科研成果

In this paper, the circle formation control problem is addressed for a group of cooperative underactuated fish-like robots involving unknown nonlinear dynamics and disturbances. Based on the reinforcement learning and cognitive consistency theory, we propose a decentralized controller without the knowledge of the dynamics of the fish-like robots. The proposed controller can be transferred from simulation to reality. It is only trained in our established simulation environment, and the trained controller can be deployed to real robots without any manual tuning. Simulation results confirm that the proposed model-free robust formation control method is scalable with respect to the group size of the robots and outperforms other representative RL algorithms. Several experiments in the real world verify the effectiveness of our RL-based approach for circle formation control.

Deep Spiking Neural Networks (SNNs) present optimization difficulties for gradient-based approaches due to discrete binary activation and complex spatial-temporal dynamics. Considering the huge success of ResNet in deep learning, it would be natural to train deep SNNs with residual learning. Previous Spiking ResNet mimics the standard residual block in ANNs and simply replaces ReLU activation layers with spiking neurons, which suffers the degradation problem and can hardly implement residual learning. In this paper, we propose the spike-element-wise (SEW) ResNet to realize residual learning in deep SNNs. We prove that the SEW ResNet can easily implement identity mapping and overcome the vanishing/exploding gradient problems of Spiking ResNet. We evaluate our SEW ResNet on ImageNet, DVS Gesture, and CIFAR10-DVS datasets, and show that SEW ResNet outperforms the state-of-the-art directly trained SNNs in both accuracy and time-steps. Moreover, SEW ResNet can achieve higher performance by simply adding more layers, providing a simple method to train deep SNNs. To our best knowledge, this is the first time that directly training deep SNNs with more than 100 layers becomes possible. Our codes are available at https://github.com/fangwei123456/Spike-Element-Wise-ResNet.

Pharmaceuticals and personal care products (PPCPs) are of great concern due to their increasing health effects, so advanced treatment technologies for PPCPs removal are urgently needed. In this study, titanate nanotubes decorated Co(OH)2 hollow microsphere (CoM/TNTs) composites were synthesized by a two-step solvothermal method, and used to activate peroxymonosulfate (PMS) through heterogenous catalysis for acetaminophen (ACE) degradation in water. The optimum material (CoM/TNTs0.5) activated PMS system exhibited high ACE removal efficiency and quick kinetic, as 93.0% ACE was degraded even within 10 min. The two components in CoM/TNTs showed a synergetic effect on PMS activation for radicals production: Co(OH)+ from CoM was the primary active species to active PMS, while TNTs could offer abundant –OH groups for Co(OH)+ formation. Density functional theory (DFT) calculation further interpreted the mechanism of Co(OH)+ for PMS activation by means of reaction potential energy surface (PES) analysis. Both the scavenger quenching tests and electron paramagnetic resonance analysis revealed that the sulfate radical (SO4-·) played a dominant role in ACE degradation. Moreover, DFT calculation also suggested that the ACE atoms with high Fukui index (f -) represented the active sites for electrophilic attack by SO4-·. The toxicity analysis based on quantitative structure-activity relationship (QSAR) verified the reduced toxicity of transformation products. Furthermore, CoM/TNTs also had good reusability and stability over five cycles. This work provides deep insights into the reaction mechanisms of radical production and organics attack in cobalt-based PMS activation system.

Degradation pathway is important for the study of carbamazepine (CBZ) removal in advanced oxidation processes (AOPs). Generally, degradation pathways are speculated based on intermediate identification and basic chemical rules. However, this semiempirical strategy is sometimes time-consuming and baseless. To improve the situation, a mini meta-analysis was first conducted for the degradation pathways of CBZ in AOPs. Then, the rationality of the pathways was analyzed by Density Functional Theory (DFT) calculation. Results show that the degradation pathways of CBZ in various AOPs has high similarity, and the reactive sites predicted by Fukui function fitted well with the data retrieved from literatures. In addition, molecule configuration of degradation intermediates was found to play a very important roles on degradation pathway. The study reveals that computational chemistry is a useful tool for degradation pathway speculation in AOPs.

Accurate forecasts are vital for supporting the decisions of modern companies. Forecasters typically select the most appropriate statistical model for each time series. However, statistical models usually presume some data generation process while making strong assumptions about the errors. In this paper, we present a novel data-centric approach — ‘forecasting with cross-similarity’, which tackles model uncertainty in a model-free manner. Existing similarity-based methods focus on identifying similar patterns within the series, i.e., ‘self-similarity’. In contrast, we propose searching for similar patterns from a reference set, i.e., ‘cross-similarity’. Instead of extrapolating, the future paths of the similar series are aggregated to obtain the forecasts of the target series. Building on the cross-learning concept, our approach allows the application of similarity-based forecasting on series with limited lengths. We evaluate the approach using a rich collection of real data and show that it yields competitive accuracy in both points forecasts and prediction intervals.

The spatiotemporal context a ects corporate behavior because any corporate activity is carried out in a speci c time and space. Based on an examination on the research and development (R&D) expenditures of 284 listed biopharmaceutical companies in China, this study nds that the innovation space of the biopharmaceutical industry presents a spa- tial “North–South” pattern. The spatial gravity center of the biopharmaceutical industry’s R&D investment has been shifting to the eastern coastal region. This spatiotemporal con- text will impact the R&D investment of biopharmaceutical companies. Research shows that the distance between biopharmaceutical companies and the gravity center has a direct impact on the R&D expenditures of biopharmaceutical companies. This study supports the context-sensitive thesis and shows how the spatiotemporal context a ects the R&D invest- ment of biopharmaceutical companies while controlling rm-level factors.