With the development of mobile technology, Internet and GIS, LBS plays an important role in various applications. From the perspective of LBS, it is one of the main tasks of matching 3-dimensional spatial-temporal tra...With the development of mobile technology, Internet and GIS, LBS plays an important role in various applications. From the perspective of LBS, it is one of the main tasks of matching 3-dimensional spatial-temporal trajectories. We present an interpoiation based Modified Hausdorff Distance algorithm for 3-dimensional spatial-temporal Trajectory Matching （IMHD-ST）. It adopts interpolation algorithm to shield the impact to the distance between trajectories due to different position updating porices, sampling granularity, initial position and so on in Moving Object Database （MOD）. Besides, it uses MHD to deal with the implicit spatial information and structural information of weighted position updating points in various trajectories and reflects the discrepancy of moving results through the spatial distance between trajectories. In addition, it adopts temporal distance corresponding to the spatial distance between trajectories to reflect the differences including direction, speed and so on during moving process. The experimental results show that the algorithrn can reflect the trajectory similarity between 3-dimensional mobile objects more correctly, accurately and robustly.展开更多
Human trajectory prediction is essential and promising in many related applications. This is challenging due to the uncertainty of human behaviors, which can be influenced not only by himself, but also by the surround...Human trajectory prediction is essential and promising in many related applications. This is challenging due to the uncertainty of human behaviors, which can be influenced not only by himself, but also by the surrounding environment. Recent works based on long-short term memory(LSTM) models have brought tremendous improvements on the task of trajectory prediction. However, most of them focus on the spatial influence of humans but ignore the temporal influence. In this paper, we propose a novel spatial-temporal attention(ST-Attention) model,which studies spatial and temporal affinities jointly. Specifically,we introduce an attention mechanism to extract temporal affinity,learning the importance for historical trajectory information at different time instants. To explore spatial affinity, a deep neural network is employed to measure different importance of the neighbors. Experimental results show that our method achieves competitive performance compared with state-of-the-art methods on publicly available datasets.展开更多
As a significant city in the Yangtze River Delta regions,Hefei has experienced rapid changes in the sources of air pollution due to its high-speed economic development and urban expansion.However,there has been limite...As a significant city in the Yangtze River Delta regions,Hefei has experienced rapid changes in the sources of air pollution due to its high-speed economic development and urban expansion.However,there has been limited research in recent years on the spatial-temporal distribution and emission of its atmospheric pollutants.To address this,this study conducted mobile observations of urban roads using the Mobile-DOAS instrument from June 2021 to May 2022.The monitoring results exhibit a favourable consistent with TROPOMI satellite data and ground monitoring station data.Temporally,there were pronounced seasonal variations in air pollutants.Spatially,high concentration of HCHO and NO_(2)were closely associated with traffic congestion on roadways,while heightened SO_(2)levels were attributed to winter heating and industrial emissions.The study also revealed that with the implementation of road policies,the average vehicle speed increased by 95.4%,while the NO concentration decreased by 54.4%.In the estimation of urban NO_(x)emission flux,it was observed that in temporal terms,compared with inventory data,the emissions calculated viamobile measurements exhibitedmore distinct seasonal patterns,with the highest emission rate of 349 g/sec in winter and the lowest of 142 g/sec in summer.In spatial terms,the significant difference in emissions between the inner and outer ring roads also suggests the presence of the city’s primary NO_(x)emission sources in the area between these two rings.This study offers data support for formulating the next phase of air pollution control measures in urban areas.展开更多
In the current situation of decelerating economic expansion,examining the digital economy(DE)as a novel economic model is beneficial for the local economy’s sustainable and high-quality development(HQD).We analyzed p...In the current situation of decelerating economic expansion,examining the digital economy(DE)as a novel economic model is beneficial for the local economy’s sustainable and high-quality development(HQD).We analyzed panel data from the Yellow River(YR)region from 2013 to 2021 and discovered notable spatial variances in the composite index and coupling coordination of the two systems.Specifically,the downstream region exhibited the highest coupling coordination,while the upstream region had the lowest.We identified that favorable factors such as economic development,innovation,industrial upgrading,and government intervention can bolster the coupling.Our findings provide a valuable framework for promoting DE and HQD in the YR region.展开更多
Accurate traffic flow prediction has a profound impact on modern traffic management. Traffic flow has complex spatial-temporal correlations and periodicity, which poses difficulties for precise prediction. To address ...Accurate traffic flow prediction has a profound impact on modern traffic management. Traffic flow has complex spatial-temporal correlations and periodicity, which poses difficulties for precise prediction. To address this problem, a Multi-head Self-attention and Spatial-Temporal Graph Convolutional Network (MSSTGCN) for multiscale traffic flow prediction is proposed. Firstly, to capture the hidden traffic periodicity of traffic flow, traffic flow is divided into three kinds of periods, including hourly, daily, and weekly data. Secondly, a graph attention residual layer is constructed to learn the global spatial features across regions. Local spatial-temporal dependence is captured by using a T-GCN module. Thirdly, a transformer layer is introduced to learn the long-term dependence in time. A position embedding mechanism is introduced to label position information for all traffic sequences. Thus, this multi-head self-attention mechanism can recognize the sequence order and allocate weights for different time nodes. Experimental results on four real-world datasets show that the MSSTGCN performs better than the baseline methods and can be successfully adapted to traffic prediction tasks.展开更多
Spatial-temporal traffic prediction technology is crucial for network planning,resource allocation optimizing,and user experience improving.With the development of virtual network operators,multi-operator collaboratio...Spatial-temporal traffic prediction technology is crucial for network planning,resource allocation optimizing,and user experience improving.With the development of virtual network operators,multi-operator collaborations,and edge computing,spatial-temporal traffic data has taken on a distributed nature.Consequently,noncentralized spatial-temporal traffic prediction solutions have emerged as a recent research focus.Currently,the majority of research typically adopts federated learning methods to train traffic prediction models distributed on each base station.This method reduces additional burden on communication systems.However,this method has a drawback:it cannot handle irregular traffic data.Due to unstable wireless network environments,device failures,insufficient storage resources,etc.,data missing inevitably occurs during the process of collecting traffic data.This results in the irregular nature of distributed traffic data.Yet,commonly used traffic prediction models such as Recurrent Neural Networks(RNN)and Long Short-Term Memory(LSTM)typically assume that the data is complete and regular.To address the challenge of handling irregular traffic data,this paper transforms irregular traffic prediction into problems of estimating latent variables and generating future traffic.To solve the aforementioned problems,this paper introduces split learning to design a structured distributed learning framework.The framework comprises a Global-level Spatial structure mining Model(GSM)and several Nodelevel Generative Models(NGMs).NGM and GSM represent Seq2Seq models deployed on the base station and graph neural network models deployed on the cloud or central controller.Firstly,the time embedding layer in NGM establishes the mapping relationship between irregular traffic data and regular latent temporal feature variables.Secondly,GSM collects statistical feature parameters of latent temporal feature variables from various nodes and executes graph embedding for spatial-temporal traffic data.Finally,NGM generates future traffic based on latent temporal and spatial feature variables.The introduction of the time attention mechanism enhances the framework’s capability to handle irregular traffic data.Graph attention network introduces spatially correlated base station traffic feature information into local traffic prediction,which compensates for missing information in local irregular traffic data.The proposed framework effectively addresses the distributed prediction issues of irregular traffic data.By testing on real world datasets,the proposed framework improves traffic prediction accuracy by 35%compared to other commonly used distributed traffic prediction methods.展开更多
