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基于拍卖多智能体深度确定性策略梯度的多无人车分散策略研究

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电子与信息学报 2024年第1期46卷 287-298页

作者：郭宏达娄静涛杨珍珍徐友春陆军军事交通学院天津300161

多无人车(multi-UGV)分散在军事作战任务中应用非常广泛,现有方法较为复杂,规划时间较长,且适用性不强。针对此问题,该文提出一种基于拍卖多智能体深度确定性策略梯度(AU-MADDPG)算法的多无人车分散策略。在单无人车模型的基础上,建立... 详细信息

多无人车(multi-UGV)分散在军事作战任务中应用非常广泛,现有方法较为复杂,规划时间较长,且适用性不强。针对此问题,该文提出一种基于拍卖多智能体深度确定性策略梯度(AU-MADDPG)算法的多无人车分散策略。在单无人车模型的基础上,建立基于深度强化学习的多无人车分散模型。对MADDPG结构进行优化,采用拍卖算法计算总路径最短时各无人车所对应的分散点,降低分散点分配的随机性,结合MADDPG算法规划路径,提高训练效率及运行效率;优化奖励函数,考虑训练过程中及结束两个阶段,全面考虑约束,将多约束问题转化为奖励函数设计问题,实现奖励函数最大化。仿真结果表明:与传统MADDPG算法相比,所提算法在训练时间上缩短了3.96%,路径总长度减少14.50%,解决分散问题时更为有效,可作为此类问题的通用解决方案。

关键词：路径规划深度强化学习多无人车分散策略拍卖算法

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无人车集群协同围捕发展现状分析

电子与信息学报 2024年第2期46卷 456-471页

作者：徐友春郭宏达娄静涛叶鹏苏致远陆军军事交通学院天津300161

无人车集群具有成本低、安全性好、自主程度高等优点,已成为无人驾驶领域的研究热点。基于无人车集群,研究人员提出多种不同协同策略以完成各类任务,其中协同围捕作为重要的应用方向,无论是在军用还是民用领域都受到了广泛关注。针对此... 详细信息

无人车集群具有成本低、安全性好、自主程度高等优点,已成为无人驾驶领域的研究热点。基于无人车集群,研究人员提出多种不同协同策略以完成各类任务,其中协同围捕作为重要的应用方向,无论是在军用还是民用领域都受到了广泛关注。针对此问题,该文首先基于无人车集群的相关应用和架构,对协同围捕的策略机理进行了系统分析,并将协同围捕策略划分为搜索、追踪和围堵3个子模式。然后,从博弈论、概率分析和机器学习等角度梳理了协同围捕的关键方法,并对这些算法的优缺点进行了比较。最后,对未来研究提出了意见建议,为进一步提高无人车集群协同围捕的效率和性能提供参考和思路。

关键词：无人车集群协同围捕策略机理搜索追踪围堵

基于MADDPG的多无人车协同事件触发通信

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系统工程与电子技术 2024年第7期46卷 2525-2533页

作者：郭宏达娄静涛徐友春叶鹏李永乐陈晋生陆军军事交通学院天津300161

针对典型的端到端通信策略不能决定通信间隔时间,只能在固定频率下通信的问题,提出一种基于深度强化学习方法的事件触发变频率通信策略,以解决多无人车协同最小通信问题。首先建立事件触发架构,主要包含计算通信的控制器,并给出触发条件... 详细信息

针对典型的端到端通信策略不能决定通信间隔时间,只能在固定频率下通信的问题,提出一种基于深度强化学习方法的事件触发变频率通信策略,以解决多无人车协同最小通信问题。首先建立事件触发架构,主要包含计算通信的控制器,并给出触发条件,保证满足条件时多无人车间进行通信,大幅度减少通信总量。其次,基于多智能体深度确定性策略梯度(multiple agent deep deterministic policy gradient,MADDPG)算法对触发机制进行优化,提高算法收敛速度。仿真和实车实验表明,随着迭代次数的增加,在完成协同任务的前提下,多无人车系统中通信数据量降低了55.74%,验证了所提出策略的有效性。

