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土耳其软糖（2）

英语学习 2013年第5期 50-53页

作者： c.s.lewis

爱德蒙被女巫的土耳其软糖诱惑，他根本不知道女巫的最终目的是要爱德蒙把他的兄弟姐妹全都带到她那儿，然后一网打尽。在回去的路上，爱德蒙遇到了妹妹露西。露西很高兴爱德蒙也到了纳尼亚，因为这下能证明她先前跟哥哥姐姐们讲的关于... 详细信息

爱德蒙被女巫的土耳其软糖诱惑，他根本不知道女巫的最终目的是要爱德蒙把他的兄弟姐妹全都带到她那儿，然后一网打尽。在回去的路上，爱德蒙遇到了妹妹露西。露西很高兴爱德蒙也到了纳尼亚，因为这下能证明她先前跟哥哥姐姐们讲的关于纳尼亚的故事是真实的。但爱德蒙的心却被女巫俘获，他心怀鬼胎，有些忐忑地和露西回到衣柜里。

关键词：土耳其软糖兄弟姐妹爱德女巫

Guaranteed cost Attitude Tracking control for Uncertain Quadrotor Unmanned Aerial Vehicle Under safety constraints

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IEEE/cAA Journal of Automatica sinica 2024年第6期11卷 1447-1457页

作者： Qian Ma Peng Jin Frank L.lewis school of Automation Nanjing University of Science and TechnologyNanjing 210094China UTA Research Institute University of Texas at ArlingtonFort WorthTexas 76118 USA IEEE

In this paper,guaranteed cost attitude tracking con-trol for uncertain quadrotor unmanned aerial vehicle(QUAV)under safety constraints is ***,an augmented system is constructed by the tracking error system and reference *** transformation aims to convert the tracking control prob-lem into a stabilization control ***,control barrier function and disturbance attenuation function are designed to characterize the violations of safety constraints and tolerance of uncertain disturbances,and they are incorporated into the reward function as penalty *** on the modified reward function,the problem is simplified as the optimal regulation problem of the nominal augmented system,and a new Hamilton-Jacobi-Bellman equation is ***,critic-only rein-forcement learning algorithm with a concurrent learning tech-nique is employed to solve the Hamilton-Jacobi-Bellman equa-tion and obtain the optimal *** proposed algorithm can not only ensure the reward function within an upper bound in the presence of uncertain disturbances,but also enforce safety *** performance of the algorithm is evaluated by the numerical simulation.

关键词： Attitude tracking control quadrotor unmanned aerial vehicle(QUAV) reinforcement learning safety constraints uncertain disturbances.

Error-based adaptive optimal tracking control of nonlinear discrete-time systems

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science china(Information sciences) 2024年第1期67卷 154-167页

作者： chun LI Jinliang DING Frank L.lewis Tianyou cHAI state Key Laboratory of synthetical Automation for Process Industries Northeastern University UTA Research Institute The University of Texas at Arlington

In this paper,for the output tracking problem of nonlinear discrete-time systems,a performance index is newly defined using the adaptive dynamic programming(ADP) technique to completely eliminate tracking errors in *** contrast to traditional definitions of performance indices in other ADP-based methods,the proposed performance index is not only designed from the perspective of output tracking errors but also introduced errors of system states and control inputs at adjacent stages,which is suitable for practical situations in many industrial applications,such as the alumina production,the flotation process,and the mineral grinding *** proved that the obtained controller can make the system output fully track the given reference trajectory by applying the iterative criteria of the ADP *** addition,the proposed algorithm was implemented using a data-driven technique and neural networks to avoid analyzing and deducing the complicated dynamics of actual industrial ***,using historical data for a forced-circulation evaporation system in the alumina production process,the effect of the proposed approach was verified through a numerical simulation and compared with that of the proportional-integral controller.