Objective:Sepsis exhibits remarkable heterogeneity in disease progression trajectories,and accurate identificationof distinct trajectory-based phenotypes is critical for implementing personalized therapeutic strategie...Objective:Sepsis exhibits remarkable heterogeneity in disease progression trajectories,and accurate identificationof distinct trajectory-based phenotypes is critical for implementing personalized therapeutic strategies and prognostic assessment.However,trajectory clustering analysis of time-series clinical data poses substantial methodological challenges for researchers.This study provides a comprehensive tutorial framework demonstrating six trajectory modeling approaches integrated with proteomic analysis to guide researchers in identifying sepsis subtypes after laparoscopic surgery.Methods:This study employs simulated longitudinal data from 300 septic patients after laparoscopic surgery to demonstrate six trajectory modeling methods(group-based trajectory modeling,latent growth mixture modeling,latent transition analysis,time-varying effect modeling,K-means for longitudinal data,agglomerative hierarchical clustering)for identifying associations between predefinedsequential organ failure assessment trajectories and 25 proteomic biomarkers.Clustering performance was evaluated via multiple metrics,and a biomarker discovery pipeline integrating principal component analysis,random forests,feature selection,and receiver operating characteristic analysis was developed.Results:The six methods demonstrated varying performance in identifying trajectory structures,with each approach exhibiting distinct analytical characteristics.The performance metrics revealed differences across methods,which may inform context-specificmethod selection and interpretation strategies.Conclusion:This study illustrates practical implementations of trajectory modeling approaches under controlled conditions,facilitating informed method selection for clinical researchers.The inclusion of complete R code and integrated proteomics workflows offers a reproducible analytical framework connecting temporal pattern recognition to biomarker discovery.Beyond sepsis,this pipeline-oriented approach may be adapted to diverse clinical scenarios requiring longitudinal disease characterization and precision medicine applications.The comparative analysis reveals that each method has distinct strengths,providing a practical guide for clinical researchers in selecting appropriate methods based on their specificstudy goals and data characteristics.展开更多
Background:The trajectory of intrinsic capacity(IC)among the older population is characterized by its diversity and is predictive of adverse health outcomes such as disability,nursing home admission,decline in quality...Background:The trajectory of intrinsic capacity(IC)among the older population is characterized by its diversity and is predictive of adverse health outcomes such as disability,nursing home admission,decline in quality of life,and mortality.Gaining an understanding of the trajectory of IC and the factors that influence it is of paramount importance for fostering healthy aging.This research is focused on exploring the trajectory of IC among older adults in China and examining the factors that influence it.Methods:This observational longitudinal cohort study leveraged data from the China Health and Retirement Longitudinal Study(CHARLS),which was conducted in the years 2011,2013,and 2015.For the purpose of this analysis,a total of 2,233 participants who were aged 60 and over were included.A Growth Mixture Model(GMM)was utilized to define trajectory categories for IC.Influential factors were ascertained based on the health ecology model,and binary logistic regression analysis was utilized to investigate the factors linked with the different trajectory categories.Results:Two distinct trajectory classes of IC were identified:Class 1,the normal-stable group,encompassed 90.4%of the elderly population,while Class 2,the declining group,made up 9.6%.Advanced age and a history of stroke were found to be significantly associated with Class 2.High scores in activities of daily living(ADL),employment status,receiving primary or junior high school education,and residence in the East or Central regions of China were significantly linked with Class 1.Conclusion:The trajectory of IC among older Chinese adults is marked by its heterogeneity.Advanced age and a history of stroke are significant risk factors for a declining IC trajectory,while higher ADL scores,being employed,receiving primary or junior high school education,and residing in the East or Central regions of China are protective factors associated with a stable IC trajectory.Healthcare institutions must closely monitor IC levels and understand these trajectory patterns to implement personalized and targeted interventions promptly to maintain IC at a healthy level and advocate for healthy aging.展开更多
Scalable simulation leveraging real-world data plays an essential role in advancing autonomous driving,owing to its efficiency and applicability in both training and evaluating algorithms.Consequently,there has been i...Scalable simulation leveraging real-world data plays an essential role in advancing autonomous driving,owing to its efficiency and applicability in both training and evaluating algorithms.Consequently,there has been increasing attention on generating highly realistic and consistent driving videos,particularly those involving viewpoint changes guided by the control commands or trajectories of ego vehicles.However,current reconstruction approaches,such as Neural Radiance Fields and 3D Gaussian Splatting,frequently suffer from limited generalization and depend on substantial input data.Meanwhile,2D generative models,though capable of producing unknown scenes,still have room for improvement in terms of coherence and visual realism.To overcome these challenges,we introduce GenScene,a world model that synthesizes front-view driving videos conditioned on trajectories.A new temporal module is presented to improve video consistency by extracting the global context of each frame,calculating relationships of frames using these global representations,and fusing frame contexts accordingly.Moreover,we propose an innovative attention mechanism that computes relations of pixels within each frame and pixels in the corresponding window range of the initial frame.Extensive experiments show that our approach surpasses various state-of-the-art models in driving video generation,and the introduced modules contribute significantly to model performance.This work establishes a new paradigm for goal-oriented video synthesis in autonomous driving,which facilitates on-demand simulation to expedite algorithm development.展开更多
The generation of synthetic trajectories has become essential in various fields for analyzing complex movement patterns.However,the use of real-world trajectory data poses significant privacy risks,such as location re...The generation of synthetic trajectories has become essential in various fields for analyzing complex movement patterns.However,the use of real-world trajectory data poses significant privacy risks,such as location reidentification and correlation attacks.To address these challenges,privacy-preserving trajectory generation methods are critical for applications relying on sensitive location data.This paper introduces DPIL-Traj,an advanced framework designed to generate synthetic trajectories while achieving a superior balance between data utility and privacy preservation.Firstly,the framework incorporates Differential Privacy Clustering,which anonymizes trajectory data by applying differential privacy techniques that add noise,ensuring the protection of sensitive user information.Secondly,Imitation Learning is used to replicate decision-making behaviors observed in real-world trajectories.By learning from expert trajectories,this component generates synthetic data that closely mimics real-world decision-making processes while optimizing the quality of the generated trajectories.Finally,Markov-based Trajectory Generation is employed to capture and maintain the inherent temporal dynamics of movement patterns.Extensive experiments conducted on the GeoLife trajectory dataset show that DPIL-Traj improves utility performance by an average of 19.85%,and in terms of privacy performance by an average of 12.51%,compared to state-of-the-art approaches.Ablation studies further reveal that DP clustering effectively safeguards privacy,imitation learning enhances utility under noise,and the Markov module strengthens temporal coherence.展开更多
