive logistics networks with thousands of daily flights.However,frequent disruptions due to its subtropical monsoon climate,including typhoons and gusty winds,present ongoing challenges.Despite the growing focus on operational costs and third-party risks,research on low-altitude urban wind fields remains scarce.This study addresses this gap by integrating wind field analysis into UAV path planning,introducing key innovations to the classical model.First,UAV wind resistance and turbulence constraints are analyzed,mapping high-wind-speed and turbulence-prone zones in the airspace.Second,wind dynamics are incorporated into path planning by considering airspeed and groundspeed variation,optimizing waypoint selection and flight speed adjustments to improve overall energy efficiency.Additionally,a wind-aware Theta*algorithm is proposed,leveraging wind vectors to expedite search process,while Computational Fluid Dynamics(CFD)techniques are employed to calculate wind fields.A case study of Shenzhen,examining wind patterns over the past decade,demonstrates a 6.23%improvement in groundspeed and a 7.69%reduction in energy consumption compared to wind-agnostic models.This framework advances UAV logistics by enhancing route safety and energy efficiency,contributing to more cost-effective operations.
文摘Situs inversus totalis(SIT)is a rare congenital anomaly in which the major organs are reversed from their normal positions.In patients with SIT,the right-lobe graft must be placed in the left upper quadrant(LUQ).However,hepatic outflow obstruction is a critical issue,often requiring radiologic intervention because of compression or kinking following graft regeneration of the vessels[1–3].Therefore,preoperative planning is essential to address the challenges of graft placement and vein reconstruction.Despite these complexities,we previously reported techniques using a reversed modified right-lobe(mRL)graft from a donor in a conventional recipient with SIT[2].Here,we successfully applied a similar concept.
基金supported by the National Nature Science Foundation of China(62203299,62373246,62388101)the Research Fund of State Key Laboratory of Deep-Sea Manned Vehicles(2024SKLDMV04)+1 种基金the Oceanic Interdisciplinary Program of Shanghai Jiao Tong University(SL2023MS007)the Startup Fund for Young Faculty at SJTU(24X010502929)。
文摘A safe and reliable path planning algorithm is fundamental for unmanned surface vehicles(USVs)to perform autonomous navigation tasks.However,a single global or local planning strategy cannot fully meet the requirements of complex maritime environments.Global planning alone cannot effectively handle dynamic obstacles,while local planning alone may fall into local optima.To address these issues,this paper proposes a multi-dynamic-obstacle avoidance path planning method that integrates an improved A^(*)algorithm with the dynamic window approach(DWA).The traditional A^(*)algorithm often generates paths that are too close to obstacle boundaries and contain excessive turning points,whereas the traditional DWA tends to skirt densely clustered obstacles,resulting in longer routes and insufficient dynamic obstacle avoidance.To overcome these limitations,improved versions of both algorithms are developed.Key points extracted from the optimized A^(*)path are used as intermediate start-destination pairs for the improved DWA,and the weights of the DWA evaluation function are adjusted to achieve effective fusion.Furthermore,a multi-dynamic-obstacle avoidance strategy is designed for complex navigation scenarios.Simulation results demonstrate that the USV can adaptively switch between dynamic obstacle avoidance and path tracking based on obstacle distribution,validating the effectiveness of the proposed method.
基金supported by the Natural Science Foundation of Shaanxi Province(2023-JC-QN-0728)the China Postdoctoral Science Foundation(2021M693942)。
文摘Manned aerial vehicle-unmanned aerial vehicle(MAV-UAV)combat organization is a MAV-UAV combat collective formed from the perspective of organization design theory and methodology,and the generation of force formation plan is a key step in the organizational planning.Based on the description of the problem and the definition of organizational elements,the matching model of platform-target attack wave is constructed to minimize the redundancy of command and decision-making capability,resource capability and the number of platforms used.Based on the non-dominated sorting genetic algorithmⅢ(NSGA-Ⅲ)framework,which includes encoding/decoding method and constraint handling method,the generation model of organizational force formation plan is solved,and the effectiveness and superiority of the algorithm are verified by simulation experiments.
