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Off-policy correction algorithm for double Q network based on deep reinforcement learning

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IET Cyber-Systems and Robotics 2023年第4期5卷 16-26页

作者： Qingbo Zhang manlu liu Heng Wang Weimin Qian Xinglang Zhang School of Information Engineering Southwest University of Science and TechnologyMianyangChina Robot Technology Used for Special Environment Key Laboratory of Sichuan Province MianyangChina Tianfu Institute of Research and Innovation Southwest University of Science and TechnologyChengduChina

A deep reinforcement learning(DRL)method based on the deep deterministic policy gradient(DDPG)algorithm is proposed to address the problems of a mismatch between the needed training samples and the actual training samples during the training of in-telligence,the overestimation and underestimation of the existence of Q-values,and the insufficient dynamism of the intelligence policy *** method introduces the Actor-Critic Off-Policy Correction(AC-Off-POC)reinforcement learning framework and an improved double Q-value learning method,which enables the value function network in the target task to provide a more accurate evaluation of the policy network and converge to the optimal policy more quickly and stably to obtain higher value *** method is applied to multiple MuJoCo tasks on the Open AI Gym simulation *** experimental results show that it is better than the DDPG algorithm based solely on the different policy correction framework(AC-Off-POC)and the conventional DRL *** value of returns and stability of the double-Q-network off-policy correction algorithm for the deep deterministic policy gradient(DCAOP-DDPG)pro-posed by the authors are significantly higher than those of other DRL algorithms.

关键词： neural network Q-learning reinforcement learning

高校视觉传达设计专业《印刷工艺学》课程教学改革探索

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鞋类工艺与设计 2022年第11期2卷 77-79页

作者：刘曼鹭南京航空航天大学金城学院江苏南京210000

印刷工艺学是一门综合艺术、材料、机械的专业基础课,对视觉传达设计专业的学生来说十分重要。本文分析归纳了印刷工艺学课程的特点,对现有的印刷工艺学课程进行了改革探究。教师应突出学生的主体地位,培养学生自主学习的内在动力,提高... 详细信息

印刷工艺学是一门综合艺术、材料、机械的专业基础课,对视觉传达设计专业的学生来说十分重要。本文分析归纳了印刷工艺学课程的特点,对现有的印刷工艺学课程进行了改革探究。教师应突出学生的主体地位,培养学生自主学习的内在动力,提高学生的动手能力。课程安排上应增加实验实习课时,开展实验室教学,重视理论教学与实践教学相结合。应用创新型的教学方法和手段,改善考核方式,不断改进教学效果,以促进学生全面发展,成为社会所需要的高素质应用型人才。

关键词：高校印刷工艺学视觉传达设计

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浅谈数字插画艺术在海报设计中的应用

鞋类工艺与设计 2022年第10期2卷 74-76页

作者：刘曼鹭南京航空航天大学金城学院江苏南京210000

随着社会的进步、设计行业的不断发展,插画艺术作为一种重要的视觉传达形式被应用于人们生活的方方面面。时至今日,新技术不断被应用到插画设计中,手绘插画逐渐演变成采用电脑、平板等工具创作插图,传统的颜料、画笔等工具也逐渐被各类... 详细信息

随着社会的进步、设计行业的不断发展,插画艺术作为一种重要的视觉传达形式被应用于人们生活的方方面面。时至今日,新技术不断被应用到插画设计中,手绘插画逐渐演变成采用电脑、平板等工具创作插图,传统的颜料、画笔等工具也逐渐被各类软件、设备取代。数字插画与时俱进,在平面设计中发挥着越来越重要的作用,被广泛应用各类海报设计的领域。本文首先分析了数字插画的概念和发展,再从数字插画艺术在海报设计中的应用问题入手,具体分析它在海报设计中的意义。