Re-entry gliding vehicles exhibit high maneuverability,making trajectory prediction a key factor in the effectiveness of defense systems.To overcome the limited fitting accuracy of existing methods and their poor adap...Re-entry gliding vehicles exhibit high maneuverability,making trajectory prediction a key factor in the effectiveness of defense systems.To overcome the limited fitting accuracy of existing methods and their poor adaptability to maneuver mode mutations,a trajectory prediction method is proposed that integrates online maneuver mode identification with dynamic modeling.Characteristic parameters are extracted from tracking data for parameterized modeling,enabling real-time identification of maneuver modes.In addition,a maneuver detection mechanism based on higher-order cumulants is introduced to detect lateral maneuver mutations and optimize the use of historical data.Simulation results show that the proposed method achieves accurate trajectory prediction during the glide phase and maintains high accuracy under maneuver mutations,significantly enhancing the prediction performance of both three-dimensional trajectories and ground tracks.展开更多
BACKGROUND Lumbar interbody fusion(LIF)is the primary treatment for lumbar degenerative diseases.Elderly patients are prone to anxiety and depression after undergoing surgery,which affects their postoperative recovery...BACKGROUND Lumbar interbody fusion(LIF)is the primary treatment for lumbar degenerative diseases.Elderly patients are prone to anxiety and depression after undergoing surgery,which affects their postoperative recovery speed and quality of life.Effective prevention of anxiety and depression in elderly patients has become an urgent problem.AIM To investigate the trajectory of anxiety and depression levels in elderly patients after LIF,and the influencing factors.METHODS Random sampling was used to select 239 elderly patients who underwent LIF from January 2020 to December 2024 in Shenzhen Pingle Orthopedic Hospital.General information and surgery-related indices were recorded,and participants completed measures of psychological status,lumbar spine dysfunction,and quality of life.A latent class growth model was used to analyze the post-LIF trajectory of anxiety and depression levels,and unordered multi-categorical logistic regression was used to analyze the influencing factors.RESULTS Three trajectories of change in anxiety level were identified:Increasing anxiety(n=26,10.88%),decreasing anxiety(n=27,11.30%),and stable anxiety(n=186,77.82%).Likewise,three trajectories of change in depression level were identified:Increasing depression(n=30,12.55%),decreasing depression(n=26,10.88%),and stable depression(n=183,76.57%).Regression analysis showed that having no partner,female sex,elevated Oswestry dysfunction index(ODI)scores,and reduced 36-Item Short Form Health Survey scores all contributed to increased anxiety levels,whereas female sex,postoperative opioid use,and elevated ODI scores all contributed to increased depression levels.CONCLUSION During clinical observation,combining factors to predict anxiety and depression in post-LIF elderly patients enables timely intervention,quickens recovery,and enhances quality of life.展开更多
Circumlunar abort trajectories constitute a vital contingency return strategy during the translunar phase of crewed lunar missions.This paper proposes a methodology for constructing the solution set of the circumlunar...Circumlunar abort trajectories constitute a vital contingency return strategy during the translunar phase of crewed lunar missions.This paper proposes a methodology for constructing the solution set of the circumlunar abort trajectory and leverages its advantageous properties to address the optimization design problem of abort trajectories.Initially,a solution set of all feasible abort trajectories,originating from an abort point on the nominal trajectory and complying with fundamental reentry constraints,is formulated through the introduction of two novel design parameters.Subsequently,the geometric characteristics of the solution set,as well as the distributional properties of key iterative constraint responses,including flight time and velocity increment,are analyzed.Finally,the characteristics exhibited in the solution set are employed to directly identify the design parameters of the abort trajectories with minimum flight time and velocity increment,thereby providing solutions to two distinct types of optimization problems.The simulation results for a variety of nominal trajectories,encompassing the reconstruction and redesign of the Apollo13 abort trajectory,validate the proposed method,demonstrating its ability to directly generate optimal abort trajectories.The method proposed in this paper investigates feasible abort trajectories from a global perspective,providing both a framework and convenience for mission planning and iterative optimization in abort trajectory design.展开更多
In scenarios where ground-based cloud computing infrastructure is unavailable,unmanned aerial vehicles(UAVs)act as mobile edge computing(MEC)servers to provide on-demand computation services for ground terminals.To ad...In scenarios where ground-based cloud computing infrastructure is unavailable,unmanned aerial vehicles(UAVs)act as mobile edge computing(MEC)servers to provide on-demand computation services for ground terminals.To address the challenge of jointly optimizing task scheduling and UAV trajectory under limited resources and high mobility of UAVs,this paper presents PER-MATD3,a multi-agent deep reinforcement learning algorithm with prioritized experience replay(PER)into the Centralized Training with Decentralized Execution(CTDE)framework.Specifically,PER-MATD3 enables each agent to learn a decentralized policy using only local observations during execution,while leveraging a shared replay buffer with prioritized sampling and centralized critic during training to accelerate convergence and improve sample efficiency.Simulation results show that PER-MATD3 reduces average task latency by up to 23%,improves energy efficiency by 21%,and enhances service coverage compared to state-of-the-art baselines,demonstrating its effectiveness and practicality in scenarios without terrestrial networks.展开更多
As carrier aircraft sortie frequency and flight deck operational density increase,autonomous dispatch trajectory planning for carrier-based vehicles demands efficient,safe,and kinematically feasible solutions.This pap...As carrier aircraft sortie frequency and flight deck operational density increase,autonomous dispatch trajectory planning for carrier-based vehicles demands efficient,safe,and kinematically feasible solutions.This paper presents an Iterative Safe Dispatch Corridor(iSDC)framework,addressing the suboptimality of the traditional SDC method caused by static corridor construction and redundant obstacle exploration.First,a Kinodynamic-Informed-Bidirectional Rapidly-exploring Random Tree Star(KIBRRT^(*))algorithm is proposed for the front-end coarse planning.By integrating bidirectional tree expansion,goal-biased elliptical sampling,and artificial potential field guidance,it reduces unnecessary exploration near concave obstacles and generates kinematically admissible paths.Secondly,the traditional SDC is implemented in an iterative manner,and the obtained trajectory in the current iteration is fed into the next iteration for corridor generation,thus progressively improving the quality of withincorridor constraints.For tractors,a reverse-motion penalty function is incorporated into the back-end optimizer to prioritize forward driving,aligning with mechanical constraints and human operational preferences.Numerical validations on the data of Gerald R.Ford-class carrier demonstrate that the KIBRRT^(*)reduces average computational time by 75%and expansion nodes by 25%compared to conventional RRT^(*)algorithms.Meanwhile,the iSDC framework yields more time-efficient trajectories for both carrier aircraft and tractors,with the dispatch time reduced by 31.3%and tractor reverse motion proportion decreased by 23.4%relative to traditional SDC.The presented framework offers a scalable solution for autonomous dispatch in confined and safety-critical environment,and an illustrative animation is available at bilibili.com/video/BV1tZ7Zz6Eyz.Moreover,the framework can be easily extended to three-dimension scenarios,and thus applicable for trajectory planning of aerial and underwater vehicles.展开更多
Trajectory tracking for nonlinear robotic systems remains a fundamental yet challenging problem in control engineering,particularly when both precision and efficiency must be ensured.Conventional control methods are o...Trajectory tracking for nonlinear robotic systems remains a fundamental yet challenging problem in control engineering,particularly when both precision and efficiency must be ensured.Conventional control methods are often effective for stabilization but may not directly optimize long-term performance.To address this limitation,this study develops an integrated framework that combines optimal control principles with reinforcement learning for a single-link robotic manipulator.The proposed scheme adopts an actor–critic structure,where the critic network approximates the value function associated with the Hamilton–Jacobi–Bellman equation,and the actor network generates near-optimal control signals in real time.This dual adaptation enables the controller to refine its policy online without explicit system knowledge.Stability of the closed-loop system is analyzed through Lyapunov theory,ensuring boundedness of the tracking error.Numerical simulations on the single-link manipulator demonstrate that themethod achieves accurate trajectory followingwhile maintaining lowcontrol effort.The results further showthat the actor–critic learning mechanism accelerates convergence of the control policy compared with conventional optimization-based strategies.This work highlights the potential of reinforcement learning integrated with optimal control for robotic manipulators and provides a foundation for future extensions to more complex multi-degree-of-freedom systems.The proposed controller is further validated in a physics-based virtual Gazebo environment,demonstrating stable adaptation and real-time feasibility.展开更多