关键词：事件触发通信深度强化学习协同围捕多无人车

模糊PID变结构自适应算法在无人车转向电机矢量控制中的应用

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电机与控制学报 2024年第7期28卷 152-159页

作者：李建市潘世举娄静涛李永乐徐友春陆军军事交通学院军事交通运输研究所天津300161

针对无人车线控转向系统电机矢量控制问题,提出一种模糊PID变结构自适应控制算法。依据电机模型推导出滑模变结构控制的趋近律和控制律,为避免控制器设计过程中对系统参数的依赖,采用PID控制器替换滑模变结构控制中的等效控制量。使用... 详细信息

针对无人车线控转向系统电机矢量控制问题,提出一种模糊PID变结构自适应控制算法。依据电机模型推导出滑模变结构控制的趋近律和控制律,为避免控制器设计过程中对系统参数的依赖,采用PID控制器替换滑模变结构控制中的等效控制量。使用模糊方法分别对PID控制器的参数和趋近律参数进行动态调整,使其具备自适应能力以及降低或消除系统状态接近滑模面时的“抖振”现象。利用李雅普诺夫理论证明了本文方法的全局稳定性。仿真实验结果表明,无论系统在阶跃响应还是正弦响应工况下,模糊PID变结构自适应控制方法在系统响应速度和对负载波动的抑制方面都明显优于模糊PID方法和传统的滑模变结构方法。

关键词：无人车线控转向永磁同步电机模糊推理滑模控制矢量控制

维普期刊数据库博看期刊

HUMAN-SIMULATING VEHICLE STEERING CONTROL ALGORITHM

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Chinese Journal of Mechanical Engineering 2006年第2期19卷 233-236页

作者： xu youchun LI Keqiang CHANG Ming CHEN Jun State Key Laboratory of Automotive Safety ＆ Energy Tsinghua UniversityBeijing 100084 China Deprtment of Automobile Engineering Military Transportation InstituteTianjin 300161 China

A new vehicle steering control algorithm is presented. Unlike the traditional methods do, the algorithm uses a sigmoid function to describe the principle of the human driver＇s steering strategy. Based on this function, a human simulating vehicle steering model, human-simulating steering control（HS） algorithm is designed. In order to improve the adaptability to different environments, a parameter adaptive adjustment algorithm is presented. This algorithm can online modify the value of the key parameters of the HS real time. HS controller is used on a vehicle equipped with computer vision system and computer controlled steering actuator system, the result from the automatic vehicle steering experiment shows that the HS algorithm gives good performance at different speed, even at the maximum speed of 172 km/h.

关键词： Human-simulating control Sigmoid function Steering algorithm

Development and Commercial Application of Ultra-Low Pressure Naphtha Reforming Technology with Continuous Catalyst Regeneration

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China Petroleum Processing & Petrochemical Technology 2013年第4期15卷 1-8页

作者： Ma Aizeng xu youchun Yang Dong Zhang Xinkuan Wang Jieguang Research Institute of Petroleum Processing SINOPEC SINOPEC Luoyang Petrochemical Engineering Company SINOPEC Guangzhou Company

The development history and major technological innovations of the ultra-low pressure naphtha reforming technology with continuous catalyst regeneration in China were *** technology had been adopted by the 1.0 Mt/a CCR unit at the Guangzhou *** appropriate catalyst was selected to meet the demand of the unit capacity,the feedstock,and the product *** design parameters,including the reaction pressure,the octane number of C5+liquid product,the reaction temperature,the space velocity,the hydrogen/oil molar ratio,and the catalyst circulating rate,were chosen based on the study of process conditions and *** commercial test results showed that the research octane number of C5+product reached 104 when the capacity of the CCR unit was 100%and 115%of the design *** other technical targets attained or exceeded the expected value.

