基于个体协同触发强化学习的多机器人行为决策方法* .txt

摘要：为了提高多机器人行为最优决策控制中强化学习的效率和收敛速度，研究了多机器人的分布式马尔科夫建模与控制策略。根据机器人有限感知能力设计了个体 协同感知触发函数，机器人个体从环境观测结果计算个体 协同触发响应概率，定义一次触发过程后开始计算联合策略，减少机器人间通讯量和计算资源。引入双学习率改进Q学习算法，并将该算法应用于机器人行为决策。仿真实验结果表明，当机器人群组数量在20左右时，本文算法的协同效率较高，单位时步比为1085 0。同时距离调节参数η对机器人协同搜索效率有影响，当η=0008时，所需的移动时步比和平均移动距离都能达到最小值。通过双学习率的引入，该算法较基于环境模型的强化学习算法具有更高的学习效率和适用性，平均性能提升35%，对于提高多机器人自主协同能力具有较高的理论意义及应用价值。 .txt     

Large increase of Curie temperature in (110)-oriented La0.7Sr0.3MnO3 films

From the perspectives of scientific researches and practical applications, it is desirable to explore high operating temperature ferromagnetic films. The effect of biaxial strain on magnetic properties of (110)-oriented La_0.7Sr_0.3MnO₃ films was studied. High quality La_0.7Sr_0.3MnO₃ films were grown on (110)-oriented perovskite single crystal substrates using pulsed laser deposition, varying substrate-induced misfit strains from ??2.27–0.75%. A remarkable enhancement of Curie temperature has been achieved for (110)-oriented La_0.7Sr_0.3MnO₃ films clamped with small misfit strains (i.e., grown on LAST (110)). The enhanced Curie temperature of (110)-oriented La_0.7Sr_0.3MnO₃ films could be attributed to the misfit strain between the films and the underlying substrates and may have technological implication for applications at high temperature environments.     

Effects of Cooling Rate and Component on the Microstructure and Mechanical Properties of Mg–Zn–Y Alloys

The microstructure and mechanical properties of Mg–6Zn–1Y and Mg–6Zn–3Y(wt%) alloys under different cooling rates were investigated. The results show that the second dendrite arm spacing(SDAS) of Mg–6Zn–1Y and Mg–6Zn–3Y is reduced by 32 and 30% with increasing cooling rates(Rc) from 10.2 to 23 K/s, which can be predicted using a empirical model of SDAS=68 R 0:45:45cand SDAS=73 R 0c, respectively. The compressive strength of both alloys increases with increasing the cooling rate, which is attributed to the increase of volume fraction(Vf) of secondary phases under high cooling rate. The interaction of the cooling rate and component with SDAS has been theoretically analyzed using interdependence theory.     

Functionalized graphene oxide nanosheets with unique three-inone properties for efficient and tunable antibacterial applications

Developing antibiotics-independent antibacterial agents is of great importance since antibiotic therapy faces great challenges from drug resistance.Graphene oxide(GO)is a promising agent due to its natural antibacterial mechanisms,such as sharp edgemediated cutting effect.However,the antibacterial activity of GO is limited by its negative charge and low photothermal effect.Herein,the amino-functionalized GO nanosheets(AGO)with unique three-in-one properties were synthesized.Three essential properties(positive charge,strong photothermal effect,and natural cutting effect)were integrated into AGO.The positive charge(30 mV)rendered AGO a strong interaction force with model pathogen Streptococcus mutans(330 nN).The natural cutting effect of 100 ng·mL^-1AGO caused 27%loss of bacterial viability after incubation for 30 min.Most importantly,upon the near-infrared irradiation for just 5 min,the three-in-one properties of AGO caused 98%viability loss.In conclusion,the short irradiation period and the tunable antibacterial activity confer the three-in-one AGO a great potential for clinical use.     

户内热转印粉末涂料用混合型聚酯树脂的合成研究

通过分析热转印性能的影响因素合成了不同结构的聚酯树脂，研究了树脂酸值对热转印性能的影响，同时研究了部分单体对聚酯树脂热转印性能的影响。采用 DSC热分析法研究了固化促进剂对粉末涂料固化行为的影响，结果表明：选择合适的固化促进剂对涂层转印性能的提高有至关重要的作用。     

由低浓度钛液制备偏钛酸的水解工艺研究

钛是一种重要的战略资源,在废弃脱硝催化剂中钛含量远远高于我们常用的钛精矿。近年来,各种从废弃催化剂中回收钛新技术的发展,使得人们对钛回收过程水解工艺的研究更加重视。本文以废弃催化剂经过高温钠化焙烧后硫酸酸解得到的低浓度钛液为原料,采用常压自生晶种热水稀释水解工艺制备偏钛酸,通过对自生晶种常压水解工艺中影响钛液水解产品平均粒径的五个关键因素:钛液F值、水解温度、钛液初始浓度、熟化时间、搅拌速度进行正交设计,然后比较各因素的极差,最终得到影响水解产品偏钛酸粒径各因素主次关系如下:水解温度>钛液初始浓度>钛液F值>熟化时间>搅拌速度。然后采用单因素控制变量法,研究了水解温度、钛液初始浓度、钛液F值、熟化时间、搅拌速度对影响钛水解产品偏钛酸粒径的较佳条件。结果表明:在水解温度95℃,钛液初始浓度200 g/L,钛液F值为1.8,熟化时间在50 min,搅拌速度300 r/min时,得到的偏钛酸平均粒径更接近2 μm。