关键词：数字插画艺术海报设计应用意义

维生素K2的生物合成及其甲萘醌基团合成酶的功能分析

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化工学报 2023年第1期74卷 342-354页

作者：张秋华刘曼路王峥张一鸣苏海佳北京化工大学生命科学与技术学院北京100029

维生素K2(VK2)作为2-甲基-1,4-萘醌(简称甲萘醌)家族的衍生物,在预防骨质疏松和心血管钙化方面发挥着重要作用,随着其市场需求的日益增加,实现VK2产业化并降低生产成本成为大家关注的焦点。首先概述了VK2传统发酵工艺现状及面临的问题,... 详细信息

维生素K2(VK2)作为2-甲基-1,4-萘醌(简称甲萘醌)家族的衍生物,在预防骨质疏松和心血管钙化方面发挥着重要作用,随着其市场需求的日益增加,实现VK2产业化并降低生产成本成为大家关注的焦点。首先概述了VK2传统发酵工艺现状及面临的问题,之后详细分析了VK2生物合成途径及其基因工程改造策略,可以将枯草芽孢杆菌产量提高至1549.6 mg·L^(-1),产量是传统发酵菌株的7倍以上。此外,还围绕合成途径中经典甲萘醌骨架合成酶的功能及其蛋白结构进行汇总分析,通过对酶的蛋白结构、催化特异性和机理进行分析,揭示各个功能酶在VK2合成途径中发挥的作用及其内在关系。最后从合成生物学技术发展角度对VK2途径设计、构建与应用进行了展望,为提升VK2工业化产量提供理论参考。

关键词：维生素K2 生物合成甲萘醌蛋白结构

Fault-Tolerant Control Method of Robotic Arm Based on Machine Vision

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Fault-Tolerant Control Method of Robotic Arm Based on Machin...

Frequency Regulation of VSC-MTDC System with Offshore Wind Farms

第30届中国控制与决策会议

作者： Xinmao Li manlu liu Wei Wang Yingxing Li Minghao Li Southwest University of Science and Technology Datang Shandong Yantai Power Development co.LTD

We proposed a fault-tolerant control method based on machine vision to enhance the reliability of the robotic arm in the radiation ***,we introduced the joint angle visual detection method as an angle detection backup solution,which was used to timely detect the joint angle of the robotic arm in case of encoder ***,we introduced an encoder fault diagnosis mechanism,and the difference between the machine visual feedback value and corresponding encoder feedback values was used as the basis of encoder *** the encoder failed,it could be switched to the joint angle visual detection in real *** the Canny edge detection and the Probabilistic Hough transform,the method could extract the identification tag of robotic arm joint image from the front-end camera,and hence the joint angle value was ***,in the fault-tolerance experiment,the proposed approach found the encoder failure and switched detection method,and the scheduled task continued to the *** error about the angle detection based on the machine vision would not exceed ± 0.008.

关键词： Machine vision fault-tolerant control robotic arm Hough transform

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Journal of Modern Power Systems and Clean Energy 2024年第1期12卷 275-286页

作者： Haoyu liu Chongru liu North China Electric Power University Beijing 102206China

Frequency regulation of voltage source converter-based multi-terminal high-voltage direct current(VSC-MTDC)system with offshore wind farms enhances the frequency stability by compensating the power for a disturbed AC ***,it is difficult to reasonably allocate frequency-regulation resources due to a lack of coordination mechanisms between wind farms and the MTDC ***,it is difficult for the frequency control of the wind farms to manage changes in wind speed;and the risk of wind-turbine stalls is ***,based on the kinetic energy of wind turbines and the power margin of the converters,the frequency-regulation capability of wind turbines is evaluated,and a dynamic frequency-support scheme considering the real-time frequency-support capability of the wind turbines and system frequency evolution is proposed to improve the frequency-support performance.A power adaptation technique at variable wind speeds is developed;the active power in the frequency-support stage and restoration stage is switched according to the wind speed.A hierarchical zoning frequency-regulation scheme is designed to use the frequency-regulation resources of different links in the MTDC system with wind *** simulation results show that the novel frequency-regulation strategy maintains frequency stability with wind-speed changes and avoids multiple frequency dips.

