Efficient Hindsight Experience Replay with Transformed Data Augmentation

Motion control of robots is a high-dimensional, nonlinear control problem that is often difficult to handle using traditional dynamical path planning means. Reinforcement learning is currently an effective means to solve robot motion control problems, but reinforcement learning has disadvantages such as high number of trials and errors and sparse rewards, which restrict the application efficiency of reinforcement learning. The Hindsight Experience Replay(HER) algorithm is a reinforcement learning algorithm that solves the reward sparsity problem by constructing virtual target values. However, the HER algorithm still suffers from the problem of long time in the early stage of training, and there is still room for improving its sample utilization efficiency. Augmentation by existing data to improve training efficiency has been widely used in supervised learning, but is less applied in the field of reinforcement learning. In this paper, we propose the Hindsight Experience Replay with Transformed Data Augmentation (TDAHER) algorithm by constructing a transformed data augmentation method for reinforcement learning samples, combined with the HER algorithm. And in order to solve the problem of the accuracy of the augmented samples in the later stage of training, the decaying participation factor method is introduced. After the comparison of four simulated robot control tasks, it is proved that the algorithm can effectively improve the training efficiency of reinforcement learning

Reversible Interlayer Sliding and Conductivity Changes in Adaptive Tetrathiafulvalene-Based Covalent Organic Frameworks.

Ordered interlayer stacking is intrinsic in two-dimensional covalent organic frameworks (2D COFs) and has strong implications on COF's optoelectronic properties. Reversible interlayer sliding, corresponding to shearing of 2D layers along their basal plane, is an appealing dynamic control of both structures and properties, yet it remains unexplored in the 2D COF field. Herein, we demonstrate that the reversible interlayer sliding can be realized in an imine-linked tetrathiafulvalene (TTF)-based COF TTF-DMTA. The solvent treatment induces crystalline phase changes between the proposed staircase-like sql net structure and a slightly slipped eclipsed sql net structure. The solvation-induced crystallinity changes correlate well with reversible spectroscopic and electrical conductivity changes as demonstrated in oriented COF thin films. In contrast, no reversible switching is observed in a related TTF-TA COF, which differs from TTF-DMTA in terms of the absence of methoxy groups on the phenylene linkers. This work represents the first 2D COF example of which eclipsed and staircase-like aggregated states are interchangeably accessed via interlayer sliding, an uncharted structural feature that may enable applications such as chemiresistive sensors

Large scale experimental study on the fire hazard of buildings’ U-shape façade wall geometry

Buildings have U-shape façade designs for certain purposes such as lighting. However, such designs may lead to a higher fire hazard. In this paper, large scale experiments of upward flame spread over XPS insulation material were conducted to investigate the fire hazard of building’s U-shape façade wall geometry. Comparison to previous labora­tory scale experiments were also presented. Theoretical analysis was performed to reveal the mechanism of the U-shape geometry’s influences. It is found that such geometry design would increase the fire hazard of buildings: flame spread rate and flame height increased with U-shape’s geometrical factor. The results agreed with theoretical analysis. It is ex­pected that the buildings’ U-shape façade wall geometry would greatly benefit flame spread for full scale applications and increase the fire hazard. Thus engineers should be careful with such façade wall designs, especially for residential building designs

trans-Diaqua­bis­(1H-imidazole-4-carboxyl­ato-κ2 N 3,O 4)nickel(II)

In the title complex, [Ni(C4H3N2O2)2(H2O)2], the NiII ion is located on an inversion center and shows a distorted octa­hedral geometry, defined by two N,O-bidentate 1H-imidazole-4-carboxyl­ate ligands in the equatorial plane and two water mol­ecules in the axial positions. Inter­molecular N—H⋯O hydrogen bonds link the complex mol­ecules into layers parallel to (10), which are further linked into a three-dimensional supra­molecular network through O—H⋯O hydrogen bonds

Earthworms accelerate rice straw decomposition and maintenance of soil organic carbon dynamics in rice agroecosystems

