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Deep adaptive control with online identification for industrial robots

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Science China(Technological Sciences) 2022年第11期65卷 2593-2604页

作者： shen tan QIAO XueChun DONG YunLong WANG YuRan ZHANG Wei YUAN Ye School of Artificial Inteligence and Automation Huazhong University of Science and TechnologyWuhan 430074China Department of Mechanical and Energy Engineering Southerm University of Science and TechnologyShenzhen 518055China

Derivation of control equations from data is a critical problem in numerous scientific and engineering *** inverse dynamic control of robot manipulators in the field of industrial robot research is a key ***,researchers needed to obtain the robot dynamic model through physical modeling methods before developing ***,the robot dynamic model and suitable control methods are often elusive and difficult to tune,particularly when dealing with real dynamical *** this paper,we combine an enhanced online sparse Bayesian learning(OSBL)algorithm and a model reference adaptive control method to obtain a data-driven modeling and control strategy from data containing noise;this strategy can be applied to dynamical *** particular,we use a sparse Bayesian approach,relying only on some prior knowledge of its physics,to extract an accurate mechanistic model from the measured *** parameters are further identified from the modeling error through a deep neural network(DNN).By combining the identification model with a model reference adaptive control approach,a general deep adaptive control(DAC)method is obtained,which can tolerate unmodeled *** adaptive update law is derived from Lyapunov’s stability criterion,which guarantees the asymptotic stability of the ***,the Enhanced OSBL identification method and DAC scheme are applied on a six-degree-of-freedom industrial robot,and the effectiveness of the proposed method is verified.

关键词： industrial robots sparse Bayesian learning online identification adaptive control

A review of image processing and quantification analysis for solid oxide fuel cell

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Energy and AI 2024年第2期16卷 464-482页

作者： Kar shen tan Chee Kiang Lam Wee Choon tan Heap sheng Ooi Zi Hao Lim Faculty of Electrical Engineering&Technology Universiti Malaysia PerlisPauh Putra CampusPauh02600PerlisMalaysia Faculty of Mechanical Engineering&Technology Universiti Malaysia PerlisPauh Putra CampusPauh02600PerlisMalaysia Faculty of Information Science&Technology Universiti Kebangsaan MalaysiaBangi43600SelangorMalaysia

The purpose of this study is to investigate the approaches applied to analyze solid oxide fuel cell (SOFC) microstructural properties. Both manual and automated image processing approaches applied on SOFC microstructural images which are obtained from several types of tomography such as dual-beam focused ion beam with scanning electron microscopy (FIB-SEM), Electron Backscatter Diffraction (EBSD) and others are discussed. In fact, to achieve a realistic and accurate SOFC microstructural properties, such as average diameter, volume fraction, triple phase boundary (TPB), area interface density and tortuosity factor, the approaches of image processing and quantification are crucial for a reliable image generation for quantification purposes. The microstructural properties are optimized to improve SOFC electrode performance. Therefore, the image processing and quantification approaches are outlined and reviewed. Despite the automated image processing and quantification algorithms significantly outperform manual image processing and quantification approaches in terms of computing speed when evaluating and measuring microstructural properties, the efficiency and productivity are still extremely taken into concern. As a result, image processing and quantification approaches are concluded and presented respectively in this paper.

关键词： Digital image processing Deep learning Triple phase boundary Solid oxide fuel cell Microstructure

Loss prediction of three-level amplified spontaneous emission sources in radiation environment

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Chinese Physics B 2022年第6期31卷 410-414页

作者： shen tan Yan Li Hao-Shi Zhang Xiao-Wei Wang Jing Jin School of Instrument Science and Opto-electronics Engineering BeiHang UniversityBeijing 100191China

A model of three-level amplified spontaneous emission(ASE)sources,considering radiation effect,is proposed to predict radiation induced loss of output power in radiation *** absorption parameters of ASE sources model are obtained by the fitting of color centers generation and recovery process of gain loss data at lower dose *** loss data at higher dose is applied for *** model takes both the influence of erbium ions absorption and photon bleaching effect into consideration,which makes the prediction of different dose and dose rate more accurate and *** fitness value between ASE model and gain loss data is 99.98%,which also satisfies the extrapolation at the low dose *** method and model may serve as a valuable tool to predict ASE performance in harsh environment.