In Human–Robot Interaction(HRI),generating robot trajectories that accurately reflect user intentions while ensuring physical realism remains challenging,especially in unstructured environments.In this study,we devel...In Human–Robot Interaction(HRI),generating robot trajectories that accurately reflect user intentions while ensuring physical realism remains challenging,especially in unstructured environments.In this study,we develop a multimodal framework that integrates symbolic task reasoning with continuous trajectory generation.The approach employs transformer models and adversarial training to map high-level intent to robotic motion.Information from multiple data sources,such as voice traits,hand and body keypoints,visual observations,and recorded paths,is integrated simultaneously.These signals are mapped into a shared representation that supports interpretable reasoning while enabling smooth and realistic motion generation.Based on this design,two different learning strategies are investigated.In the first step,grammar-constrained Linear Temporal Logic(LTL)expressions are created from multimodal human inputs.These expressions are subsequently decoded into robot trajectories.The second method generates trajectories directly from symbolic intent and linguistic data,bypassing an intermediate logical representation.Transformer encoders combine multiple types of information,and autoregressive transformer decoders generate motion sequences.Adding smoothness and speed limits during training increases the likelihood of physical feasibility.To improve the realism and stability of the generated trajectories during training,an adversarial discriminator is also included to guide them toward the distribution of actual robot motion.Tests on the NATSGLD dataset indicate that the complete system exhibits stable training behaviour and performance.In normalised coordinates,the logic-based pipeline has an Average Displacement Error(ADE)of 0.040 and a Final Displacement Error(FDE)of 0.036.The adversarial generator makes substantially more progress,reducing ADE to 0.021 and FDE to 0.018.Visual examination confirms that the generated trajectories closely align with observed motion patterns while preserving smooth temporal dynamics.展开更多
In the field of intelligent air combat,real-time and accurate recognition of within-visual-range(WVR)maneuver actions serves as the foundational cornerstone for constructing autonomous decision-making systems.However,...In the field of intelligent air combat,real-time and accurate recognition of within-visual-range(WVR)maneuver actions serves as the foundational cornerstone for constructing autonomous decision-making systems.However,existing methods face two major challenges:traditional feature engineering suffers from insufficient effective dimensionality in the feature space due to kinematic coupling,making it difficult to distinguish essential differences between maneuvers,while end-to-end deep learning models lack controllability in implicit feature learning and fail to model high-order long-range temporal dependencies.This paper proposes a trajectory feature pre-extraction method based on a Long-range Masked Autoencoder(LMAE),incorporating three key innovations:(1)Random Fragment High-ratio Masking(RFH-Mask),which enforces the model to learn long-range temporal correlations by masking 80%of trajectory data while retaining continuous fragments;(2)Kalman Filter-Guided Objective Function(KFG-OF),integrating trajectory continuity constraints to align the feature space with kinematic principles;and(3)Two-stage Decoupled Architecture,enabling efficient and controllable feature learning through unsupervised pre-training and frozen-feature transfer.Experimental results demonstrate that LMAE significantly improves the average recognition accuracy for 20-class maneuvers compared to traditional end-to-end models,while significantly accelerating convergence speed.The contributions of this work lie in:introducing high-masking-rate autoencoders into low-informationdensity trajectory analysis,proposing a feature engineering framework with enhanced controllability and efficiency,and providing a novel technical pathway for intelligent air combat decision-making systems.展开更多
Thornthwaite Memorial model and other statistic methods were used to calculate the climate-productivity of plants with the meteorological data from 1961 to 2007 at 9 stations distributed on Inner Mongolia desert stepp...Thornthwaite Memorial model and other statistic methods were used to calculate the climate-productivity of plants with the meteorological data from 1961 to 2007 at 9 stations distributed on Inner Mongolia desert steppe.The spatial and temporal variation characteristics of climate-productivity were analyzed by using the methods of the tendency rate of the climate trend,accumulative anomaly,and spatial difference and so on.The results showed that the climate-productivity kept linear increased trend over Inner Mongolia desert steppe in recent 47 years,but not significant.In spatial distribution,the climate-productivity reduced with the increased latitude.The climate-productivity in southwest part of Inner Mongolia desert steppe was growing while that in the southeast was reducing.The variation rate of the climate-productivity increased from the northwest part to the southeast part of Inner Mongolia desert steppe.In recent 47 years,the climate-productivity in southeast Jurh underwent the greatest decreasing extent,and the region was the sensitive area of the climate-productivity variation.展开更多
[Objective] The aim was to discuss the relationship between forest fire and meterological elements （precipitation and temprature） in each region of China.[Method] Firstly,the average precipitation and temperature in...[Objective] The aim was to discuss the relationship between forest fire and meterological elements （precipitation and temprature） in each region of China.[Method] Firstly,the average precipitation and temperature in forest area of each province in fire season were obtained based on meterological data,forest distribution data,seasonal and monthly data of forest fire in China.Secondly,the relationship among forest fire area,precipitation and temperature was discussed through temporal and correlation analysis.[Result] The changes of precipitation and temperature with time could reflect the annual variation of fire area well.Forest fire area went up with the decrease of precipitation and increase of temprature,and visa versa.Meanwhile,there existed diffirences in the relationship in various regions over time.Correlation analyses revealed that there was positive correlation between forest fire area and temperature,especailly Northwest China （R=0.367,P〈0.01）,Southwest China （R=0.327,P〈0.05）,South China （R=0.33,P〈0.05）,East China （R=0.516,P〈0.01） and Xinjiang （R=0.447,P〈0.05） with obviously positive correlation.At the same time,the correlation between forest fire area and precipitation was significantly positive in Northwest China （R=0.482,P〈0.01）,while it was significantly negaive in South China （R=-0.323,P=0.03）,but there was no significant correlation in other regions.[Conclusion] Relationships between forest fire and meteorological elements （precipitation and temprature） revealed in the study would be useful for fire provention and early warning in China.展开更多
文摘With the development of mobile technology, Internet and GIS, LBS plays an important role in various applications. From the perspective of LBS, it is one of the main tasks of matching 3-dimensional spatial-temporal trajectories. We present an interpoiation based Modified Hausdorff Distance algorithm for 3-dimensional spatial-temporal Trajectory Matching （IMHD-ST）. It adopts interpolation algorithm to shield the impact to the distance between trajectories due to different position updating porices, sampling granularity, initial position and so on in Moving Object Database （MOD）. Besides, it uses MHD to deal with the implicit spatial information and structural information of weighted position updating points in various trajectories and reflects the discrepancy of moving results through the spatial distance between trajectories. In addition, it adopts temporal distance corresponding to the spatial distance between trajectories to reflect the differences including direction, speed and so on during moving process. The experimental results show that the algorithrn can reflect the trajectory similarity between 3-dimensional mobile objects more correctly, accurately and robustly.
