Incorporation of Perception-based Information in Robot Learning Using Fuzzy Reinforcement Learning Agents

Robot learning in unstructured environments has been proved to be an extremely challenging problem, mainly because of many uncertainties always present in the real world. Human beings, on the other hand, seem to cope very well with uncertain and unpredictable environments, often relying on perception-based information. Furthermore, humans beings can also utilize perceptions to guide their learning on those parts of the perception-action space that are actually relevant to the task. Therefore, we conduct a research aimed at improving robot learning through the incorporation of both perceptionbased and measurement-based information. For this reason, a fuzzy reinforcement learning (FRL) agent is proposed in this paper. Based on a neural-fuzzy architecture, different kinds of information can be incorporated into the FRL agent to initialise its action network, critic network and evaluation feedback module so as to accelerate its learning. By making use of the global optimisation capability of GAs (genetic algorithms), a GA-based FRL (GAFRL) agent is presented to solve the local minima problem in traditional actor-critic reinforcement learning. On the other hand, with the prediction capability of the critic network, GAs can perform a more effective global search. Different GAFRL agents are constructed and verified by using the simulation model of a physical biped robot. The simulation analysis shows that the biped learning rate for dynamic balance can be improved by incorporating perception-based information on biped balancing and walking evaluation. The biped robot can find its application in ocean exploration, detection or sea rescue activity, as well as military maritimeac tivity.     

往复流中双向导向叶冲动透平模型性能试验研究

研制了 30 0双向自调导叶透平试验机组 ,安装在 10 0 0活塞式往复流透平试验台上 ,对两种叶轮方案和 6种不同喷咀、扩压器进行了不同活塞行程、不同周期和不同恒定输出电压下性能试验。试验结果表明在喷咀出口角α1=2 1 5°、扩压器入口角α2 =6 5 5°和α1=2 4°、α2 =6 3°组合最佳 ,最高效率达 5 3 3% ,而且在宽广流量系数范围内 ,特别是大流量系数范围内都有较高效率。大大优于常用对称翼透平。将上下游导叶固定 ,变成双向固定导叶透平。用No 1叶轮和 6种导叶出口角组合进行试验。表明最佳导叶出口角为 2 4°～ 30°,最高效率仍达 38 5 % ,比对称翼透平仍高许多     

鄂尔多斯盆地子洲气田上古生界山西组、下石盒子组储集层特征对比研究

鄂尔多斯盆地子洲气田山西组山23段和下石盒子组盒8段是该区天然气的主力储集层, 但其产能却存在很大差异.应用薄片鉴定、扫描电镜、高压压汞、恒速压汞及岩心分析资料, 分别对该地区上古生界山西组山23段和下石盒子组盒8段储集层进行了研究.子洲气田山23储层以石英砂岩为主, 孔隙类型多样, 粒间孔、溶孔、晶间孔发育, 喉道类别以微—细喉为主, 属相对低孔高渗型储层; 盒8储层则以岩屑砂岩为主, 孔隙类型主要为岩屑溶孔和晶间孔, 喉道类别以细—微喉为主, 属于相对低孔低渗型储层.山23段和盒8段储集层岩石类型、孔隙结构差别巨大, 造成了其储集性能的差异性.不同的沉积环境和成岩作用是造成其差异性的主要原因.     

A CASE STUDY ON CONCENTRATION AND DECENTRALIZATION：BEHAVIOR AND DYNAMIC MECHANISM OF SPATIAL EVOLUTION IN METROPOLITAN AREA，NANJING，CHINA

