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.     

激电偶极—偶极装置在撒岱沟门的找矿效果

本介绍撒岱沟相矿区应用激电偶极－偶极装置的找矿效果。通过对其成果分析和钻探证实：利用该装置所获资料，不仅能从断面上直观地推测出极化体的分布及产状变化，还能从不同深度的ηｓ平面成果中分析出极化体在地下空间赋存状态的基本轮廓。     

SYZX75型绳索取心液动锤在招远玲珑金矿勘探中的应用

介绍了SYZX75绳索取心液动锤钻探技术在山东招远玲珑金矿区的使用情况;并对应用效果进行了分析;指出了存在的问题及改进建议。     

EKL-3A型全自动水文缆道测验系统

EKL-3A型全自动水文缆道测验系统是专为水文缆道测流研制的自动化控制系统。该系统采用工业控制计算机和PLC可编程控制器作为完成自动化缆道测流的控制核心,配合交流变频调速、光电编码测距定位、流速自动测算、音频信号传输等成熟技术和计算机测流控制软件及流量成果自动生成软件等构成。系统可通过计算机对缆道测流装置进行全自动、半自动、手动测流控制,各种测量方式均可最终生成断面流量报表和断面流速分布曲线图。     

基于应激性心肌病再论“心主神明”

应激性心肌病（SC）是一种受强烈情绪刺激或各种应激因素影响,以短暂性左心室心肌变薄、收缩功能障碍及收缩时左心室球形改变为特征的急性可逆性心肌病。“心主神明”即心主宰情志活动。中医学认为SC的基本病机为情志异常、心神不明、神不驭气、气机紊乱,并提出调养心神以治本、调气畅血以治标的治疗法则。而随着“脑主神明”的提出,“孰主神明”成为各方关注的焦点。自“双心医学”理论提出后,越来越多的现代研究证实了心主神明的科学性。SC作为既是“血脉之疾”又属于“神明之病”的疾病,因其情绪失常导致心脏功能障碍并出现形态学改变的特点,形象地诠释了心神不明对形体心脏的影响,进一步论证了心主神明理论的科学性和重要性。     

一种简易的晚第四纪地层连续取心方法

在长江三角洲地区晚第四纪地层连续取心钻探工作中，通过选用大功率钻机以及在传统的单管单动取土器中塞入PVC塑料管的取土方法，在所钻进的65-91m深度内的4口取心井中，平均取心率达81．6％。岩心内部原生沉积层理清晰，扰动很小，可满足晚第四纪长江三角洲古环境演变研究的要求。     

中国海岸风成沙ESR测年的研究

介绍ＥＳＲ测年的基本原理，并讨论风成沙Ｇｅ心测年的可行性、风成沙Ｅ＇心的特征、测年误差及可靠性等问题。１９９２－１９９３年在渤、黄、东、南海沿岸采集的１００余个风成沙样品ＥＳＲ测年实验表明，绝大部分海岸风成沙的年龄为１－７万年。     

一种现场连续取样的水中微粒采集装置

这里介绍的西德基尔大学应用物理所研制的现场水中微粒采集装置,最大工作深度1km,一次投放可采集800个样品,供海水的生物、矿物、悬浮物、沉积物及化学方面的定量分析,该装置在水下进行泵汲取样、网膜过滤和塑料热焊封存,提出水面后用显微镜观察和分析,用计算机数据处理,可获得各种微粒的时空分布曲线.这种水中微粒采集方法是海水采样技术发展史上的一次革新,值得我们在研制采水设备时参考。