基金supported by the National Key Research and Development Program of China(2018AAA0101005,2018AAA0102404)the Program of the Huawei Technologies Co.Ltd.(FA2018111061SOW12)+1 种基金the National Natural Science Foundation of China(61773054)the Youth Research Fund of the State Key Laboratory of Complex Systems Management and Control(20190213)。
文摘Human trajectory prediction is essential and promising in many related applications. This is challenging due to the uncertainty of human behaviors, which can be influenced not only by himself, but also by the surrounding environment. Recent works based on long-short term memory(LSTM) models have brought tremendous improvements on the task of trajectory prediction. However, most of them focus on the spatial influence of humans but ignore the temporal influence. In this paper, we propose a novel spatial-temporal attention(ST-Attention) model,which studies spatial and temporal affinities jointly. Specifically,we introduce an attention mechanism to extract temporal affinity,learning the importance for historical trajectory information at different time instants. To explore spatial affinity, a deep neural network is employed to measure different importance of the neighbors. Experimental results show that our method achieves competitive performance compared with state-of-the-art methods on publicly available datasets.
基金supported by the National Natural Science Foundation of China(Nos.U19A2044,42105132,42030609,41975037,and 42105133)the National Key Research and Development Program of China(No.2022YFC3703502)+1 种基金the Plan for Anhui Major Provincial Science&Technology Project(No.202203a07020003)Hefei Ecological Environment Bureau Project(No.2020BFFFD01804).
文摘As a significant city in the Yangtze River Delta regions,Hefei has experienced rapid changes in the sources of air pollution due to its high-speed economic development and urban expansion.However,there has been limited research in recent years on the spatial-temporal distribution and emission of its atmospheric pollutants.To address this,this study conducted mobile observations of urban roads using the Mobile-DOAS instrument from June 2021 to May 2022.The monitoring results exhibit a favourable consistent with TROPOMI satellite data and ground monitoring station data.Temporally,there were pronounced seasonal variations in air pollutants.Spatially,high concentration of HCHO and NO_(2)were closely associated with traffic congestion on roadways,while heightened SO_(2)levels were attributed to winter heating and industrial emissions.The study also revealed that with the implementation of road policies,the average vehicle speed increased by 95.4%,while the NO concentration decreased by 54.4%.In the estimation of urban NO_(x)emission flux,it was observed that in temporal terms,compared with inventory data,the emissions calculated viamobile measurements exhibitedmore distinct seasonal patterns,with the highest emission rate of 349 g/sec in winter and the lowest of 142 g/sec in summer.In spatial terms,the significant difference in emissions between the inner and outer ring roads also suggests the presence of the city’s primary NO_(x)emission sources in the area between these two rings.This study offers data support for formulating the next phase of air pollution control measures in urban areas.
基金supported by the National Office for Philosophy and Social Sciences(grant reference 22&ZD067).
文摘In the current situation of decelerating economic expansion,examining the digital economy(DE)as a novel economic model is beneficial for the local economy’s sustainable and high-quality development(HQD).We analyzed panel data from the Yellow River(YR)region from 2013 to 2021 and discovered notable spatial variances in the composite index and coupling coordination of the two systems.Specifically,the downstream region exhibited the highest coupling coordination,while the upstream region had the lowest.We identified that favorable factors such as economic development,innovation,industrial upgrading,and government intervention can bolster the coupling.Our findings provide a valuable framework for promoting DE and HQD in the YR region.
基金supported by the National Natural Science Foundation of China(Grant Nos.62472149,62376089,62202147)Hubei Provincial Science and Technology Plan Project(2023BCB04100).
文摘Accurate traffic flow prediction has a profound impact on modern traffic management. Traffic flow has complex spatial-temporal correlations and periodicity, which poses difficulties for precise prediction. To address this problem, a Multi-head Self-attention and Spatial-Temporal Graph Convolutional Network (MSSTGCN) for multiscale traffic flow prediction is proposed. Firstly, to capture the hidden traffic periodicity of traffic flow, traffic flow is divided into three kinds of periods, including hourly, daily, and weekly data. Secondly, a graph attention residual layer is constructed to learn the global spatial features across regions. Local spatial-temporal dependence is captured by using a T-GCN module. Thirdly, a transformer layer is introduced to learn the long-term dependence in time. A position embedding mechanism is introduced to label position information for all traffic sequences. Thus, this multi-head self-attention mechanism can recognize the sequence order and allocate weights for different time nodes. Experimental results on four real-world datasets show that the MSSTGCN performs better than the baseline methods and can be successfully adapted to traffic prediction tasks.
基金supported by the Beijing Natural Science Foundation(Certificate Number:L234025).
文摘Spatial-temporal traffic prediction technology is crucial for network planning,resource allocation optimizing,and user experience improving.With the development of virtual network operators,multi-operator collaborations,and edge computing,spatial-temporal traffic data has taken on a distributed nature.Consequently,noncentralized spatial-temporal traffic prediction solutions have emerged as a recent research focus.Currently,the majority of research typically adopts federated learning methods to train traffic prediction models distributed on each base station.This method reduces additional burden on communication systems.However,this method has a drawback:it cannot handle irregular traffic data.Due to unstable wireless network environments,device failures,insufficient storage resources,etc.,data missing inevitably occurs during the process of collecting traffic data.This results in the irregular nature of distributed traffic data.Yet,commonly used traffic prediction models such as Recurrent Neural Networks(RNN)and Long Short-Term Memory(LSTM)typically assume that the data is complete and regular.To address the challenge of handling irregular traffic data,this paper transforms irregular traffic prediction into problems of estimating latent variables and generating future traffic.To solve the aforementioned problems,this paper introduces split learning to design a structured distributed learning framework.The framework comprises a Global-level Spatial structure mining Model(GSM)and several Nodelevel Generative Models(NGMs).NGM and GSM represent Seq2Seq models deployed on the base station and graph neural network models deployed on the cloud or central controller.Firstly,the time embedding layer in NGM establishes the mapping relationship between irregular traffic data and regular latent temporal feature variables.Secondly,GSM collects statistical feature parameters of latent temporal feature variables from various nodes and executes graph embedding for spatial-temporal traffic data.Finally,NGM generates future traffic based on latent temporal and spatial feature variables.The introduction of the time attention mechanism enhances the framework’s capability to handle irregular traffic data.Graph attention network introduces spatially correlated base station traffic feature information into local traffic prediction,which compensates for missing information in local irregular traffic data.The proposed framework effectively addresses the distributed prediction issues of irregular traffic data.By testing on real world datasets,the proposed framework improves traffic prediction accuracy by 35%compared to other commonly used distributed traffic prediction methods.
