An Intelligent Social Learning-based Optimization Strategy for Black-box Robotic Control with Reinforcement Learning

Implementing intelligent control of robots is a difficult task, especially when dealing with complex black-box systems, because of the lack of visibility and understanding of how these robots work internally. This paper proposes an Intelligent Social Learning (ISL) algorithm to enable intelligent control of black-box robotic systems. Inspired by mutual learning among individuals in human social groups, ISL includes learning, imitation, and self-study styles. Individuals in the learning style use the Levy flight search strategy to learn from the best performer and form the closest relationships. In the imitation style, individuals mimic the best performer with a second-level rapport by employing a random perturbation strategy. In the self-study style, individuals learn independently using a normal distribution sampling method while maintaining a distant relationship with the best performer. Individuals in the population are regarded as autonomous intelligent agents in each style. Neural networks perform strategic actions in three styles to interact with the environment and the robot and iteratively optimize the network policy. Overall, ISL builds on the principles of intelligent optimization, incorporating ideas from reinforcement learning, and possesses strong search capabilities, fast computation speed, fewer hyperparameters, and insensitivity to sparse rewards. The proposed ISL algorithm is compared with four state-of-the-art methods on six continuous control benchmark cases in MuJoCo to verify its effectiveness and advantages. Furthermore, ISL is adopted in the simulation and experimental grasping tasks of the UR3 robot for validations, and satisfactory solutions are yielded

Epidemiological characteristics of noise-induced hearing loss among workers in five automobile manufacturing enterprises in Zhejiang Province

BackgroundNoise is the most common occupational hazard in the automobile manufacturing industry with the most workers exposed. Automobile manufacturing industry is a high-risk industry for noise-induced hearing loss. ObjectiveTo understand the epidemiological characteristics of noise-induced hearing loss among workers in automobile manufacturing industry and explore related influencing factors. MethodsA questionnaire survey, individual noise recording, and pure tone audiometry were conducted among workers (n=656) exposed to noise from five automobile manufacturing enterprises. The data on age, sex, exposure duration, noise intensity, kurtosis, and hearing loss were obtained. The positive rates of high-frequency noise-induced hearing loss (HFNIHL) and speech-frequency noise-induced hearing loss (SFNIHL) were calculated, and each factor was compared between workers with and without HFNIHL. Chi-square test and analysis of trend were conducted among different groups of age, sex, exposure duration, A-weighted equivalent continuous sound pressure level normalized to a nominal 8-hour working day (LAeq,8h), and kurtosis. Logistic regression analysis was conducted to analyze the factors influencing the positive rates of HFNIHL and SFNIHL. ResultsThe exposure rates of non-Gaussian noise was 73.6%. The positive rates of HFNIHL and SFNIHL were 32.6% (214 workers) and 6.7% (44 workers), respectively. The HFNIHL workers showed older age, higher proportion of male, longer exposure duration, higher noise intensity (LAeq,8 h), and increased kurtosis than those without HFNIHL (P<0.05). The positive rates of HFNIHL increased with the increase of age, exposure duration, LAeq,8 h, and kurtosis (\begin{document}${\chi ^2}$\end{document}trend-age=49.25, P<0.001; \begin{document}${\chi ^2}$\end{document}trend-duration=22.19, P<0.001; \begin{document}${\chi ^2}$\end{document}trend-LAeq=6.91, P=0.009; \begin{document}${\chi ^2}$\end{document}trend-kurtosis=8.56, P=0.003). The results of logistic regression showed that age (OR=2.13, 95%CI: 1.67-2.71, P<0.001), sex (OR=2.29, 95%CI: 1.44-3.62, P<0.001), exposure duration (OR=1.43, 95%CI: 1.11-1.85, P=0.006), LAeq,8h (OR=1.37, 95%CI: 1.08~1.76, P=0.011), and kurtosis (OR=1.37, 95%CI: 1.14-1.63, P=0.001) were factors associated with the risk of HFNIHL, while only age was associated with the risk of SFNIHL (OR=2.15, 95%CI: 1.33-3.33, P=0.001). ConclusionWorkers exposed to noise in automobile manufacturing industry are at a high risk of hearing loss. Age, sex, exposure duration, LAeq,8 h, and kurtosis are key influencing factors of hearing loss

