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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LZY1—1型光电浊度仪

本文介绍了LZY_(1-1)型光电浊度仪的设计原理,标定方法及使用结果,该仪器用经典法校准后,能快速测量大批量样品的悬浮物含量。     

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介绍了陀螺定向测量中三种不同的数据采集方法，分析了各种方法的优缺点。作者认为传感器采集数据自动化程度高，精度高，特别是运用位置敏感探测器（PSD）采样数据量大，具有一定的抗干扰能力，但在运用传感器采样时必须注意克服非线性误差。     

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。