基金funding from the China National Key Research and Development Program(No.2023YFC3603104)the National Natural Science Foundation of China(Nos.82472243 and 82272180)+6 种基金the Fundamental Research Funds for the Central Universities(No.226-2025-00024)the Huadong Medicine Joint Funds of the Zhejiang Provincial Natural Science Foundation of China(No.LHDMD24H150001)the Key Research&Development Project of Zhejiang Province(No.2024C03240)a collaborative scientific project co-established by the Science and Technology Department of the National Administration of Traditional Chinese Medicine and the Zhejiang Provincial Administration of Traditional Chinese Medicine(No.GZY-ZJ-KJ-24082)he General Health Science and Technology Program of Zhejiang Province(No.2024KY1099)the Project of Zhejiang University Longquan Innovation Center(No.ZJDXLQCXZCJBGS2024016)Wu Jieping Medical Foundation Special Research Grant(No.320.6750.2024-23-07).
文摘Objective:Sepsis exhibits remarkable heterogeneity in disease progression trajectories,and accurate identificationof distinct trajectory-based phenotypes is critical for implementing personalized therapeutic strategies and prognostic assessment.However,trajectory clustering analysis of time-series clinical data poses substantial methodological challenges for researchers.This study provides a comprehensive tutorial framework demonstrating six trajectory modeling approaches integrated with proteomic analysis to guide researchers in identifying sepsis subtypes after laparoscopic surgery.Methods:This study employs simulated longitudinal data from 300 septic patients after laparoscopic surgery to demonstrate six trajectory modeling methods(group-based trajectory modeling,latent growth mixture modeling,latent transition analysis,time-varying effect modeling,K-means for longitudinal data,agglomerative hierarchical clustering)for identifying associations between predefinedsequential organ failure assessment trajectories and 25 proteomic biomarkers.Clustering performance was evaluated via multiple metrics,and a biomarker discovery pipeline integrating principal component analysis,random forests,feature selection,and receiver operating characteristic analysis was developed.Results:The six methods demonstrated varying performance in identifying trajectory structures,with each approach exhibiting distinct analytical characteristics.The performance metrics revealed differences across methods,which may inform context-specificmethod selection and interpretation strategies.Conclusion:This study illustrates practical implementations of trajectory modeling approaches under controlled conditions,facilitating informed method selection for clinical researchers.The inclusion of complete R code and integrated proteomics workflows offers a reproducible analytical framework connecting temporal pattern recognition to biomarker discovery.Beyond sepsis,this pipeline-oriented approach may be adapted to diverse clinical scenarios requiring longitudinal disease characterization and precision medicine applications.The comparative analysis reveals that each method has distinct strengths,providing a practical guide for clinical researchers in selecting appropriate methods based on their specificstudy goals and data characteristics.
基金China Health and Retirement Longitudinal Study(CHARLS)the 2022-2023 Nursing Research Project of Chinese Medical Association Publishing House(Grant No.CMAPH-NRD2022024)。
文摘Background:The trajectory of intrinsic capacity(IC)among the older population is characterized by its diversity and is predictive of adverse health outcomes such as disability,nursing home admission,decline in quality of life,and mortality.Gaining an understanding of the trajectory of IC and the factors that influence it is of paramount importance for fostering healthy aging.This research is focused on exploring the trajectory of IC among older adults in China and examining the factors that influence it.Methods:This observational longitudinal cohort study leveraged data from the China Health and Retirement Longitudinal Study(CHARLS),which was conducted in the years 2011,2013,and 2015.For the purpose of this analysis,a total of 2,233 participants who were aged 60 and over were included.A Growth Mixture Model(GMM)was utilized to define trajectory categories for IC.Influential factors were ascertained based on the health ecology model,and binary logistic regression analysis was utilized to investigate the factors linked with the different trajectory categories.Results:Two distinct trajectory classes of IC were identified:Class 1,the normal-stable group,encompassed 90.4%of the elderly population,while Class 2,the declining group,made up 9.6%.Advanced age and a history of stroke were found to be significantly associated with Class 2.High scores in activities of daily living(ADL),employment status,receiving primary or junior high school education,and residence in the East or Central regions of China were significantly linked with Class 1.Conclusion:The trajectory of IC among older Chinese adults is marked by its heterogeneity.Advanced age and a history of stroke are significant risk factors for a declining IC trajectory,while higher ADL scores,being employed,receiving primary or junior high school education,and residing in the East or Central regions of China are protective factors associated with a stable IC trajectory.Healthcare institutions must closely monitor IC levels and understand these trajectory patterns to implement personalized and targeted interventions promptly to maintain IC at a healthy level and advocate for healthy aging.
基金supported by the Cultivation Program for Major Scientific Research Projects of Harbin Institute of Technology(ZDXMPY20180109).
文摘Scalable simulation leveraging real-world data plays an essential role in advancing autonomous driving,owing to its efficiency and applicability in both training and evaluating algorithms.Consequently,there has been increasing attention on generating highly realistic and consistent driving videos,particularly those involving viewpoint changes guided by the control commands or trajectories of ego vehicles.However,current reconstruction approaches,such as Neural Radiance Fields and 3D Gaussian Splatting,frequently suffer from limited generalization and depend on substantial input data.Meanwhile,2D generative models,though capable of producing unknown scenes,still have room for improvement in terms of coherence and visual realism.To overcome these challenges,we introduce GenScene,a world model that synthesizes front-view driving videos conditioned on trajectories.A new temporal module is presented to improve video consistency by extracting the global context of each frame,calculating relationships of frames using these global representations,and fusing frame contexts accordingly.Moreover,we propose an innovative attention mechanism that computes relations of pixels within each frame and pixels in the corresponding window range of the initial frame.Extensive experiments show that our approach surpasses various state-of-the-art models in driving video generation,and the introduced modules contribute significantly to model performance.This work establishes a new paradigm for goal-oriented video synthesis in autonomous driving,which facilitates on-demand simulation to expedite algorithm development.
基金supported by the Natural Science Foundation of Fujian Province of China(2025J01380)National Natural Science Foundation of China(No.62471139)+3 种基金the Major Health Research Project of Fujian Province(2021ZD01001)Fujian Provincial Units Special Funds for Education and Research(2022639)Fujian University of Technology Research Start-up Fund(GY-S24002)Fujian Research and Training Grants for Young and Middle-aged Leaders in Healthcare(GY-H-24179).
