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.     

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山河智能旋挖钻机在京沪高速铁路南京大胜关长江大矫工程显神威

作为铁道部确定为2008年铁路建设的重中之重的京沪高速铁路,目前各标段已陆续开工。江苏段是京沪高铁较早开工建设的路段之一,其长357.5km,占全线总长的27.3％,是沿线四省三市中线路最长的,江苏段关键工程——京沪高速铁路南京大胜关长江大桥工程是最早开工建设的工地。     

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本文在对水下管道开沟机械的需求市场、实际应用和研制开发动向作深入调研的基础上，选择水下管道开沟机械特有的技术先进性、适用性、安全可靠性以及经济性评价指标，构造评价模型，对水下管道施工作业中广为应用的水力冲射开沟机械、海底管道犁、机械开沟机和土壤液化法埋管设备及其机型的技术经济性能作了较为详尽地分析对比及综合评价。在此基础上，笔者提出了水下管道开沟机械的一般选型原则和对我国海底管道开沟机械研究开发工     

某船坞南翼墙基岩水下控制爆破技术

本文介绍的基岩水下爆破属临近重要建筑物的水下控制爆破。当岩石裂隙发育，且岩面有较厚的石碴覆盖层，其技术难度大，采取的诸如搭钢平台钻孔。塑料套管护孔，以及孔间、排间塑料导爆管雷管接力式微差起爆网路等措施，都是成功之经验，值得今后类似工程推广应用。     

红树林遥感智能分类方法研究

利用ＧＩＳ信息中的红树林地域分布规律作向导，充分利用械树林区的光谱信息进行红树林植被信息提取。在对比研究常规的红树林图象自理方法的基础上，提出了适用于红树林植被信息遥感监测的智能分类方法。     

DGPS RTK技术在无验潮水下地形测量中的应用初探

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