Distributed Actor-Critic Algorithms for Multiagent Reinforcement Learning Over Directed Graphs

Actor-critic (AC) cooperative multiagent reinforcement learning (MARL) over directed graphs is studied in this article. The goal of the agents in MARL is to maximize the globally averaged return in a distributed way, i.e., each agent can only exchange information with its neighboring agents. AC methods proposed in the literature require the...

A non-unit line protection method for MMC-HVDC grids based on the curvatures of backward traveling waves

The existing protection techniques for high-voltage direct-current (HVDC) grids suffer from several shortcomings such as high sampling frequency, poor robustness, and reliance on simulation for threshold setting. To solve these problems, this paper proposes a non-unit protection method for modular multilevel converter (MMC)-based HVDC grids...

Chemoenzymatic intermolecular haloether synthesis

A chemoenzymatic method for the synthesis of haloethers is presented. A combination of enzymatic hypohalite synthesis with spontaneous oxidation of alkenes and nucleophilic attack by various alcohols enabled the synthesis of a wide range of haloethers. The reaction system has been characterised and current imitations have been worked out. In...

A multi-axis robot-based bioprinting system supporting natural cell function preservation and cardiac tissue fabrication

Despite the recent advances in artificial tissue and organ engineering, how to generate large size viable and functional complex organs still remains as a grand challenge for regenerative medicine. Three-dimensional bioprinting has demonstrated its advantages as one of the major methods in fabricating simple tissues, yet it still faces...

In vivo non-invasive confocal fluorescence imaging beyond 1,700 nm using superconducting nanowire single-photon detectors

Light scattering by biological tissues sets a limit to the penetration depth of high-resolution optical microscopy imaging of live mammals in vivo. An effective approach to reduce light scattering and increase imaging depth is to extend the excitation and emission wavelengths to the second near-infrared window (NIR-II) at >1,000 nm, also...

Impressed current cathodic protection of chloride-contaminated RC structures with cracking: A numerical study

Impressed current cathodic protection (ICCP) is an effective and direct method for controlling the corrosion of reinforced concrete (RC) structures. However, few investigations related to ICCP in cracked RC structures have been reported. In this study, the effect of cracks in concrete cover on ICCP of chloride-contaminated RC structures was...

Planning Jerk-Optimized Trajectory with Discrete Time Constraints for Redundant Robots

We present a method for effectively planning the motion trajectory of robots in manufacturing tasks, the tool paths of which are usually complex and have a large number of discrete time constraints as waypoints. Kinematic redundancy also exists in these robotic systems. The jerk of motion is optimized in our trajectory planning method at the...

Assimilation of middepth velocities from Argo floats in the western South China Sea

Previous studies are mainly limited to temperature and salinity (T/S) profiling data assimilation, while data assimilation based on Argo float trajectory information has received less research focus. In this study, a new method was proposed to assimilate Argo trajectory data: The middepth (indicates the parking depth of Argo floats in this...

Deep characteristics analysis on travel time of emergency traffic

Owing to the rapid development of emergency rescue transportation in cities and the frequent emergencies, demand for emergency rescue is increasing drastically. How to select an emergency rescue route quickly and shorten the rescue travel time under the condition of limited urban road resources is of great significance. Based on the...

Support-free volume printing by multi-axis motion

This paper presents a new method to fabricate 3D models on a robotic printing system equipped with multi-axis motion. Materials are accumulated inside the volume along curved tool-paths so that the need of supporting structures can be tremendously reduced - if not completely abandoned - on all models. Our strategy to tackle the challenge of...