一种新的多智能体强化学习算法及其在多机器人协作任务中的应用

在多机器人系统中 ,评价一个机器人行为的好坏常常依赖于其它机器人的行为 ,此时必须采用组合动作以实现多机器人的协作 ,但采用组合动作的强化学习算法由于学习空间异常庞大而收敛得极慢 .本文提出的新方法通过预测各机器人执行动作的概率来降低学习空间的维数 ,并应用于多机器人协作任务之中 .实验结果表明 ,基于预测的加速强化学习算法可以比原始算法更快地获得多机器人的协作策略 .

中学生问题解决中操作要求对资源分配的影响

Schema acquisition is one of the mechanisms of learning. How to design reasonable teaching material to promote schema acquisition is an important question that psychological researchers and educators both interested. Cognitive Load Theory indicates that: The cognitive resource of Human is limited, the organization and presentation of the learning material should avoid demanding the learner consume resource in actions that have nothing to do with schema acquisition. How can we do that? Sweller. J. et think: Increasing the operation cost of the learning material would make the students put more resource into the implementation of the operation, this kind of resource consuming has nothing to do with schema acquisition. So, in order to make the students put more resource into actions which relating to schema acquisition, we should decrease the operation cost of the learning material. But, the research results of O'Hara et indicate: In problem-solving of knowledge lean field, increasing the operation cost would make the college students invent more resource to plan and understanding actions. So, Increasing the operation cost would facilitate the schema acquisition. How operation cost will effect the Middle-School Students' (MSS) schema acquisition and resource distribution when they solve problems of knowledge lean/rich field? This is the main question this research want to make inquiry. IN this research, we use three experiments indicate: Increasing the operation cost of actions, the implementing action would be less and the planning action would be more. So, increasing the operation cost can promote the schema acquisition. We use "cost-benefit analysis" strategy to explain this result. This strategy means that: Human is rational, before doing one action, he will weigh the cost and the coming benefit of this action, if the coming benefit is higher than the cost, he will implement this action; if the cost is higher than the coming benefit, this action will be contained. On the one hand, this research further affirms the core opinion of the Cognitive Load Theory: Human's cognitive resource is limited, we should put the limited resource into actions which is related to the schema acquisition; On the other hand, for the learning material designing principle which is advanced by the Cognitive Load Theory, we raise our questions. Besides, the question we raised holds some identical views with the constructive learning opinion: Learning is not passive information absorption, but positively constructing the meaning of the information, besides, this kind of construction can't done by others. The result of this research can provide some theory guidance and experimental basis for the designing of the MSS's science teaching material from a complete new angle.

Actions of two serine proteases from Trimeresurus jerdonii venom on chromogenic substrates and fibrinogen

Jerdonobin and jerdofibrase are two serine proteases purified from the venom of Trimeresurus jerdonii. The Michaelis constant K-m and the catalytic rate constant K-cat of jerdonobin or jerdofibrase on three chromogenic substrates, H-D-Pro-Phe-Arg-pNA (S2302), H-D-Phe-pipecolyl-Arg-pNA (S2238), and H-D-Val-Leu-Lys-pNA (S2251) were obtained from lineweaver-Burk plots. Jerdofibrase could hydrolyze all three substrates, but jerdonobin had no detectable activity on S2251, suggesting a relatively broader substrate specificity for jerdofibrase than jerdonobin. By SDS-PAGE, jerdofibrase preferentially degraded Bbeta-chain of fibrinogen. It also degraded Aalpha-chain of fibrinogen with relatively slow activity, but did not act on the gamma-chain. In contrast, jerdonobin did not degrade fibrinogen within 12 h. Fibrinopeptides liberation test, identified by HPLC, showed jerdonobin released fibrinopeptide A and a small amount of fibrinopeptide B. Unlike jerdonobin, jerdofibrase mainly released fibrinopeptide B. These results indicate that the two enzymes differ in their ability to hydrolyze chromogenic substrates and in their actions on fibrinogen. (C) 2002 Elsevier Science Inc. All rights reserved.

The Anti-HIV Actions of 7-and 10-Substituted Camptothecins

Camptothecin (CPT), a traditional anti-tumor drug, has been shown to possess anti-HIV-1 activity. To increase the antiviral potency, the anti-HIV activities of two CPT derivatives, 10-hydroxy-CPT and 7-hydroxymethyl-CPT, were evaluated in vitro. The therapy index (TI) of CPT, 10-hydroxy-CPT and 7-hydroxymethyl-CPT against HIV-1(IIIB) in C8166 were 24.2, 4.2 and 198.1, and against clinical isolated strain HIV-1(KM018) in PBMC were 10.3, 3.5 and 66.0, respectively. While the TI of CPT, 10-hydroxy-CPT and 7-hydroxymethyl-CPT against HIV-2(CBL-20) were 34.5, 10.7 and 317.0, respectively, and the TI of the three compounds against HIV-2(ROD) showed the similar values. However, when the antiviral mechanisms were considered, we found there was no inhibition of 7-hydroxymethyl-CPT on viral cell-to-cell transmission, and was no inhibition on reverse transcriptase, protease or integrase in cell-free systems. 7-Hydroxymethyl-CPT showed no selective killing of chronically infected cells after 3 days of incubation. In conclusion, 7-hydroxymethyl-CPT showed more potent anti-HIV activity, while 10-hydroxy-CPT had less efficient activity, compared with the parent CPT. Though the antiviral mechanisms remain to be further elucidated; the modification of -OH residues at C-7 of CPT could enhance the antiviral activity, while of -OH residues at C-10 of CPT had decreased the antiviral activity, which provides the preliminary modification strategy for anti-viral activities enhancement of this compound.

Anti-HIV Actions of 7- and 10-Substituted Camptothecins (vol 15, pg 138, 2010)

The authors thank the anonymous reviewer for helpful comments on the early version of the manuscript. This work was financially supported by the earmarked fund for Modern Agro-industry Technology Research System, the Science Fund for Young Scholars in Sichuan Province (Grant No: ZQ 026-017), and the National 863 Project of China (No. 2008AA101001).

Osmoregulatory actions of growth hormone in juvenile tilapia (Oreochromis niloticus)

Growth hormone (GH) effectively promotes seawater (SW) adaptation in salmonids, but little is known of its effect in tilapias. Experiments were performed to investigate the effects of recombinant eel GH (reGH) on osmoregulatory actions and ultrastructural features of gill chloride cells in juvenile tilapia, Oreochromis niloticus. Tilapia showed a markedly improved SW survival, when directly transferred from freshwater (FW) to 62.5% SW 24h after a single reGH injection (0.25 or 2.5 mu g g(-1)) or 3 reGH injections (0.25 mu g g(-1) every other day). Plasma Na+ and Mg2+ levels were significantly reduced by reGH (0.25 and 2.5 mu g g(-1)) compared with saline injections; Ca2+ concentrations were reduced significantly by high dose of reGH (2.5 mu g g(-1)) after SW transfer. However, fish failed to survive more than 24h when directly transferred to 70 % SW, although the fish treated with reGH could survive longer than the controls. When examined by electron microscopy, the chloride cells were identified as mitochondrion-rich and an extensive tubular system was induced by GH treatment. The results of the present study suggest that, similar to its effect on salmonids, GH also exerts acute osmoregulatory actions and enhances SW adaptation in juvenile tilapia. GH also stimulates the differentiation of chloride cells toward SW adaptation.