Papers

Multi-unmanned aerial vehicle (Multi-UAV) path planning in complex three-dimensional (3D) environments is a challenging task due to high-dimensional search spaces, multiple constraints, and numerous local optima. To address these issues, this paper proposes a particle swarm optimization-based orthogonal perturbation operator algorithm (OPOPSO). The proposed algorithm, which introduces an orthogonal perturbation operator to break the rigid update pattern of traditional particle swarm optimization, can enhance global exploration and alleviate premature convergence. A dynamic topology reorganization mechanism is designed to establish randomized interaction topologies and select guiding exemplars for each particle, which enhances population diversity. Furthermore, an adaptive parameter control framework based on reinforcement learning is proposed. This framework integrates a Dueling Double Deep Q-Network with a dual reward mechanism to alleviate the sparse reward problem. Experiments are conducted on the CEC2017 benchmark suite, as well as on path planning simulations using real-world digital elevation model (DEM) maps derived from Australian LiDAR data. Experimental results illustrate that OPOPSO achieves competitive performance against 16 advanced optimization algorithms, including seven PSO variants, four differential evolution variants, and five other metaheuristics algorithms, on the benchmark suite, while also maintaining superior solution quality and scalability in complex 3D path planning tasks.

By early 2026, the discourse around agent harnesses — the configuration layer of skills, rules, prompts, and documentation shaping an LLM agent's behavior — has named two activities: harness engineering, the reactive practice of ensuring an agent never repeats a mistake, and harness optimization, autonomous search over harness code for benchmark score. Both run against fixed, checkable criteria. The activity on the other side — keeping the harness aligned with what its operator now wants, where the criterion moves — is performed daily and has, to the author's knowledge, no established name. The paper defines harness alignment — the continuous, human-gated activity of keeping an agent's harness aligned with the operator's evolving intent — and its failure mode, harness drift. The three defining properties — continuous, human-gated, bidirectional — follow from a single root: intent, unlike correctness, cannot be automated the same way — it has no verifier outside the operator, and moves as the operator's judgment sharpens; verifying intent sharpens the judgment doing it, so the loop moves its own target. An automated check freezes intent into a specification, reducing its automatable part to correctness work. A four-domain search found no established term covering all three; an audit shows 2026 drift coinages severed from the classical lineage that harness drift bridges. A six-phase cycle (Research, Extract, Curate, Promote, Measure, Maintain) operationalizes it over a memory structure whose boundary separates freely-writable records from gated behavior-shaping artifacts. Failure has two layers: artifact-side harness drift, and a human-side twin — gate complacency, deskilling, delegation-feedback divergence — anchored in the automation-complacency and ironies-of-automation literatures — structural inference, not measurement. Two running instances, differing in substrate, model, and knowledge genre, are offered as portability evidence, not efficacy. All of it comes from months-old practice — provisional judgments offered for testing, not settled practice.

本综述系统梳理了新兴单分子蛋白质测序技术的前沿进展，涵盖电子隧穿识别技术和纳米孔蛋白质测序技术两大主流路线，讨论了直接测序、标记辅助传感和天然蛋白质直接传感三种纳米孔核心策略，并分析了Quantum-Si等商业化平台的进展和临床转化前景，最后展望了技术挑战和未来发展方向。

This paper investigates a hierarchical approach to the optimal scheduling of flexibility offered as transactive energy by thermostatically controlled loads (TCLs). The two-stage scheduling framework includes the lower stage in which TCLs are aggregated as a virtual battery. The aggregated TCL power can offer the required flexibility for the upper stage with significant impacts on power system scheduling as transactive energy. Comparisons are also made between the virtual battery model of TCLs and a conventional battery model. At the lower stage, a transactive control strategy is also employed to regulate TCLs for preserving the end-user's information privacy. At the upper stage, a transactive energy market is developed in which peer-to-peer trading of the available TCL flexibility is considered among aggregators. Accordingly, TCL scheduling at power system and device levels are coordinated to regulate TCLs in a distributed fashion. The simulation results demonstrate that the scalability concerns of traditionally centralized operations are addressed by the proposed distributed alternative solution. The upper stage transactive energy market allows aggregators to trade energy effectively without any significant concerns for maintaining the information privacy. The results also point out that the lower stage virtual battery model can accurately characterize the TCL flexibility where TCLs can be effectively regulated in the proposed energy trading model.

Let \(F\) be a field of characteristic \(0\) and let \(H = C_3 \times C_3\) act regularly as a transitive subgroup of \(S_9\). We resolve Problem~5.2 of Auel--Brussel--Garibaldi--Vishne: \(Z_H(F,9)\), the center of the generic division algebra of degree~\(9\) with \(H\)-action, is \emph{not} stably rational and \emph{not} rational, but is retract rational over~\(F\). The non-stable-rationality is proved by computing \(\coh^2(H, M|_H) \cong C_9\) for the restricted Procesi lattice and showing that its exponent~\(9\) is incompatible with stable permutation (all permutation lattices have \(\coh^2\)-exponent dividing~\(3\)). This integral cohomological obstruction is of a different nature from the classical unramified Brauer group (\(\Br_{\mathrm{nr}}(F(H)^H/F) \cong C_3\), Proposition~\ref{prop:B0}), which governs the Noether problem but not \(Z_H(F,9)\). The proof generalizes to all odd primes~\(p\): for \(H = C_p \times C_p \subset S_{p^2}\), one obtains \(\coh^2(H, M|_H) \cong C_{p^2}\) while permutation lattices have exponent dividing~\(p\), so \(Z_H(F, p^2)\) is not stably rational.