Maternal exposure to ambient air pollution and congenital heart defects in China

Background: Evidence of maternal exposure to ambient air pollution on congenital heart defects (CHD) has been mixed and are still relatively limited in developing countries. We aimed to investigate the association between maternal exposure to air pollution and CHD in China.Method: This longitudinal, population-based, case-control study consecutively recruited fetuses with CHD and healthy volunteers from 21 cities, Southern China, between January 2006 and December 2016. Residential address at delivery was linked to random forests models to estimate maternal exposure to particulate matter with an aerodynamic diameter of ≤1 µm (PM1), ≤2.5 µm, and ≤10 µm as well as nitrogen dioxides, in three trimesters. The CHD cases were evaluated by obstetrician, pediatrician, or cardiologist, and confirmed by cardia ultrasound. The CHD subtypes were coded using the International Classification Diseases. Adjusted logistic regression models were used to assess the associations between air pollutants and CHD and its subtypes.Results: A total of 7055 isolated CHD and 6423 controls were included in the current analysis. Maternal air pollution exposures were consistently higher among cases than those among controls. Logistic regression analyses showed that maternal exposure to all air pollutants during the first trimester was associated with an increased odds of CHD (e.g., an interquartile range [13.3 µg/m3] increase in PM1 was associated with 1.09-fold ([95% confidence interval, 1.01-1.18]) greater odds of CHD). No significant associations were observed for maternal air pollution exposures during the second trimester and the third trimester. The pattern of the associations between air pollutants and different CHD subtypes was mixed.Conclusions: Maternal exposure to greater levels of air pollutants during the pregnancy, especially the first trimester, is associated with higher odds of CHD in offspring. Further longitudinal well-designed studies are warranted to confirm our findings

Potential of Core-Collapse Supernova Neutrino Detection at JUNO

JUNO is an underground neutrino observatory under construction in Jiangmen, China. It uses 20kton liquid scintillator as target, which enables it to detect supernova burst neutrinos of a large statistics for the next galactic core-collapse supernova (CCSN) and also pre-supernova neutrinos from the nearby CCSN progenitors. All flavors of supernova burst neutrinos can be detected by JUNO via several interaction channels, including inverse beta decay, elastic scattering on electron and proton, interactions on C12 nuclei, etc. This retains the possibility for JUNO to reconstruct the energy spectra of supernova burst neutrinos of all flavors. The real time monitoring systems based on FPGA and DAQ are under development in JUNO, which allow prompt alert and trigger-less data acquisition of CCSN events. The alert performances of both monitoring systems have been thoroughly studied using simulations. Moreover, once a CCSN is tagged, the system can give fast characterizations, such as directionality and light curve

Detection of the Diffuse Supernova Neutrino Background with JUNO

As an underground multi-purpose neutrino detector with 20 kton liquid scintillator, Jiangmen Underground Neutrino Observatory (JUNO) is competitive with and complementary to the water-Cherenkov detectors on the search for the diffuse supernova neutrino background (DSNB). Typical supernova models predict 2-4 events per year within the optimal observation window in the JUNO detector. The dominant background is from the neutral-current (NC) interaction of atmospheric neutrinos with 12C nuclei, which surpasses the DSNB by more than one order of magnitude. We evaluated the systematic uncertainty of NC background from the spread of a variety of data-driven models and further developed a method to determine NC background within 15\% with {\it{in}} {\it{situ}} measurements after ten years of running. Besides, the NC-like backgrounds can be effectively suppressed by the intrinsic pulse-shape discrimination (PSD) capabilities of liquid scintillators. In this talk, I will present in detail the improvements on NC background uncertainty evaluation, PSD discriminator development, and finally, the potential of DSNB sensitivity in JUNO

Real-time Monitoring for the Next Core-Collapse Supernova in JUNO

Core-collapse supernova (CCSN) is one of the most energetic astrophysical events in the Universe. The early and prompt detection of neutrinos before (pre-SN) and during the SN burst is a unique opportunity to realize the multi-messenger observation of the CCSN events. In this work, we describe the monitoring concept and present the sensitivity of the system to the pre-SN and SN neutrinos at the Jiangmen Underground Neutrino Observatory (JUNO), which is a 20 kton liquid scintillator detector under construction in South China. The real-time monitoring system is designed with both the prompt monitors on the electronic board and online monitors at the data acquisition stage, in order to ensure both the alert speed and alert coverage of progenitor stars. By assuming a false alert rate of 1 per year, this monitoring system can be sensitive to the pre-SN neutrinos up to the distance of about 1.6 (0.9) kpc and SN neutrinos up to about 370 (360) kpc for a progenitor mass of 30$M_{\odot}$ for the case of normal (inverted) mass ordering. The pointing ability of the CCSN is evaluated by using the accumulated event anisotropy of the inverse beta decay interactions from pre-SN or SN neutrinos, which, along with the early alert, can play important roles for the followup multi-messenger observations of the next Galactic or nearby extragalactic CCSN.Comment: 24 pages, 9 figure