关键词： ultra-low pressure continuous catalytic reforming catalyst regeneration aromatics gasoline process naphtha

Biochips under COVID-19:a new stage of well-grounded development and accelerated translation

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Science Bulletin 2022年第18期67卷 1823-1826页

作者： Jiajia Liu youchun xu Jing Cheng State Key Laboratory of Membrane Biology Department of Biomedical EngineeringSchool of MedicineTsinghua UniversityBeijing 100084China National Engineering Research Center for Beijing Biochip Technology Beijing 102200China

Severe acute respiratory syndrome coronavirus 2(SARS-Co V-2)has placed a heavy burden on the global healthcare system,especially in developing and underdeveloped countries where professionals and specialized laboratories are *** due to the increased demand for large-scale detection and the shortage of animal models for vaccines and antiviral drugs under the coronavirus disease 2019(COVID-19)pandemic.

关键词：生物芯片 drugs acute

Hardware-in-the-Loop Simulations for Connected Vehicle

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Hardware-in-the-Loop Simulations for Connected Vehicle

Multiplexed detection of respiratory pathogens with a portable analyzer in a “raw-sample-in and answer-out” manner

2015年中国智能自动化学术会议

作者： Yulin Ma youchun xu Jianshi Li Department of Military Vehicle Military Transportation University

Connected vehicle is a typical application that is demonstrated in intelligent transport systems. Hardware-in-the-loop simulations put discrete events,finite states transition, and continuous vehicle dynamics modeling together to conveniently and effectively achieve the integration and test of connected vehicle system. The emphasis and difficulty of the connected vehicle system are discussed,including loosely coupled distributed architecture, information sharing, and conflict resolution mechanism among vehicles, roadsides and information center, and collaborative control scheme driven by discrete event flow, and results of cooperative driving for connected vehicle via HILS are also given.

关键词： Connected vehicle Hardware-in-the-loop simulations Loosely coupled distributed architecture Hybrid automata Collaborative control

来源： cnki会议评论

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Microsystems & Nanoengineering 2021年第6期7卷 129-138页

作者： Nan Li Minjie Shen Jiajia Liu Li Zhang Huili Wang youchun xu Jing Cheng State Key Laboratory of Membrane Biology Department of Biomedical EngineeringSchool of MedicineTsinghua UniversityBeijing 100084China National Engineering Research Center for Beijing Biochip Technology Beijing 102206China Center for Precision Medicine West China HospitalSichuan UniversityChengdu 610041China

Coronavirus disease 2019(COVID-19)has emerged,rapidly spread and caused significant morbidity and mortality *** is an urgent public health need for rapid,sensitive,specific,and on-site diagnostic tests for severe acute respiratory syndrome coronavirus 2(SARS-CoV-2)*** this study,a fully integrated and portable analyzer was developed to detect SARS-CoV-2 from swab samples based on solid-phase nucleic acid extraction and reverse transcription loop-mediated isothermal amplification(RT-LAMP).The swab can be directly inserted into a cassette for multiplexed detection of respiratory pathogens without *** overall detection process,including swab rinsing,magnetic bead-based nucleic acid extraction,and 8-plex real-time RT-LAMP,can be automatically performed in the cassette within 80 *** functionality of the cassette was validated by detecting the presence of a SARS-CoV2 pseudovirus and three other respiratory pathogens,i.e.,Klebsiella pneumoniae,Pseudomonas aeruginosa,and Stenotrophomonas *** limit of detection(LoD)for the SARS-CoV-2 pseudovirus was 2.5 copies/μL with both primer sets(N gene and ORF1ab gene),and the three bacterial species were successfully detected with an LoD of 2.5 colony-forming units(CFU)/μL in 800μL of swab ***,the analyzer developed in this study has the potential to rapidly detect SARS-CoV-2 and other respiratory pathogens on site in a“raw-sample-in and answer-out”manner.

关键词： portable analyzer sample