关键词： Wind generation voltage source converter-based multi-terminal high-voltage direct current(VSC-MTDC) frequency regulation cooperative control adaptive control variable wind speed

Manipulator Control Method Based on Deep Reinforcement Learning

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Manipulator Control Method Based on Deep Reinforcement Learn...

Research On Fault Tolerant Control Strategy of Multi-Degree-of-Freedom Manipulator with Single Joint Faults

第32届中国控制与决策会议

作者： Rui Zeng manlu liu Junjun Zhang Xinmao Li Qijie Zhou Yuanchen Jiang Special Environment Robot Technology Key Laboratory of Sichuan Province Southwest University of Science and Technology

Robotic arm have transformed the manufacturing industry and have been used for scientific exploration in human inaccessible environments. The existing manipulator control methods based on deep reinforcement learning usually discretize the action space or consider the planar manipulator, which results in great limitations of the tasks that the manipulator can accomplish complete. In this paper, we propose a control method based on the Deep Deterministic Policy Gradient（DDPG） algorithm for the 6 degree-of-freedom manipulator that reach the object position in three-dimensional space. This paper designs two types of reward functions, and introduces the manipulability index into the algorithm. The manipulability index evaluates the flexibility of the robotic arm in the work space, which is referenced by the algorithm to optimize the joint pose of the robotic arm to reach the object position. By building a simulation platform to compare the algorithms based on two reward functions, the effectiveness of the DDPG algorithm is verified, and the 6 degree-of-freedom manipulator can reach the object position with more flexible posture based on the DDPG algorithm with manipulability index.

关键词： Deep reinforcement learning Manipulator Reward function Joint pose

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Research On Fault Tolerant Control Strategy of Multi-Degree-...

A Novel Design of a Pre-separation Panel Structure to Protect Against the Impact of an Explosion in an Aircraft Plenum Chamber

第37届中国控制会议

作者： Qijie Zhou manlu liu Wei Wang Liang Xu Tianxiang Ao Hua Zhang Special Environment Robot Technology Key Laboratory of Sichuan Province Southwest University of Science and Technology Datang Shandong Yantai Power Development co.LTD

While performing the typical task of point-to-point motion of redundant manipulator,single joint faults suddenly *** the effect of the configuration on the manipulator’s task,here we propose an improved genetic algorithm based on the measurement of manipulator end-to-target position error and the manipulability measure,which makes the end of the manipulator arrive at the target position with less error *** addition,it also makes the machine has a greater operable arm configuration upon *** is used for modeling and simulating with a three-link planar arm as an *** groups of simulation experiments are carried out to compare the improved genetic algorithm with the traditional genetic algorithm based on position error,and the simulation results are analyzed and ***,the physical robot proves the validity and reliability of this method.

关键词： Redundant Manipulator Manipulability Measure Position Error Genetic Algorithm

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Acta Mechanica Solida Sinica 2024年第1期37卷 166-180页

作者： Zongxing liu Xiang Yang Jun liu School of Aeronautics Northwestern Polytechnical UniversityXi'an 710072China COMAC Shanghai Aircraft Design and Research Institute Shanghai 201210China

To reduce the damage of the pressurizing panel structure of a fuselage caused by an explosion at the“least risk bomb location”in an aircraft structure,a new pre-separation panel structure was designed to resist blast ***,the dynamic strain response and morphology of impact damage of the new pre-separation panel were measured in an impact damage ***,the commercial software LS-DYNA was used to calculate the propagation of the blast shock wave,and the results were compared with empirical equations to verify the rationality of the numerical calculation ***,the fluid–structure coupling method was used to calculate the damage process of the pre-separation panel structure under the impact of an explosion wave and an impact *** calculated results were in good agreement with the test results,which showed the rationality of the calculation method and the *** residual strength of the damaged pre-separation panel was significantly higher than that of the original damaged *** results show that the new pre-separation panel structure is reasonable and has certain significance for guiding the design of plenum chambers with strong resistance to implosion for aircraft fuselages.

关键词： Pre-separation panel structure Explosive response Residual strength Aircraft plenum chamber Least risk bomb location