关键词： adaptive dynamic programming iterative criteria performance index tracking errors tracking problem

control Policy Learning Design for Vehicle Urban Positioning via BeiDou Navigation

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Journal of systems science & complexity 2024年第1期37卷 114-135页

作者： QIN Yahang ZHANG chengye cHEN ci XIE shengli lewis Frank L school of Automation Guangdong University of TechnologyGuangzhou 510006China Guangdong Key Laboratory of IoT Information Technology Guangzhou 510006China. center for Intelligent Batch Manufacturing Based on IoT Technology Key Laboratory of Intelligent Detection and The Internet of Things in Manufacturing Ministry of EducationGuangzhou 510006China Guangdong-HongKong-Macao Joint Laboratory for smart Discrete Manufacturing Guangzhou 510006China Key Laboratory of Intelligent Information Processing and system Integration of IoT Ministry of EducationGuangzhou 510006China. UTA Research Institute The University of Texas at ArlingtonFort WorthTX 76019USA

This paper presents a learning-based control policy design for point-to-point vehicle positioning in the urban environment via BeiDou *** navigating in urban canyons,the multipath effect is a kind of interference that causes the navigation signal to drift and thus imposes severe impacts on vehicle localization due to the reflection and diffraction of the BeiDou ***,the authors formulated the navigation control system with unknown vehicle dynamics into an optimal control-seeking problem through a linear discrete-time system,and the point-to-point localization control is modeled and handled by leveraging off-policy reinforcement learning for feedback *** proposed learning-based design guarantees optimality with prescribed performance and also stabilizes the closed-loop navigation system,without the full knowledge of the vehicle *** is seen that the proposed method can withstand the impact of the multipath effect while satisfying the prescribed convergence rate.A case study demonstrates that the proposed algorithms effectively drive the vehicle to a desired setpoint under the multipath effect introduced by actual experiments of BeiDou navigation in the urban environment.

关键词： BeiDou navigation multipath effect prescribed convergence rate reinforcement learning urban localization.

Recent Progress in Reinforcement Learning and Adaptive Dynamic Programming for Advanced control Applications

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IEEE/cAA Journal of Automatica sinica 2024年第1期11卷 18-36页

作者： Ding Wang Ning Gao Derong Liu Jinna Li Frank L.lewis IEEE the Faculty of Information Technology Beijing Key Laboratory of Computational Intelligence and Intelligent SystemBeijing Laboratory of Smart Environmental Protectionand Beijing Institute of Artificial IntelligenceBeijing University of TechnologyBeijing 100124China the school of system Design and Intelligent Manufacturing Southern University of Science and TechnologyShenzhen 518055China the Department of Electrical and computer Engineering University of Illinois at ChicagoChicago IL 60607 USA the school of Information and control Engineering Liaoning Petrochemical UniversityFushun 113001China the UTA Research Institute the University of Texas at ArlingtonArlington TX 76118 USA

Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, ***, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation ***, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.

关键词： Adaptive dynamic programming(ADP) advanced control complex environment data-driven control event-triggered design intelligent control neural networks nonlinear systems optimal control reinforcement learning(RL)

Early Phases of star Formation: Testing chemical Tools

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Research in Astronomy and Astrophysics 2024年第1期24卷 96-118页

作者： N.c.Martinez s.Paron cONIcET-Universidad de Buenos Aires.Instituto de Astronomía y Física del Espacio Ciudad Universitaria(C1428EGA)Ciudad Autónoma de Buenos AiresArgentina

star-forming processes strongly influence the IsM ***,many high-quality databases are available at millimeter *** them,it is possible to carry out studies that review and deepen previous *** these studies involve large samples of sources,it is preferred to use direct tools to study the molecular *** the aim of testing these tools such as the use of the HcN/HNc ratio as a thermometer,and the use of H^(13)cO^(+),Hc_(3)N,N_(2)H^(+) and c_(2)H as "chemical clocks," we present a molecular line study toward 55 sources representing massive young stellar objects at different evolutionary stages:infrared dark clouds(IRDcs),highmass protostellar objects(HMPOs),hot molecular cores(HMcs) and ultracompact H II *** found that the use of the HcN/HNc ratio as a universal thermometer in the IsM should be taken with care because the HcN optical depth is a big issue that can affect the ***,this tool should be utilized only after a careful analysis of the HcN spectrum,checking that no line,neither the main nor the hyperfine ones,presents absorption *** point out that the analysis of the emission of H^(13)cO^(+),Hc_(3)N,N_(2)H^(+) and c_(2)H could be useful to trace and distinguish regions among IRDcs,HMPOs and *** molecular line widths of these four species increase from the IRDc to the HMc stage,which can be a consequence of the gas dynamics related to the starforming processes taking place in the molecular *** results not only contribute with more statistics,acting as a probe of such chemical tools,useful to obtain information in large samples of sources,but also complement previous works through the analysis of other types of sources.