关键词： amplified spontaneous emission(ASE)sources irradiation effects model extrapolation performance prediction

Co-seismic deformation of 2011 Mw9.0 Japan earthquake observed by InSAR technique

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Geodesy and Geodynamics 2011年第3期2卷 24-30页

作者： shen Qiang tan Kai Institute of Seismology China Earthquake Administration Wuhan 430071 China

Co-seismic line-of-sight displacements of the 2011 Mw9.0 Japan earthquake derived from InSAR data of Envisat ASAR, ALOS PALSAR and TerraSAR-X show a maximum value of about - 245cm to -221cm near the epicenter. This result is in good agreement with the result of GPS measurement. The ob- served displacement pattern suggests an earthquake-rupture zone over 500km long, with a ground-motion pat- tern in the vicinity of the northern segment more complex than that of the southern segment, possibly due to immediate aftershocks that occurred between satellite passes.

关键词： Mw9.0 Tohoku earthquake InSAR surface displacement

Thermal Performance of Building Roof with Infrared Reflective Coatings

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湖南大学学报（自然科学版） 2009年第S1期36卷 151-155页

作者： shen Hui,tan Hong-wei,KATSUO MIKI,LIU Xiao-yu(Research Institute of HVAC and Gas Engineering,College of Mechanical Engineering,Tongji University,Shanghai 200092,China) Research Institute of HVAC and Gas Engineering College of Mechanical Engineering Tongji University Shanghai 200092 China

This paper investigated the applicability and effects of infrared reflective coating on energy consumption of factory building in hot summer and warm winter *** first resorted to theoretical calculation,which demonstrated the beneficial effects of infrared reflective coating on reducing building energy *** it analyzed a field measurement done on two identical rooms respectively with ordinary coated roof and infrared reflective coated roof from November 2006 to October 2007,on a 24h *** measured data include exterior and interior roof surface temperature,indoor air temperature,and indoor globe *** related weather data is from a weather station near the measured *** continuous measurement has been accomplished in southern China,and the measured data indicate that roof surface temperature and heat gain are significantly decreased in summer while slight negative effects in winter are induced by adopting infrared reflective *** it is simple and applicable to reduce building energy consumption in this area by applying infrared reflective *** equation between reduced roof thermal property,such as surface temperature and heat gain,and reduction in absorbed solar radiation shows their highly linear *** on the measured data,it is estimated that the reduced power consumption is 3.45 kWh/m2·month in June.

关键词： infrared reflective coating hot summer and warm winter zone measurement reflectivity

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人口流动对农村贫困和不平等的影响

开放时代 2009年第10期 81-95页

作者：谭深中国社会科学院社会学研究所 100732

本文通过对家庭、社区两个层面,以及妇女、儿童、老人等群体的研究,分析了流动是如何对农村的不同层面、不同群体发生作用的,它对于贫困和不平等有什么样的影响。分析认为,农民工流动的积极作用集中在与经济和发展相关的那些方面,如绝... 详细信息

本文通过对家庭、社区两个层面,以及妇女、儿童、老人等群体的研究,分析了流动是如何对农村的不同层面、不同群体发生作用的,它对于贫困和不平等有什么样的影响。分析认为,农民工流动的积极作用集中在与经济和发展相关的那些方面,如绝对贫困大幅度减少,生活水平普遍提高等;而其消极作用多反映在社会和文化方面,如社区凝聚力的减弱,功利价值观的泛滥等。同时,对于不同的地区、同一社区内的家庭、家庭中不同的成员,这些积极的或消极的影响的程度是不一样的。如家庭中权力关系的改变对于年轻人来说是积极的,而对于老年人来说就是消极的。从时间上看,流动在早期对于冲破城乡壁垒和消除原体制下的身份不平等是有作用的,但是在持续的流动中,不平等不但没有消除,反而扩大了。相对于非贫困户和年轻人,贫困户、老年人更边缘化了。

关键词：农村贫困平等人口流动农民工流动功利价值观绝对贫困生活水平权力关系

基于最优性原理的普适性碳水通量耦合估算方法研究

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生态学报 2022年第4期42卷 1487-1499页

作者：谭深王焓清华大学地球系统科学系北京100084 清华大学全球变化研究院北京100875

陆地生态系统碳、水通量估算是地球系统科学研究的基础和重要内容之一。当前部分碳、水通量模型在外推的过程中受到参数化结构和特征参数的限制,难以提升应用范围和结果精度。以生态水文最优性原理为理论工具,将基于该原理构建的C3植物... 详细信息