Background To promote straw degradation, we inoculated returned farmland straw with earthworms (Pheretima guillelmi). Increasing the number of earthworms may generally alter soil organic carbon (SOC) dynamics and the biological activity of agricultural soils. Methods We performed soil mesocosm experiments with and without earthworms to assess the decomposition and microbial mineralization of returned straw and soil enzyme activity across different time periods. Results When earthworms were present in soil, the surface residues were completely consumed during the first four weeks, but when earthworms were absent, most of the residues remained on the soil surface after 18 weeks. On day 28, the SOC content was significantly higher in the treatment where both earthworms and residue had been added. The SOC content was lower in the treatment where earthworms but no residue had been added. The organic carbon content in water-stable macroaggregates showed the same trend. During the first 14 weeks, the soil basal respiration was highest in the treatments with both residues and earthworms. From weeks 14 to 18, basal respiration was highest in the treatments with residues but without earthworms. We found a significant positive correlation between soil basal respiration and soil dissolved organic carbon content. Earthworms increased the activity of protease, invertase, urease and alkaline phosphatase enzymes, but decreased β-cellobiohydrolase, β-glucosidase and xylosidase activity, as well as significantly reducing ergosterol content. Conclusion The primary decomposition of exogenous rice residues was mainly performed by earthworms. Over a short period of time, they converted plant carbon into soil carbon and increased SOC. The earthworms played a key role in carbon conversion and stabilization. In the absence of exogenous residues, earthworm activity accelerated the decomposition of original organic carbon in the soil, reduced SOC, and promoted carbon mineralization

Poly[[diaqua­bis­[μ4-5-nitro­isophthalato-κ4 O 1:O 1:O 3:O 3′]bis­[μ3-pyridine-4-carboxyl­ato-κ3 O:O′:N]tricobalt(II)] tetra­hydrate]

The title compound, {[Co3(C6H4NO2)2(C8H3NO6)2(H2O)2]·4H2O}n, exhibits a two-dimensional layer-like structure in which the CoII ions exhibit two kinds of coordination geometries. One nearly octa­hedral CoII ion with crystallographic inversion symmetry is coordinated to six carboxyl­ate O atoms from four bridging 5-nitro­isophthalate (NIPH) ligands and two isonicotinate (IN) anions, while the other type of CoII ion binds with one N atom and one carboxyl­ate O atom from two IN anions, two carboxyl­ate O atoms from two different NIPH anions and one ligated water mol­ecule, displaying a distorted square-pyramidal coordination geometry. Three adjacent CoII ions are bridged by six carboxyl­ate groups from four NIPH ligands and two IN anions to form a linear trinuclear secondary building unit (SBU). Every trinuclear SBU is linked to its nearest neighbours in the ab plane, resulting in a two-dimensional layer-like structure perpendicular to the c axis. Along the a-axis direction neighbouring mol­ecules are connected through carboxyl­ate and pyridyl units of the IN anions, along the b axis through carboxyl­ate groups of the NIPH ligands. The H atoms of one free water mol­ecule are disordered in the crystal in a 1:1 ratio. Typical O—H⋯O hydrogen bonds are observed in the lattice, which include the following contacts: (a) between coordinated water mol­ecules and carboxyl­ate O atoms of the NIPH anions, (b) between lattice water mol­ecules and carboxyl­ate O atoms of the NIPH anions, and (c) between coordinated and lattice water mol­ecules. These inter­molecular hydrogen bonds connect the two-dimensional layers to form a three-dimensional supra­molecular structure

MSGF-GLP: fusion method of visible and hyperspectral data for early detection of discolored standing trees

Pest and disease damage to forests cannot be underestimated, so it is essential to detect diseased trees in time and take measures to stop their spread. The detection of discoloration standing trees is one of the important means to effectively control the spread of pests and diseases. In the visible wavelength range, early infected trees do not show significant color changes, which poses a challenge for early detection and is only suitable for monitoring middle and late discolor trees. The spectral resolution of hyperspectral restricts the improvement of its spatial resolution, and there are phenomena of different spectral of the same and foreign objects in the same spectrum, which affect the detection results. In this paper, the method of hyperspectral and CCD image fusion is used to achieve high-precision detection of discoloration standing trees. This paper proposes an improved algorithm MSGF-GLP, which uses multi-scale detail boosting and MTF filter to refine high-resolution data. By combining guided filtering with hyperspectral images, the spatial detail difference is enhanced, and the injection gain is interpolated into the difference of each band, so as to obtain high-resolution and high-quality hyperspectral images. This research is based on hyperspectral and CCD data obtained from LiCHy, Chinese Academy of Forestry, Maoershan Experimental Forest Farm, Shangzhi City, Heilongjiang Province. The evaluation framework is used to compare with the other five fusion algorithms to verify the good effect of the proposed method, which can effectively preserve the canopy spectrum and improve the spatial details. The fusion results of forestry remote sensing data were analyzed using the vegetation Normalized Difference Water Index and Plant Senescence Reflectance Index. The fused results can be used to distinguish the difference between discoloration trees and healthy trees by the multispectral vegetation index. The research results can provide good technical support for the practical application of forest remote sensing data fusion, and lay the foundation for promoting the scientific, automatic and intelligent forestry control

