The article intends to present a patient＇s illness experience while reflecting on the individual＇s inner struggle. The apparent inconsistencies in the patient＇s care decisions from time to time could actually be th...The article intends to present a patient＇s illness experience while reflecting on the individual＇s inner struggle. The apparent inconsistencies in the patient＇s care decisions from time to time could actually be the result of inner unresolved struggle. Care givers and family members could become easily disenchanted and think the patient is being difficult, or simply refusing care. The author will highlight some issues of ethical importance. First, there is individual struggle by the patient in accepting a terminal diagnosis. While the patient may have an intellectual understanding of a diagnosis, spiritually,the patient needs human support in accepting the reality of a terminal condition. Second, there has to be an acknowledgment of the patient＇s individuality by family and care givers. Third, respect for patient＇s autonomous decision making right. The author will argue that respect for persons essentially recognizes the autonomy of each individual as a decision maker for the self. This has to be recognized with every individual, especially the most vulnerable. When an individual is not able to actively exercise the decision making power, one could use a surrogate decision maker or an advance directive. The author＇s goal is to argue that care givers should make terminal care as compassionate as possible by relating to patient＇s spiritual, psychological and physiological needs.展开更多
A novel integrated guidance and control (IGC) design method is proposed to solve problems of low control accuracy for a suicide unmanned combat aerial vehicle (UCAV) in the terminal attack stage. First of all, the IGC...A novel integrated guidance and control (IGC) design method is proposed to solve problems of low control accuracy for a suicide unmanned combat aerial vehicle (UCAV) in the terminal attack stage. First of all, the IGC system model of the UCAV is built based on the three-channel independent design idea, which reduces the difficulties of designing the controller. Then, IGC control laws are designed using the trajectory linearization control (TLC). A nonlinear disturbance observer (NDO) is introduced to the IGC controller to reject various uncertainties, such as the aerodynamic parameter perturbation and the measurement error interference. The stability of the closed-loop system is proven by using the Lyapunov theorem. The performance of the proposed IGC design method is verified in a terminal attack mission of the suicide UCAV. Finally, simulation results demonstrate the superiority and effectiveness in the aspects of guidance accuracy and system robustness.展开更多
Combining the heuristic algorithm （HA） developed based on the specific knowledge of the cooperative multiple target attack （CMTA） tactics and the particle swarm optimization （PSO）, a heuristic particle swarm opt...Combining the heuristic algorithm （HA） developed based on the specific knowledge of the cooperative multiple target attack （CMTA） tactics and the particle swarm optimization （PSO）, a heuristic particle swarm optimization （HPSO） algorithm is proposed to solve the decision-making （DM） problem. HA facilitates to search the local optimum in the neighborhood of a solution, while the PSO algorithm tends to explore the search space for possible solutions. Combining the advantages of HA and PSO, HPSO algorithms can find out the global optimum quickly and efficiently. It obtains the DM solution by seeking for the optimal assignment of missiles of friendly fighter aircrafts （FAs） to hostile FAs. Simulation results show that the proposed algorithm is superior to the general PSO algorithm and two GA based algorithms in searching for the best solution to the DM problem.展开更多
While autonomous vehicles are vital components of intelligent transportation systems,ensuring the trustworthiness of decision-making remains a substantial challenge in realizing autonomous driving.Therefore,we present...While autonomous vehicles are vital components of intelligent transportation systems,ensuring the trustworthiness of decision-making remains a substantial challenge in realizing autonomous driving.Therefore,we present a novel robust reinforcement learning approach with safety guarantees to attain trustworthy decision-making for autonomous vehicles.The proposed technique ensures decision trustworthiness in terms of policy robustness and collision safety.Specifically,an adversary model is learned online to simulate the worst-case uncertainty by approximating the optimal adversarial perturbations on the observed states and environmental dynamics.In addition,an adversarial robust actor-critic algorithm is developed to enable the agent to learn robust policies against perturbations in observations and dynamics.Moreover,we devise a safety mask to guarantee the collision safety of the autonomous driving agent during both the training and testing processes using an interpretable knowledge model known as the Responsibility-Sensitive Safety Model.Finally,the proposed approach is evaluated through both simulations and experiments.These results indicate that the autonomous driving agent can make trustworthy decisions and drastically reduce the number of collisions through robust safety policies.展开更多
Dying is an event that affects human development throughout the life cycle—impacting individuals, communities, and society. Providing terminal care may mitigate the suffering of patients and families. Notwithstanding...Dying is an event that affects human development throughout the life cycle—impacting individuals, communities, and society. Providing terminal care may mitigate the suffering of patients and families. Notwithstanding, it poses challenges concerning patients’ decision-making and autonomy, in regard to communicating bad news, resuscitation orders, and voluntary termination of life. This study seeks to discuss ethical issues underlying terminal care, showing how the problem of patients’ decision-making and autonomy can be addressed at the end of life. It distinguishes the notion of worthy death, which could ground ethical decisions for health attention across different developmental stages.展开更多
文摘The article intends to present a patient＇s illness experience while reflecting on the individual＇s inner struggle. The apparent inconsistencies in the patient＇s care decisions from time to time could actually be the result of inner unresolved struggle. Care givers and family members could become easily disenchanted and think the patient is being difficult, or simply refusing care. The author will highlight some issues of ethical importance. First, there is individual struggle by the patient in accepting a terminal diagnosis. While the patient may have an intellectual understanding of a diagnosis, spiritually,the patient needs human support in accepting the reality of a terminal condition. Second, there has to be an acknowledgment of the patient＇s individuality by family and care givers. Third, respect for patient＇s autonomous decision making right. The author will argue that respect for persons essentially recognizes the autonomy of each individual as a decision maker for the self. This has to be recognized with every individual, especially the most vulnerable. When an individual is not able to actively exercise the decision making power, one could use a surrogate decision maker or an advance directive. The author＇s goal is to argue that care givers should make terminal care as compassionate as possible by relating to patient＇s spiritual, psychological and physiological needs.
