Accurate estimation of lithium-ion battery state-of-health (SOH) is important for the safe operation of electric vehicles; however, in practical applications, the accuracy of SOH estimation is affected by uncertainty factors, including human operation, working conditions, etc. To accurately estimate the battery SOH, a hybrid neural network based on the dilated convolutional neural network and the bidirectional gated recurrent unit, namely dilated CNN-BiGRU, is proposed in this paper. The proposed data-driven method uses the voltage distribution and capacity changes in the extracted battery discharge curve to learn the serial data time dependence and correlation. This method can obtain more accurate temporal and spatial features of the original battery data, resulting higher accuracy and robustness. The effectiveness of dilated CNN-BiGRU for SOH estimation is verified on two publicly lithium-ion battery datasets, the NASA Battery Aging Dataset and Oxford Battery Degradation Dataset. The experimental results reveal that the proposed model outperforms the compared data-driven methods, e.g., CNN-series and RNN-series. Furthermore, the mean absolute error (MAE) and root mean square error (RMSE) are limited to within 1.9% and 3.3%, respectively, on the NASA Battery Aging Dataset.

Empowering an intelligent agent with the ability of autonomous navigation in complex and dynamic environments is an important and active research topic in embodied artificial intelligence. In this letter, we address this challenging task from the view of exploiting both the spatial and temporal states of a mobile robot interacting with the crowded environment. Specifically, we propose a Spatial-Temporal State Transformer (ST $^{2}$ ) to encode the states while leveraging the deep reinforcement learning method to find the optimal navigation policy accordingly. Technically, the proposed ST $^{2}$ model consists of a global spatial state encoder and a temporal state encoder, which are built upon the Transformer structure. The spatial state encoder is devised to extract the global spatial features and capture the spatial interaction between pedestrians and the robot. The temporal state encoder is designed to model the temporal correlation among consecutive frames and infer the dynamic relationship of the spatial position transformation. Based on the comprehensive spatial-temporal state representation, the value-based reinforcement learning method is leveraged to obtain the optimal navigation policy. Extensive experiments demonstrate the superiority of the proposed ST $^{2}$ over representative state-of-the-art methods. The source code will be made publicly available.

Goal-driven mobile robot navigation in map-less environments requires effective state representations for reliable decision-making. Inspired by the favorable properties of Bird's-Eye View (BEV) in point clouds for visual perception, this paper introduces a novel navigation approach named BEVNav. It employs deep reinforcement learning to learn BEV representations and enhance decision-making reliability. First, we propose a self-supervised spatial-temporal contrastive learning approach to learn BEV representations. Spatially, two randomly augmented views from a point cloud predict each other, enhancing spatial features. Temporally, we combine the current observation with consecutive frames' actions to predict future features, establishing the relationship between observation transitions and actions to capture temporal cues. Then, incorporating this spatial-temporal contrastive learning in the Soft Actor-Critic reinforcement learning framework, our BEVNav offers a superior navigation policy. Extensive experiments demonstrate BEVNav's robustness in environments with dense pedestrians, outperforming state-of-the-art methods across multiple benchmarks. The code will be made publicly available at BEVNav.

Domain adaptation-based bearing fault diagnosis methods have recently received high attention. However, the extracted features in these methods fail to adequately represent fault information due to the versatility of the work scenario. Moreover, most existing adaptive methods attempt to align the feature space of domains by calculating the sum of marginal distribution distance and conditional distribution distance, without considering variable cross-domain diagnostic scenarios that provide significant cues for fault diagnosis. To address the above problems, we propose a deep convolutional multi-space dynamic distribution adaptation (DCMSDA) model, which consists of two core components: two feature extraction modules and a dynamic distribution adaptation module. Technically, a multi-space structure is proposed in the feature extraction module to fully extract fault features of the marginal distribution and conditional distribution. In addition, the dynamic distribution adaptation module utilizes different metrics to capture distribution discrepancies, as well as an adaptive coefficient to dynamically measure the alignment proportion in complex cross-domain scenarios. This study compares our method with other advanced methods, in detail. The experimental results show that the proposed method has excellent diagnosis performance and generalization performance. Furthermore, the results further demonstrate the effectiveness of each transfer module proposed in our model.