关键词： stars:formation IsM:molecules IsM:clouds

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黎明踏浪号

时代英语（高三版） 2019年第4期 4-9页

作者： c.s.刘易斯任显楷(译) 不详

cHAPTER ONETHE PIcTURE IN THE BEDROOM第一章卧室里的画儿有一个小男孩儿,名字叫尤斯塔斯·克拉伦斯·斯库波。他的脾气和行为的确当得起这个名字('尤斯塔斯'在英语中和'没用的'一词音相近)。他的爸爸妈妈叫他尤斯塔斯,而他的老师则... 详细信息

cHAPTER ONETHE PIcTURE IN THE BEDROOM第一章卧室里的画儿有一个小男孩儿,名字叫尤斯塔斯·克拉伦斯·斯库波。他的脾气和行为的确当得起这个名字('尤斯塔斯'在英语中和'没用的'一词音相近)。他的爸爸妈妈叫他尤斯塔斯,而他的老师则叫他斯库波。

关键词：尤斯塔斯

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凯斯宾王子第六章隐居的纳尼亚臣民(下)

时代英语（高二版） 2020年第S1期 4-9页

作者： c.s.刘易斯吴民(译) 不详

“要是我们收容了这些坏蛋,阿斯兰就不会站在我们这边了.”当他们从黑小矮人的山洞里走出来的时候,特鲁佛汉特说. “哼,阿斯兰!”杜鲁普金似乎很不服气,“你们要是没有我这个朋友,那才不得了呢!” “你不相信阿斯兰吗?”凯斯宾问尼克布... 详细信息

“要是我们收容了这些坏蛋,阿斯兰就不会站在我们这边了.”当他们从黑小矮人的山洞里走出来的时候,特鲁佛汉特说. “哼,阿斯兰!”杜鲁普金似乎很不服气,“你们要是没有我这个朋友,那才不得了呢!” “你不相信阿斯兰吗?”凯斯宾问尼克布瑞克. “我相信一切能够参战的生灵.”尼克布瑞克高声说, “只要能够铲除那些台尔马暴徒,把他们赶出纳尼亚,一切生灵,不管他叫阿斯兰,还是叫白女巫,你明白了吗?”

关键词：汉特鲁普小矮人

凯斯宾王子第五章凯斯宾的神奇探险之旅（上）

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时代英语（高二版） 2020年第2期 4-9页

作者： c.s.刘易斯吴民(译) 不详

那以后的时光,凯斯宾和他的老师便常常在塔顶密谈,每一次谈话后,古老的纳尼亚在凯宾斯的脑海中越来越清晰。那个奇妙的世界引起了这位年轻王子的无限憧憬和向往。他多想重返古老的纳尼亚啊。然而,并没有多少时间给他遐想,因为这时,他已... 详细信息

那以后的时光,凯斯宾和他的老师便常常在塔顶密谈,每一次谈话后,古老的纳尼亚在凯宾斯的脑海中越来越清晰。那个奇妙的世界引起了这位年轻王子的无限憧憬和向往。他多想重返古老的纳尼亚啊。然而,并没有多少时间给他遐想,因为这时,他已经开始接受正统教育,击剑、骑马、游泳和潜水都是必修课,此外,射箭、狩猎、吹竖笛、弹琵琶也必须掌握。

关键词：竖笛击剑弹琵琶凯斯游泳必修课