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- 저자 : Zhi-gang Xiong (검색결과 2 건)
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Zhi-gang Xiong,Ya-Song Luo,Zhong Liu,Zhi-kun Liu 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.4
This paper surveys the formation acquisition and maintenance of multi-agent systems, while the communication graph is obtained without human designations. Given that all agents move along unpredictable paths during formation acquisition, the systems adopt the leader-follower model. For better expression of the graph construction, a relational tree is introduced to describe the follower-leader pairs. Then, a distributed method is proposed for suboptimal relational tree configuration. By utilizing particle swarm optimization (PSO), the search for follower-leader pairs is converted to permutation optimization. Based on principal component analysis (PCA), the entire group is divided into several small groups, and the optimization can be implemented in each group, thus releasing the computation burden. To acquire the formation defined by the suboptimal relational tree, a second nonlinear controller subject to the loss of GPS information is established. The controller takes the reference in the local velocity frame as inputs, and proportional and differential components are introduced to provide a soft control. In addition, adaptive parameters are designed for robust control. By tuning the parameters autonomously, self-organized systems can work well in various scenarios even without manual adjustment of parameters. Mathematical and numerical analyses are conducted to prove the feasibility of the proposed strategy.
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Fan, Gang,Zhang, Lin,Yi, Lu,Jiang, Zhi-Qiang,Ke, Yang,Wang, Xiao-Shan,Xiong, Ying-Ying,Han, Wei-Qin,Zhou, Xiao,Liu, Chun,Yu, Xie Asian Pacific Journal of Cancer Prevention 2015 Asian Pacific journal of cancer prevention Vol.16 No.8
Purpose: To retrospective assess the potential predictors for relapse and create an effective clinical mode for surveillance after orchidectomy in clinical stage I non-seminomatous germ cell testicular tumors (CSI-NSGCTs). Materials and Methods: We analyzed data for CSI-NSGCTs patients with non-lymphatic vascular invasion, %ECa < 50% (percentage of embryonal carcinoma < 50%), and negative or declining tumor markers to their half-life following orchidectomy (defined as low-risk patients); these patients were recruited from four Chinese centers between January 1999 and October 2013. Patients were divided into active surveillance group and retroperitoneal lymph node dissection (RPLND) group according to different therapeutic methods after radical orchidectomy was performed. The disease-free survival rates (DFSR) and overall survival rates (OSR) of the two groups were compared by Kaplan-Meier analysis. Results: A total of 121 patients with CSI-NSGCT were collected from four centers, and 81 low-risk patients, including 54 with active surveillance and 27 with RPLND, were enrolled at last. The median follow-up duration was 66.2 (range 6-164) months in the RPLND group and 65.9 (range 8-179) months in the surveillance group. OSR was 100% in active surveillance and RPLND groups, and DFSR was 89.8% and 87.0%, respectively. No significant difference was observed between these two groups ($X_2=0.108$, P=0.743). No significant difference was observed between the patients with a low percentage of embryonal carcinoma (<50%) and those without embryonal carcinoma (87.0% and 91.9%, $X_2=0.154$, P=0.645). No treatment-related complications were observed in the active surveillance group whereas minor and major complications were observed in 13.0% and 26.1% of the RPLND group, respectively. Conclusions: Active surveillance resulted in similar DFSR and OSR compared with RPLND in our trial. Patients with low-risk CSI-NSGCTs could benefit from risk-adapted surveillance after these patients were subjected to radical orchidectomy.
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