A Secure Robot Learning Framework for Cyber Attack Scheduling and Countermeasure

The problem of learning-based control for robots has been extensively studied, whereas the security issue under malicious adversaries has not been paid much attention to. Malicious adversaries can invade intelligent devices and communication networks used in robots, causing incidents, achieving illegal objectives, and even injuring people....

Barrier Function-based Safe Reinforcement Learning for Formation Control of Mobile Robots

Distributed model predictive control (DMPC) concerns how to online control multiple robotic systems with constraints effectively. However, the nonlinearity, nonconvexity, and strong interconnections of dynamic system models and constraints can make the real-time and real-world DMPC implementations nontrivial. Reinforcement learning (RL)...

Morphodynamics of the Qiantang Estuary, China: Controls of river flood events and tidal bores

The importance of seasonal variations in river discharge on the morphological development of estuaries has been recognized in recent years, yet in situ observations about such variations are rare. Here we report a long-term dataset of bathymetry in the middle reach of the Qiantang Estuary, China, characterized by the presence of a large inner...

Local human activities overwhelm decreased sediment supply from the Changjiang River: Continued rapid accumulation in the Hangzhou Bay-Qiantang Estuary system

We investigate the morphological responses of the Hangzhou Bay, China, located immediately south of the Changjiang Estuary, to the drastic reduction of the sediment load from the Changjiang River and the large-scale coastal embankment schemes over past decades. The spatial patterns of deposition and erosion, sediment volume changes, and the...

Morphodynamic modeling of a large inside sand bar and its dextral morphology in a convergent estuary: Qiantang Estuary, China

We investigate the evolution of a large-scale sand body, a unique type of sandbars in a convergent estuary. Specifically, we analyze and simulate the sand deposition system (defined as an inside bar) in the Qiantang Estuary (QE) in China. The deposit is 130 km long and up to 10 m thick, and is characterized by a dextral morphology in the lower...

The variations of sediment transport patterns in the outer Changjiang Estuary and Hangzhou Bay over the last 30 years

The research objective is to investigate the variations of sediment transport in outer Changjiang Estuary and adjacent Hangzhou Bay, induced by the decline of Changjiang River sediment discharge and massive land reclamation in the last three decades. A synchronous hydrographic survey was conducted along two transects (at the bay-mouth and outer...