Robust estimation of bacterial cell count from optical density

Optical density (OD) is widely used to estimate the density of cells in liquid culture, but cannot be compared between instruments without a standardized calibration protocol and is challenging to relate to actual cell count. We address this with an interlaboratory study comparing three simple, low-cost, and highly accessible OD calibration protocols across 244 laboratories, applied to eight strains of constitutive GFP-expressing E. coli. Based on our results, we recommend calibrating OD to estimated cell count using serial dilution of silica microspheres, which produces highly precise calibration (95.5% of residuals &lt;1.2-fold), is easily assessed for quality control, also assesses instrument effective linear range, and can be combined with fluorescence calibration to obtain units of Molecules of Equivalent Fluorescein (MEFL) per cell, allowing direct comparison and data fusion with flow cytometry measurements: in our study, fluorescence per cell measurements showed only a 1.07-fold mean difference between plate reader and flow cytometry data

Evolutionary Conservation of pou5f3 Genomic Organization and Its Dynamic Distribution during Embryogenesis and in Adult Gonads in Japanese Flounder Paralichthys olivaceus

Octamer-binding transcription factor 4 (Oct4) is a member of POU (Pit-Oct-Unc) transcription factor family Class V that plays a crucial role in maintaining the pluripotency and self-renewal of stem cells. Though it has been deeply investigated in mammals, its lower vertebrate homologue, especially in the marine fish, is poorly studied. In this study, we isolated the full-length sequence of Paralichthys olivaceus pou5f3 (Popou5f3), and we found that it is homologous to mammalian Oct4. We identified two transcript variants with different lengths of 3′-untranslated regions (UTRs) generated by alternative polyadenylation (APA). Quantitative real-time RT-PCR (qRT-PCR), in situ hybridization (ISH) and immunohistochemistry (IHC) were implemented to characterize the spatial and temporal expression pattern of Popou5f3 during early development and in adult tissues. Our results show that Popou5f3 is maternally inherited, abundantly expressed at the blastula and early gastrula stages, then greatly diminishes at the end of gastrulation. It is hardly detectable from the heart-beating stage onward. We found that Popou5f3 expression is restricted to the adult gonads, and continuously expresses during oogenesis while its dynamics are downregulated during spermatogenesis. Additionally, numerous cis-regulatory elements (CRE) on both sides of the flanking regions show potential roles in regulating the expression of Popou5f3. Taken together, these findings could further our understanding of the functions and evolution of pou5f3 in lower vertebrates, and also provides fundamental information for stem cell tracing and genetic manipulation in Paralichthys olivaceus

A review of the distribution, sources, genesis, and environmental concerns of salinity in groundwater

Awareness concerning the degradation of groundwater quality and their exacerbating adverse effects due to salinization processes is gaining traction, raising for adequate understanding of the distribution, sources, genesis, and environmental concerns of salinity in groundwater. Saline groundwater is widely distributed all over the world, with an area of 24 million km2 (16% of the total land area on earth) and 1.1 billion people living in the affected areas, especially the arid/semi-arid areas in developing countries. These large-scale groundwater salinization problems are sourced from two major ways: natural and anthropogenic. The natural sources are diversified from connate saline groundwater, seawater intrusion, evaporation, dissolution of soluble salts, membrane filtration process to geothermal origin. The anthropogenic sources include irrigation return flow, road deicing salts, industrial and agricultural wastewater, and gas and oil production activities. The integrated approach of geochemical tracers and multiple isotopes (δ18OH2O, δ2HH2O, δ11B, δ36Cl, δ34Ssulfate, 87Sr/86Sr, and δ7Li) is proved to be useful in the constraints of the origin and transport of solutes in groundwater. Groundwater salinization is often associated with high levels of some toxic elements like arsenic, fluoride, selenium, and boron. Four 'triggers' lead to this association: salt effect, competing adsorption, microbial processes, and cation exchange

Review of research progress of karst groundwater in northern China

The Middle-Upper Proterozoic and Lower Paleozoic carbonate aquifers in northern China are continuously deposited with large thicknesses and wide distribution areas. Karst groundwater plays an critical role in national economic construction due to the rich water resources stored in karst aquifers. It is a national strategic water resource in China. Based on the author's investigation and research experience on karst water in northern China, this work provides a preliminary summary of the research progress and shortcomings in the aspects of karst groundwater systems and hydrogeological conditions, evolution trends and causes of environmental problems, utilization and protection of karst groundwater, ecological restoration and technical methods of investigation and research. This paper sends a congratulation to the 70th anniversary of the establishment of China University of Geosciences and the 40th anniversary of the establishment of the Bulletin of Geological Science and Technology.It also provides a reference for hydrogeological colleagues of karst groundwater research in northern China