Comprehensive analysis of the cuproptosis-related gene DLD across cancers: A potential prognostic and immunotherapeutic target

DLD is a key gene involved in “cuproptosis,” but its roles in tumor progression and immunity remain unclear. Exploring the potential mechanisms and biological roles of DLD may provide new insights for therapeutic strategies for tumors. In the present study, we analyzed the role of DLD in a variety of tumors by using several bioinformatic tools. The results showed that compared with normal tissues, tumor tissues representing multiple cancers showed significant differential expression of DLD. High DLD expression was associated with a good prognosis in BRCA, KICH, and LUAD. Conversely, high expression levels of DLD were detrimental to patient prognosis in many other tumors, such as COAD, KIRC, and KIRP. In addition, the associations of DLD with infiltrating immune cells, genetic alterations and methylation levels across cancers were assessed. Aberrant expression of DLD was positively correlated with most infiltrating immune cells, especially neutrophils. The DLD methylation level was significantly decreased in COAD, LIHC, and LUSC but significantly increased in BRCA. DLD had the highest mutation rate (6.04%) in ESCA. In LUSC, patients with genetic alterations in DLD showed a poorer prognosis. At the single-cell level, the roles of DLD in regulating cancer-associated biological functions, such as metastasis, inflammation, and differentiation, were explored. Afterward, we further investigated whether several disease-associated genes could be correlated with DLD. GO enrichment analysis indicated that DLD-related genes were mainly associated with mitochondria-related cellular components, aerobic respiration and the tricarboxylic acid cycle. Finally, the correlations between DLD expression and immunomodulatory genes, immune checkpoints, and sensitivity to some antitumor drugs were investigated. It is worth noting that DLD expression was positively correlated with immune checkpoint genes and immunomodulatory genes in most cancers. In conclusion, this study comprehensively analyzed the differential expression, prognostic value and immune cell infiltration-related function of DLD across cancers. Our results suggest that DLD has great potential to serve as a candidate marker for pancancer prognosis and immunotherapy and may provide a new direction for cancer treatment development

Long-term effects of straw and straw-derived biochar on soil aggregation and fungal community in a rice–wheat rotation system

Background Soil aggregation is fundamental for soil functioning and agricultural productivity. Aggregate formation depends on microbial activity influencing the production of exudates and hyphae, which in turn act as binding materials. Fungi are also important for improving soil quality and promoting plant growth in a symbiotic manner. There is a scarcity of findings comparing the long-term impacts of different yearly double-crop straw return modes (e.g., straw return to the field and straw-derived biochar return to the field) on soil aggregation and fungal community structure in rice–wheat rotation systems. Methods The effects of 6-year continuous straw and straw-derived biochar amendment on soil physicochemical properties and the fungal community were evaluated in an intensively managed crop rotation system (rice–wheat). Soil samples of different aggregates (macroaggregates, microaggregates, and silt clay) from four different fertilization regimes (control, CK; traditional inorganic fertilization, CF; straw returned to field, CS; straw-derived biochar addition, CB) were obtained, and Illumina MiSeq sequencing analysis of the fungal internal transcribed spacer gene was performed. Results Compared to CF, CS and CB enhanced soil organic carbon, total nitrogen, and aggregation in 0–20 and 20–40 cm soil, with CB exhibiting a stronger effect. Additionally, agrowaste addition increased the mean weight diameter and the geometric diameter and decreased the fractal dimension (p < 0.05). Principal coordinates analysis indicated that fertilization management affected fungal community structure and aggregation distribution. In addition, CS increased fungal community richness and diversity, compared to CK, CB decreased these aspects. Ascomycota, unclassified_k_Fungi, and Basidiomycota were the dominant phyla in all soil samples. At the genus level, CB clearly increased fungi decomposing biosolids (Articulospora in macroaggregates in 0–20 cm soil and Neurospora in macroaggregates in 20–40 cm soil); decreased pathogenic fungi (Monographella in macroaggregates and Gibberella in microaggregates in 0–20 cm soil) and CO2-emission-related fungi (Pyrenochaetopsis in microaggregates and silt clay in 0–40 cm soil) (p < 0.05). Straw and biochar with inorganic fertilizer counteracted some of the adverse effects of the inorganic fertilizer with biochar showing better effects than straw