陆地生态系统碳、水通量估算是地球系统科学研究的基础和重要内容之一。当前部分碳、水通量模型在外推的过程中受到参数化结构和特征参数的限制,难以提升应用范围和结果精度。以生态水文最优性原理为理论工具,将基于该原理构建的C3植物普适性生产力模型P model推广至C4植物;在此基础上结合植物气孔行为的环境响应规律和水碳耦合原理,发展具有普适性的碳水通量耦合估算方法,协同计算我国总初级生产力(GPP, Gross Primary Production)和蒸散(ET, Evapotranspiration)。基于ChinaFLUX数据集的站点尺度验证结果表明,基于P model发展的的GPP和ET普适性估算方法精度表现良好:GPP估算结果与地面观测相比,相关系数R^(2)=0.61,均方根误差RMSE=2.1gC/d,拟合斜率0.96;ET估算结果相关系数R^(2)=0.66,RMSE=0.85mm/d,拟合斜率1.04。基于Google Earth Engine云平台实现了全国尺度GPP和ET计算,模拟结果与遥感太阳诱导叶绿素荧光观测、同类ET产品相比具有合理的空间分布,表明基于最优性原理构建的普适性碳水通量耦合估算模型在空间拓展的过程中稳定可靠。此外,与传统参数化导度模型的环境敏感性对比分析表明,采用的普适性通量计算方案能够在无法获取准确土地覆被信息或模型训练样本不足的情况下取得稳定的计算结果,具有良好的应用和发展前景。

关键词：最优性原理总初级生产力蒸散气孔导度谷歌地球引擎

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长号演奏中国风格音乐作品微探

中国音乐 2020年第6期 189-192页

作者：谭深中国音乐学院

本文分析长号在演奏中国民歌改编作品及京剧唱段等传统风格音乐作品时,"滑音""双吐""双音"等特殊技法的使用,总结西洋管弦乐器对中国作品的演绎方法及规律,以期对长号演奏、教学及音乐创作提供借鉴。

关键词：长号演奏中国风格音乐作品 “滑音”技法 “双吐”技法 “双音”技法

基于Google Earth Engine与多源遥感数据的海南水稻分类研究

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地球信息科学学报 2019年第6期21卷 937-947页

作者：谭深吴炳方张鑫中国科学院遥感与数字地球研究所遥感科学重点实验室北京100101 中国科学院大学北京100049

水稻是中国乃至亚洲的重要粮食作物之一,稻米产量关系到民生福祉。及时、准确的水稻分布信息是监测水稻产量、调控农业资源配给的基础。遥感(Remote Sensing)技术能够提供大范围地表的时间序列光谱变化特征,常用于大尺度范围的作物监测... 详细信息

水稻是中国乃至亚洲的重要粮食作物之一,稻米产量关系到民生福祉。及时、准确的水稻分布信息是监测水稻产量、调控农业资源配给的基础。遥感(Remote Sensing)技术能够提供大范围地表的时间序列光谱变化特征,常用于大尺度范围的作物监测。然而,传统基于水稻生长关键时期光谱特征的分类、提取方法对遥感数据的时间分辨率要求较高。由于我国南方水稻产区湿热,雨季云污染降低了遥感数据的有效时间分辨率,因此上述方法在该地难以推广。融合多源遥感数据的分类方案变相缩短了卫星的重访周期,使多云气候区基于遥感影像的水稻分类成为可能。然而,集成多源数据所需更高的数据处理效率和存储需求也成为限制省级乃至更大范围水稻分类的主要因素。本研究基于谷歌地球引擎(Google Earth Engine)云平台,在线调用中分辨率的光学、微波遥感数据,创新性地采用了按月提取、按直方图大小提取特征的方式,采用随机森林分类器,绘制海南省2016年10 m分辨率水稻种植分布图。实验结果证明,该方法可以用于南方多云地区水稻分类,提取结果能够体现不同地类之间的差异,且与实际地表的地块边界、纹理符合良好。经过地表样本点的验证,总体精度为93.2%,满足实际应用需求。因此,本研究采用的自动分类流程能够准确、高效地提取海南省的水稻种植范围,可以向其他地区大范围推广。

关键词：水稻分类谷歌地球引擎云平台微波数据随机森林多源遥感数据海南省