文摘The generation of synthetic trajectories has become essential in various fields for analyzing complex movement patterns.However,the use of real-world trajectory data poses significant privacy risks,such as location reidentification and correlation attacks.To address these challenges,privacy-preserving trajectory generation methods are critical for applications relying on sensitive location data.This paper introduces DPIL-Traj,an advanced framework designed to generate synthetic trajectories while achieving a superior balance between data utility and privacy preservation.Firstly,the framework incorporates Differential Privacy Clustering,which anonymizes trajectory data by applying differential privacy techniques that add noise,ensuring the protection of sensitive user information.Secondly,Imitation Learning is used to replicate decision-making behaviors observed in real-world trajectories.By learning from expert trajectories,this component generates synthetic data that closely mimics real-world decision-making processes while optimizing the quality of the generated trajectories.Finally,Markov-based Trajectory Generation is employed to capture and maintain the inherent temporal dynamics of movement patterns.Extensive experiments conducted on the GeoLife trajectory dataset show that DPIL-Traj improves utility performance by an average of 19.85%,and in terms of privacy performance by an average of 12.51%,compared to state-of-the-art approaches.Ablation studies further reveal that DP clustering effectively safeguards privacy,imitation learning enhances utility under noise,and the Markov module strengthens temporal coherence.
基金supported by the National Natural Science Foundation of China(12302056)the Postdoctoral Fellowship Program of China Postdoctoral Science Foundation(GZC20233445)。
文摘Re-entry gliding vehicles exhibit high maneuverability,making trajectory prediction a key factor in the effectiveness of defense systems.To overcome the limited fitting accuracy of existing methods and their poor adaptability to maneuver mode mutations,a trajectory prediction method is proposed that integrates online maneuver mode identification with dynamic modeling.Characteristic parameters are extracted from tracking data for parameterized modeling,enabling real-time identification of maneuver modes.In addition,a maneuver detection mechanism based on higher-order cumulants is introduced to detect lateral maneuver mutations and optimize the use of historical data.Simulation results show that the proposed method achieves accurate trajectory prediction during the glide phase and maintains high accuracy under maneuver mutations,significantly enhancing the prediction performance of both three-dimensional trajectories and ground tracks.
基金Supported by the Scientific Research Projects of the Health System in Pingshan District,No.2023122.
文摘BACKGROUND Lumbar interbody fusion(LIF)is the primary treatment for lumbar degenerative diseases.Elderly patients are prone to anxiety and depression after undergoing surgery,which affects their postoperative recovery speed and quality of life.Effective prevention of anxiety and depression in elderly patients has become an urgent problem.AIM To investigate the trajectory of anxiety and depression levels in elderly patients after LIF,and the influencing factors.METHODS Random sampling was used to select 239 elderly patients who underwent LIF from January 2020 to December 2024 in Shenzhen Pingle Orthopedic Hospital.General information and surgery-related indices were recorded,and participants completed measures of psychological status,lumbar spine dysfunction,and quality of life.A latent class growth model was used to analyze the post-LIF trajectory of anxiety and depression levels,and unordered multi-categorical logistic regression was used to analyze the influencing factors.RESULTS Three trajectories of change in anxiety level were identified:Increasing anxiety(n=26,10.88%),decreasing anxiety(n=27,11.30%),and stable anxiety(n=186,77.82%).Likewise,three trajectories of change in depression level were identified:Increasing depression(n=30,12.55%),decreasing depression(n=26,10.88%),and stable depression(n=183,76.57%).Regression analysis showed that having no partner,female sex,elevated Oswestry dysfunction index(ODI)scores,and reduced 36-Item Short Form Health Survey scores all contributed to increased anxiety levels,whereas female sex,postoperative opioid use,and elevated ODI scores all contributed to increased depression levels.CONCLUSION During clinical observation,combining factors to predict anxiety and depression in post-LIF elderly patients enables timely intervention,quickens recovery,and enhances quality of life.
文摘Circumlunar abort trajectories constitute a vital contingency return strategy during the translunar phase of crewed lunar missions.This paper proposes a methodology for constructing the solution set of the circumlunar abort trajectory and leverages its advantageous properties to address the optimization design problem of abort trajectories.Initially,a solution set of all feasible abort trajectories,originating from an abort point on the nominal trajectory and complying with fundamental reentry constraints,is formulated through the introduction of two novel design parameters.Subsequently,the geometric characteristics of the solution set,as well as the distributional properties of key iterative constraint responses,including flight time and velocity increment,are analyzed.Finally,the characteristics exhibited in the solution set are employed to directly identify the design parameters of the abort trajectories with minimum flight time and velocity increment,thereby providing solutions to two distinct types of optimization problems.The simulation results for a variety of nominal trajectories,encompassing the reconstruction and redesign of the Apollo13 abort trajectory,validate the proposed method,demonstrating its ability to directly generate optimal abort trajectories.The method proposed in this paper investigates feasible abort trajectories from a global perspective,providing both a framework and convenience for mission planning and iterative optimization in abort trajectory design.
基金supported by the National Natural Science Foundation of China under Grant No.61701100.
文摘In scenarios where ground-based cloud computing infrastructure is unavailable,unmanned aerial vehicles(UAVs)act as mobile edge computing(MEC)servers to provide on-demand computation services for ground terminals.To address the challenge of jointly optimizing task scheduling and UAV trajectory under limited resources and high mobility of UAVs,this paper presents PER-MATD3,a multi-agent deep reinforcement learning algorithm with prioritized experience replay(PER)into the Centralized Training with Decentralized Execution(CTDE)framework.Specifically,PER-MATD3 enables each agent to learn a decentralized policy using only local observations during execution,while leveraging a shared replay buffer with prioritized sampling and centralized critic during training to accelerate convergence and improve sample efficiency.Simulation results show that PER-MATD3 reduces average task latency by up to 23%,improves energy efficiency by 21%,and enhances service coverage compared to state-of-the-art baselines,demonstrating its effectiveness and practicality in scenarios without terrestrial networks.
基金support of the National Key Research and Development Plan(Grant No.2021YFB3302501)the financial support of the National Science Foundation of China(Grant No.12161076)the financial support of the Fundamental Research Funds for the Central Universities(Grant No.DUT24LAB129).
文摘As carrier aircraft sortie frequency and flight deck operational density increase,autonomous dispatch trajectory planning for carrier-based vehicles demands efficient,safe,and kinematically feasible solutions.This paper presents an Iterative Safe Dispatch Corridor(iSDC)framework,addressing the suboptimality of the traditional SDC method caused by static corridor construction and redundant obstacle exploration.First,a Kinodynamic-Informed-Bidirectional Rapidly-exploring Random Tree Star(KIBRRT^(*))algorithm is proposed for the front-end coarse planning.By integrating bidirectional tree expansion,goal-biased elliptical sampling,and artificial potential field guidance,it reduces unnecessary exploration near concave obstacles and generates kinematically admissible paths.Secondly,the traditional SDC is implemented in an iterative manner,and the obtained trajectory in the current iteration is fed into the next iteration for corridor generation,thus progressively improving the quality of withincorridor constraints.For tractors,a reverse-motion penalty function is incorporated into the back-end optimizer to prioritize forward driving,aligning with mechanical constraints and human operational preferences.Numerical validations on the data of Gerald R.Ford-class carrier demonstrate that the KIBRRT^(*)reduces average computational time by 75%and expansion nodes by 25%compared to conventional RRT^(*)algorithms.Meanwhile,the iSDC framework yields more time-efficient trajectories for both carrier aircraft and tractors,with the dispatch time reduced by 31.3%and tractor reverse motion proportion decreased by 23.4%relative to traditional SDC.The presented framework offers a scalable solution for autonomous dispatch in confined and safety-critical environment,and an illustrative animation is available at bilibili.com/video/BV1tZ7Zz6Eyz.Moreover,the framework can be easily extended to three-dimension scenarios,and thus applicable for trajectory planning of aerial and underwater vehicles.