基金supported by the National Natural Science Foundation of China(6160150571501184)the National Aviation Science Foundation of China(20155196022)
文摘A novel integrated guidance and control (IGC) design method is proposed to solve problems of low control accuracy for a suicide unmanned combat aerial vehicle (UCAV) in the terminal attack stage. First of all, the IGC system model of the UCAV is built based on the three-channel independent design idea, which reduces the difficulties of designing the controller. Then, IGC control laws are designed using the trajectory linearization control (TLC). A nonlinear disturbance observer (NDO) is introduced to the IGC controller to reject various uncertainties, such as the aerodynamic parameter perturbation and the measurement error interference. The stability of the closed-loop system is proven by using the Lyapunov theorem. The performance of the proposed IGC design method is verified in a terminal attack mission of the suicide UCAV. Finally, simulation results demonstrate the superiority and effectiveness in the aspects of guidance accuracy and system robustness.
文摘Combining the heuristic algorithm （HA） developed based on the specific knowledge of the cooperative multiple target attack （CMTA） tactics and the particle swarm optimization （PSO）, a heuristic particle swarm optimization （HPSO） algorithm is proposed to solve the decision-making （DM） problem. HA facilitates to search the local optimum in the neighborhood of a solution, while the PSO algorithm tends to explore the search space for possible solutions. Combining the advantages of HA and PSO, HPSO algorithms can find out the global optimum quickly and efficiently. It obtains the DM solution by seeking for the optimal assignment of missiles of friendly fighter aircrafts （FAs） to hostile FAs. Simulation results show that the proposed algorithm is superior to the general PSO algorithm and two GA based algorithms in searching for the best solution to the DM problem.
基金supported in part by the Start-Up Grant-Nanyang Assistant Professorship Grant of Nanyang Technological Universitythe Agency for Science,Technology and Research(A*STAR)under Advanced Manufacturing and Engineering(AME)Young Individual Research under Grant(A2084c0156)+2 种基金the MTC Individual Research Grant(M22K2c0079)the ANR-NRF Joint Grant(NRF2021-NRF-ANR003 HM Science)the Ministry of Education(MOE)under the Tier 2 Grant(MOE-T2EP50222-0002)。
文摘While autonomous vehicles are vital components of intelligent transportation systems,ensuring the trustworthiness of decision-making remains a substantial challenge in realizing autonomous driving.Therefore,we present a novel robust reinforcement learning approach with safety guarantees to attain trustworthy decision-making for autonomous vehicles.The proposed technique ensures decision trustworthiness in terms of policy robustness and collision safety.Specifically,an adversary model is learned online to simulate the worst-case uncertainty by approximating the optimal adversarial perturbations on the observed states and environmental dynamics.In addition,an adversarial robust actor-critic algorithm is developed to enable the agent to learn robust policies against perturbations in observations and dynamics.Moreover,we devise a safety mask to guarantee the collision safety of the autonomous driving agent during both the training and testing processes using an interpretable knowledge model known as the Responsibility-Sensitive Safety Model.Finally,the proposed approach is evaluated through both simulations and experiments.These results indicate that the autonomous driving agent can make trustworthy decisions and drastically reduce the number of collisions through robust safety policies.
文摘Dying is an event that affects human development throughout the life cycle—impacting individuals, communities, and society. Providing terminal care may mitigate the suffering of patients and families. Notwithstanding, it poses challenges concerning patients’ decision-making and autonomy, in regard to communicating bad news, resuscitation orders, and voluntary termination of life. This study seeks to discuss ethical issues underlying terminal care, showing how the problem of patients’ decision-making and autonomy can be addressed at the end of life. It distinguishes the notion of worthy death, which could ground ethical decisions for health attention across different developmental stages.