In rapid socio-economic development,the process of concentration and dispersal of various elements tends to be more dramatic,tremendously influencing the shaping and transformation of the space in metropolitan area.Survey of spatial concentration and decentralization has thus become a basic method in examining metropolitan spatial evolution.In this research,three elements were selected as the essential indicators of the process:demographic density distribu-tion,employment density distribution and business office location.Performance of these elements in Nanjing City was exam-ined historically.As Nanjing City could be regarded as a representative of metropolitan areas in China,its situation large-ly suggestes the general characteristics in similar areas of China.Hence based on the investigation of Nanjing City,four general implications were highlighted.First ,metropolitan areas in China are in a violent process and shift of spatial concentra-tion and decentralization.Second,from now to at least the near future,concentration will continue to be the central fea-ture.Third,the landscape of metropolitan areas basically exhibits a dual structure character.The gap in environmental and ecological qualities among different districts will continue for a long time.Fourth,Central Business District (CBD) is playing an important role in helping to convert the traditionally single-centered city structure into a polycentric one.     

随钻测量自保护密封原理及影响因素分析

为适应钻孔深度越来越深要求,延长随钻测量工作寿命,针对组合静密封结构缺陷,设计一种适用于随钻测量仪器的自保护密封装置.通过静力学膨胀数值模拟对橡胶气囊膨胀位移与气压关系进行研究,并在此基础上对模型尺寸大小不同,结果不同原因进行分析,讨论造成自保护密封装置模拟结果不同的因素,确定气囊直径、宽度、壁厚和内腔宽度4个自变量,...     

Characteristics of Tectonic Deformation and Mechanisms for the Active Maxianshan-Xinglongshan Fault System in the Lanzhou Area

A detailed investigation permitted us to obtain quantitative data concerning fine geometric structures of 4 faults of the active Maxianshan-Xinglongshan fault system and the latest movement along them. Of them the northern Maxianshan border fault is a large-scale, strongly active Holocene reverse sinistral strike-slip fault, the other 3 faults, the southern Maxianshan border fault and the southern Xinglongshan border and the northern Xinglongshan border faults are the accompanying active late-Pleistocene thrust faults, which are incorporated into the main strike-slip fault, the northern Maxianshan border fault at depth. It is the most important earthquake-controlling fault in the Lanzhou area, the fault influences and constrains the seismic activity in the area.     

一种浮摆式波能发电装置摆板运动响应的数值模拟

海况是影响波浪能发电装置运行效率的因素之一。以浮摆式波能发电装置为基础,描述了其中摆板系统的收集原理;并基于AQWA(advanced quantitive wave analysis)水动力学计算软件,仿真计算了三种波况下各摆板的运动响应,发现波向为45°角是摆板系统的最佳运行角度;当波高不超过0.6 m时,摆板的运动状态较易趋于平衡。另外,提出了一种估算摆板采集波能的平均转换效率的方法,并基于相关拟合函数软件,计算了5种较理想波况下摆板采集波能的平均能量转换效率,结果发现,波浪的周期和波高越大,摆板的波能采集效率越低。     

Design of a hydraulic power take-off system for the wave energy device with an inverse pendulum

This paper describes a dual-stroke acting hydraulic power take-off （PTO） system employed in the wave energy converter （WEC） with an inverse pendulum. The hydraulic PTO converts slow irregular reciprocating wave motions to relatively smooth, fast rotation of an electrical generator. The design of the hydraulic PTO system and its control are critical to maximize the generated power. A time domain simulation study and the laboratory experiment of the full-scale beach test are presented. The results of the simulation and laboratory experiments including their comparison at full-scale are also presented, which have validated the rationality of the design and the reliability of some key components of the prototype of the WEC with an inverse pendulum with the dual-stroke acting hydraulic PTO system.     

3 D GIS技术在户外广告规划设计和审批中的应用研究

现今的户外广告己经与城市生活融为一体,户外广告的精细化管理也成为智慧城市建设的重要组成部分.本文在充分分析三维户外广告管理业务难点及关键技术的基础上,融入3D GIS技术,设计三维户外广告信息管理平台,并详细介绍了平台的总体设计、数据标准和功能实现.平台可促进城市户外广告规划和设置的科学性,提高户外广告审查效率,为精细...