基金supported in part by the National Science and Technology Council under Grant NSTC 114-2221-E-027-104.
文摘Trajectory tracking for nonlinear robotic systems remains a fundamental yet challenging problem in control engineering,particularly when both precision and efficiency must be ensured.Conventional control methods are often effective for stabilization but may not directly optimize long-term performance.To address this limitation,this study develops an integrated framework that combines optimal control principles with reinforcement learning for a single-link robotic manipulator.The proposed scheme adopts an actor–critic structure,where the critic network approximates the value function associated with the Hamilton–Jacobi–Bellman equation,and the actor network generates near-optimal control signals in real time.This dual adaptation enables the controller to refine its policy online without explicit system knowledge.Stability of the closed-loop system is analyzed through Lyapunov theory,ensuring boundedness of the tracking error.Numerical simulations on the single-link manipulator demonstrate that themethod achieves accurate trajectory followingwhile maintaining lowcontrol effort.The results further showthat the actor–critic learning mechanism accelerates convergence of the control policy compared with conventional optimization-based strategies.This work highlights the potential of reinforcement learning integrated with optimal control for robotic manipulators and provides a foundation for future extensions to more complex multi-degree-of-freedom systems.The proposed controller is further validated in a physics-based virtual Gazebo environment,demonstrating stable adaptation and real-time feasibility.
基金The authors extend their appreciation to Prince Sattam bin Abdulaziz University for funding this research work through the project number(PSAU/2024/01/32082).
文摘In Human–Robot Interaction(HRI),generating robot trajectories that accurately reflect user intentions while ensuring physical realism remains challenging,especially in unstructured environments.In this study,we develop a multimodal framework that integrates symbolic task reasoning with continuous trajectory generation.The approach employs transformer models and adversarial training to map high-level intent to robotic motion.Information from multiple data sources,such as voice traits,hand and body keypoints,visual observations,and recorded paths,is integrated simultaneously.These signals are mapped into a shared representation that supports interpretable reasoning while enabling smooth and realistic motion generation.Based on this design,two different learning strategies are investigated.In the first step,grammar-constrained Linear Temporal Logic(LTL)expressions are created from multimodal human inputs.These expressions are subsequently decoded into robot trajectories.The second method generates trajectories directly from symbolic intent and linguistic data,bypassing an intermediate logical representation.Transformer encoders combine multiple types of information,and autoregressive transformer decoders generate motion sequences.Adding smoothness and speed limits during training increases the likelihood of physical feasibility.To improve the realism and stability of the generated trajectories during training,an adversarial discriminator is also included to guide them toward the distribution of actual robot motion.Tests on the NATSGLD dataset indicate that the complete system exhibits stable training behaviour and performance.In normalised coordinates,the logic-based pipeline has an Average Displacement Error(ADE)of 0.040 and a Final Displacement Error(FDE)of 0.036.The adversarial generator makes substantially more progress,reducing ADE to 0.021 and FDE to 0.018.Visual examination confirms that the generated trajectories closely align with observed motion patterns while preserving smooth temporal dynamics.
文摘In the field of intelligent air combat,real-time and accurate recognition of within-visual-range(WVR)maneuver actions serves as the foundational cornerstone for constructing autonomous decision-making systems.However,existing methods face two major challenges:traditional feature engineering suffers from insufficient effective dimensionality in the feature space due to kinematic coupling,making it difficult to distinguish essential differences between maneuvers,while end-to-end deep learning models lack controllability in implicit feature learning and fail to model high-order long-range temporal dependencies.This paper proposes a trajectory feature pre-extraction method based on a Long-range Masked Autoencoder(LMAE),incorporating three key innovations:(1)Random Fragment High-ratio Masking(RFH-Mask),which enforces the model to learn long-range temporal correlations by masking 80%of trajectory data while retaining continuous fragments;(2)Kalman Filter-Guided Objective Function(KFG-OF),integrating trajectory continuity constraints to align the feature space with kinematic principles;and(3)Two-stage Decoupled Architecture,enabling efficient and controllable feature learning through unsupervised pre-training and frozen-feature transfer.Experimental results demonstrate that LMAE significantly improves the average recognition accuracy for 20-class maneuvers compared to traditional end-to-end models,while significantly accelerating convergence speed.The contributions of this work lie in:introducing high-masking-rate autoencoders into low-informationdensity trajectory analysis,proposing a feature engineering framework with enhanced controllability and efficiency,and providing a novel technical pathway for intelligent air combat decision-making systems.
基金Supported by The Inner Mongolia Natural Science Foundation (2009ms0603)Inner Mongolia Scientific Innovation Program (nmqxkjcx200706)Special Fund for Scientific Research in Central Public Welfare Institution Fundamental(Grassland Research Institute of Chinese Academy of Agricultural Science)
文摘Thornthwaite Memorial model and other statistic methods were used to calculate the climate-productivity of plants with the meteorological data from 1961 to 2007 at 9 stations distributed on Inner Mongolia desert steppe.The spatial and temporal variation characteristics of climate-productivity were analyzed by using the methods of the tendency rate of the climate trend,accumulative anomaly,and spatial difference and so on.The results showed that the climate-productivity kept linear increased trend over Inner Mongolia desert steppe in recent 47 years,but not significant.In spatial distribution,the climate-productivity reduced with the increased latitude.The climate-productivity in southwest part of Inner Mongolia desert steppe was growing while that in the southeast was reducing.The variation rate of the climate-productivity increased from the northwest part to the southeast part of Inner Mongolia desert steppe.In recent 47 years,the climate-productivity in southeast Jurh underwent the greatest decreasing extent,and the region was the sensitive area of the climate-productivity variation.
基金Supported by National Natural Science Foundation of China(40801216/D011002)~~
文摘[Objective] The aim was to discuss the relationship between forest fire and meterological elements （precipitation and temprature） in each region of China.[Method] Firstly,the average precipitation and temperature in forest area of each province in fire season were obtained based on meterological data,forest distribution data,seasonal and monthly data of forest fire in China.Secondly,the relationship among forest fire area,precipitation and temperature was discussed through temporal and correlation analysis.[Result] The changes of precipitation and temperature with time could reflect the annual variation of fire area well.Forest fire area went up with the decrease of precipitation and increase of temprature,and visa versa.Meanwhile,there existed diffirences in the relationship in various regions over time.Correlation analyses revealed that there was positive correlation between forest fire area and temperature,especailly Northwest China （R=0.367,P〈0.01）,Southwest China （R=0.327,P〈0.05）,South China （R=0.33,P〈0.05）,East China （R=0.516,P〈0.01） and Xinjiang （R=0.447,P〈0.05） with obviously positive correlation.At the same time,the correlation between forest fire area and precipitation was significantly positive in Northwest China （R=0.482,P〈0.01）,while it was significantly negaive in South China （R=-0.323,P=0.03）,but there was no significant correlation in other regions.[Conclusion] Relationships between forest fire and meteorological elements （precipitation and temprature） revealed in the study would be useful for fire provention and early warning in China.