摘要： 在个体化进程与风险社会的宏观背景下，当代中国社会孕育出"新家庭主义"趋向：个体重新"入嵌"家庭，家庭的资源与伦理重心持续下行至子代。城市中产家庭在教育竞争前移、升学分流加剧的环境中，承担着以清晰规则保障子女发展轨道的刚性责任。与此同时，源自人本主义心理学的"接纳"话语，经大众媒介推送、付费知识商品与专业服务三层通道进入家庭育儿语境，"接纳孩子""先处理情绪，再处理问题"等表达日益成为衡量"好父母"的规范性参照。本研究由此提出三个递进的核心问题："接纳"话语如何渗入城市中产家庭并被父母（尤其是母亲）内化为情感规范？它与维系家庭目标的"规则"在日常互动中如何碰撞，"接纳"实践以何种形态偏移，又与"亲密权力"如何重合？面对情感与规则的双重诉求，家庭成员通过何种互动、妥协与反思调适权力边界、重建养育秩序？ 本研究将家庭视作意义协商的互动空间，把"接纳话语"与"日常秩序"置于同一分析框架。研究采用质性研究策略，于2026年5月至7月对11户子女处于初中或高中阶段的城市中产家庭家长进行半结构式深度访谈，以主题分析结合叙事分析处理材料；编码沿开放式编码、主轴编码与跨案例整合三级路径展开，归拢出话语进场、张力生成、假性接纳、子代抵抗、秩序重组与反思六个分析维度。样本经目的性抽样获得，研究全程遵循知情同意与匿名化等伦理规范，并以编码判据的跨案例检验与资料内部互证保障分析质量。 研究发现：第一，话语进场伴随选择性捕获——技术操作层（共情话术、步骤清单）被清晰编码，关系伦理层（无条件积极关注）则停留于模糊倡导；家长以"学习者"身份将话语内化为"新好母亲"规范，与"盯紧学业"的传统母职标准共存于同一主体，学习"接纳"本身成为新的自我规训与焦虑来源。第二，话语经本土伦理与阶层处境重译为"条件化接纳"——形式上采纳接纳的话语包装，实质上保留对学业与规则的刚性要求；其内在矛盾展开为时间、认知与情感、话语与实质三重不相容的持续性张力。张力之下，多数家庭的接纳实践沿"机制种类×一致度"矩阵分化为工具化挪用、防御性变形与退让妥协三类假性接纳，并遭遇子代热对抗、冷抵抗与转向自身的抵抗谱系；家庭由此成为"持续表演的前台"，情感劳动呈性别化配置，密集的情感管理多由母亲承担，亲密权力则沿愧疚激发与技术管控两条通道在亲子间双向流动。第三，张力的沉淀呈现四种秩序重组路径——危机强制重排、外部授权、反思转化与未完成的转化（张力慢性化）；在排除危机烈度与外部干预两个竞争性解释后，路径分化收拢于"反思性识别"这一机制。本研究将其操作为三层模型（对行为结果、实践逻辑、期望与结构的反思）与三问识别程序（能否指认矛盾、能否说出来源、能否转化为微调），发现唯有触及期望结构来源的反思才能启动"指认—调整—重组"链条；而托底资本、期望构成与以时间、金钱、文化资本为门槛的反思机会，使重组的方向与达成程度呈现阶层化的条件分布。 理论对话上，本研究以罗杰斯的无条件积极关注为参照系测量本土重译的偏移幅度；将霍赫希尔德的情感劳动概念从雇佣关系扩展至市场化育儿的"准雇佣化"中间地带；以戈夫曼的印象管理与布迪厄的惯习、文化资本概念分析表演性困境与"知道"却"做不到"的裂隙。研究对既有理论有两处实质性推进：一是为阎云翔的新家庭主义命题补充了"协商能力的获得本身具有阶层条件"这一边界，指出"亲子一体"伦理使"无条件"接纳在结构上不可能；二是将梅兹罗反思性学习理论中第三层反思的指向从个人认知预设扩展至阶层位置与社会期待等结构来源。在实践层面，本研究表明家长在"接纳"与"规则"之间的反复拉扯，并非个人能力或意愿的失败，而是两套规范在同一家庭时空并存的结构性产物；育儿焦虑因此不是可在个体层面"治愈"的症状，而是被每个家庭成员具体体验的结构性压力。理解张力的来源，比掌握接纳的技术更重要。 关键词： 条件化接纳；假性接纳；情感劳动；亲密权力；反思性识别

Let \(F\) be a field of characteristic \(p > 0\). We resolve Problem~2.2 of Auel--Brussel--Garibaldi--Vishne: every \(p\)-algebra of degree~\(p^2\) over \(F\) is a crossed product.