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     

Optimal resource allocation for wireless video over CDMA networks

We present a multiple-channel video transmission scheme in wireless CDMA networks over multipath fading channels. We map an embedded video bitstream, which is encoded into multiple independently decodable layers by 3D-ESCOT video coding technique, to multiple CDMA channels. One video source layer is transmitted over one CDMA channel. Each video source layer is protected by a product channel code structure. A product channel code is obtained by the combination of a row code based on rate compatible punctured convolutional code (RCPC) with cyclic redundancy check (CRC) error detection and a source-channel column code, i.e., systematic rate-compatible Reed-Solomon (RS) style erasure code. For a given budget on the available bandwidth and total transmit power, the transmitter determines the optimal power allocations and the optimal transmission rates among multiple CDMA channels, as well as the optimal product channel code rate allocation, i.e., the optimal unequal Reed-Solomon code source/parity rate allocations and the optimal RCPC rate protection for each channel. In formulating such an optimization problem, we make use of results on the large-system CDMA performance for various multiuser receivers in multipath fading channels. The channel is modeled as the concatenation of wireless BER channel and a wireline packet erasure channel with a fixed packet loss probability. By solving the optimization problem, we obtain the optimal power level allocation and the optimal transmission rate allocation over multiple CDMA channels. For each CDMA channel, we also employ a fast joint source-channel coding algorithm to obtain the optimal product channel code structure. Simulation results show that the proposed framework allows the video quality to degrade gracefully as the fading worsens or the bandwidth decreases, and it offers improved video quality at the receiver.     

Low-Temperature Superplastic Deformation of Cold-Rolled Fe–5.6Mn–1.1Al–0.2C Steel

Metallurgical and Materials Transactions A - A cold-rolled low Al-added medium Mn steel was employed to investigate the low-temperature superplastic deformation at a relatively high initial strain...     

基于Hypermesh的水工结构建模及应用

介绍了Hypermesh软件与CAD软件联合仿真的步骤,重点阐述了该建模方法中对网格的形状、疏密和衔接进行控制的原则。以不均匀地基上结构复杂的某水闸为例,系统地介绍选取特征断面构造模型几何轮廓、综合考虑多个断面划分二维网格和借助土层分界面建立地基的建模方法。经检验,该水闸模型质量满足仿真要求,计算结果符合水闸受力特征,最大拉应力为3.077 MPa(顺河向),出现在闸门过水1工况下水闸边墩支座上。Hypermesh结合CAD平面图建模的方法能够实现复杂水工结构仿真,对水工结构的安全评估具有一定参考价值。     

焦炭塔结构的固有频率和振型研究

在传统的直立塔设备固有频率和振型的计算中,将塔设备简化为悬臂梁计算模型,但实际塔的薄壁圆筒结构与梁模型不符,为此对焦炭塔建立有限元分析模型进行模态分析,得到焦炭塔的固有频率和振型,计算分析表明,由于焦碳塔特殊的结构特点使得焦炭塔的振动特性与传统大型直立设备简化为悬臂梁计算模型所得振动特性相比有所不同,因此焦炭塔结构计算中在计及高阶振型与固有频率时,不宜简化为悬臂梁计算模型。     

试论收入分配改革的理论根源

收入分配改革是社会主义和谐社会建设的重要保障。进行收入分配体制改革攻坚是完善社会主义市场经济体制和构建主义和谐社会的重要内容。本文从库兹涅茨的倒U字型顶点区界定、收入分配改革的社会诱因以及历史背景方面对收入分配改革的启动寻找理论依据,以形成国民收入分配格局调整阶段的理论基础。     

一种改进工件边缘检测方法的研究

针对现有边缘检测技术难以同时消除图像中噪声和工件表面划痕对边缘检测的影响,并保持图像边缘的清晰度和连续性,提出了一种基于二阶微分算子和数学形态学的改进边缘检测技术。首先利用数学形态学理论,设计了一种形态学开闭运算处理图像的方法,为去除工件表面划痕做好预处理;然后用二阶微分Laplace算子对预处理后的图像进行边缘检测;最后改进了一种高斯与双边滤波结合的算法,强化去噪效果,并对最终算法进行实验验证。实验结果表面,改进的算法在去除工件表面划痕方面效果明显,并与传统微分算子比较,边缘清晰度、峰值信噪比(PSNR)都有大幅提高,为提高工件识别精度打好基础。     

一种改进工件边缘检测方法的研究

针对现有边缘检测技术难以同时消除图像中噪声和工件表面划痕对边缘检测的影响,并保持图像边缘的清晰度和连续性,提出了一种基于二阶微分算子和数学形态学的改进边缘检测技术。首先利用数学形态学理论,设计了一种形态学开闭运算处理图像的方法,为去除工件表面划痕做好预处理;然后用二阶微分Laplace算子对预处理后的图像进行边缘检测;最后改进了一种高斯与双边滤波结合的算法,强化去噪效果,并对最终算法进行实验验证。实验结果表面,改进的算法在去除工件表面划痕方面效果明显,并与传统微分算子比较,边缘清晰度、峰值信噪比(PSNR)都有大幅提高,为提高工件识别精度打好基础。     

An Artificial Motion and Tactile Receptor Constructed by Hyperelastic Double Physically Cross-Linked Silk Fibroin Ionoelastomer

Ionotronic artificial motion and tactile receptor (i-AMTR) is essential to realize an interactive human-machine interface. However, an i-AMTR that effectively mimics the composition, structure, mechanics, and multi-functionality of human skin, called humanoid i-AMTR, is yet to be developed. To bridge this technological gap, this study proposes a strategy that combines molecular structure design and function integration to construct a humanoid i-AMTR. Herein, a silk fibroin ionoelastomer (SFIE) with double cross-linked molecular structure is designed to mimic the composition and structure of human skin, thereby resolving the conflict of stretchability, softness, and resilience, suffered by many previously reported ionotronics. Functionally, electromechanical sensing and triboelectricity-based tactile perception are integrated into SFIE, to enable simultaneous perception of both motion and tactile inputs. By further leveraging the machine learning and Internet of Things (IoT) techniques, the proposed SFIE-based humanoid i-AMTR precisely senses the movement of human body and accurately sortball objects made of different materials. Notably, the success rate for 610 sorting tests reaches as high as 92.3%. These promising results essentially demonstrate a massive potential of humanoid i-AMTR in the fields of sorting robots, rehabilitation medicine, and augmented reality.     

基于轻量级图卷积的人体骨架动作识别方法

视频中的人体动作识别在计算机视觉领域得到广泛关注,基于人体骨架的动作识别方法可以明确地表现人体动作,因此已逐渐成为该领域的重要研究方向之一。针对多数主流人体动作识别方法网络参数量大、计算复杂度高等问题,设计一种融合多流数据的轻量级图卷积网络,并将其应用于人体骨架动作识别任务。在数据预处理阶段,利用多流数据融合方法对4种特征数据流进行融合,通过一次训练就可得到最优结果,从而降低网络参数量。设计基于图卷积网络的非局部网络模块,以捕获图像的全局信息从而提高动作识别准确率。在此基础上,设计空间Ghost图卷积模块和时间Ghost图卷积模块,从网络结构上进一步降低网络参数量。在动作识别数据集NTU60 RGB+D和NTU120 RGB+D上进行实验,结果表明,与近年主流动作识别方法ST-GCN、2s AS-GCN、2s AGCN等相比,基于该轻量级图卷积网络的人体骨架动作识别方法在保持较低网络参数量的情况下能够取得较高的识别准确率。