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Robot Search Path Planning Method Based on Prioritized Deep Reinforcement Learning
Yanglong Liu,Zuguo Chen,Ming Lu,Chaoyang Chen,Xuzhuo Zhang,Yonggang Li 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.8
The path planning process of the robot relies too much on environmental information, which makes it difficult to obtain the optimal search path when the search and rescue tasks are carried out in a complex postdisaster environment. Thus, a path planning method based on prioritized deep reinforcement learning is proposed in the paper. The core idea of the method is that the robot first builds an environment mathematical model based on the obtained information through the sensors. Then, to make the robot can obtain the optimal search policy in an extremely complex environment, the prioritized replay mechanism is used to improve deep reinforcement learning. Finally, the simulation results show that the search path planning method based on prioritized deep reinforcement learning proposed can not only improve the convergence speed of the model but also is endowed good robustness in this paper.
Sleep deprivation disrupts the lacrimal system and induces dry eye disease
Sanming Li,Ke Ning,Jing Zhou,Yuli Guo,Houjian Zhang,Yu Zhu,Liying Zhang,Changkai Jia,Yongxiong Chen,Peter Sol Reinach,Zuguo Liu,Wei Li 생화학분자생물학회 2018 Experimental and molecular medicine Vol.50 No.-
Sleep deficiency is a common public health problem associated with many diseases, such as obesity and cardiovascular disease. In this study, we established a sleep deprivation (SD) mouse model using a ‘stick over water’ method and observed the effect of sleep deficiency on ocular surface health. We found that SD decreased aqueous tear secretion; increased corneal epithelial cell defects, corneal sensitivity, and apoptosis; and induced squamous metaplasia of the corneal epithelium. These pathological changes mimic the typical features of dry eye. However, there was no obvious corneal inflammation and conjunctival goblet cell change after SD for 10 days. Meanwhile, lacrimal gland hypertrophy along with abnormal lipid metabolites, secretory proteins and free amino-acid profiles became apparent as the SD duration increased. Furthermore, the ocular surface changes induced by SD for 10 days were largely reversed after 14 days of rest. We conclude that SD compromises lacrimal system function and induces dry eye. These findings will benefit the clinical diagnosis and treatment of sleep-disorder-related ocular surface diseases.