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Reinforcement learning based adaptive control for uncertain mechanical systems with asymptotic tracking

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Defence Technology（防务技术） 2024年第4期34卷 19-28页

作者： Xiang-long Liang Zhi-kai yao yao-wen Ge Jian-yong yao School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing210094China College of Automation&College of Artificial Intelligence Nanjing University of Post and TelecommunicationNanjing210023China

This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange *** considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and *** these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become *** by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical *** approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control *** from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control *** developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output ***,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.

关键词： Adaptive control Reinforcement learning Uncertain mechanical systems Asymptotic tracking

Numerical investigation of non-uniform temperature fields for proppant and fluid phases in supercritical CO_(2)fracturing

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Particuology 2024年第7期90卷 149-163页

作者： Boyu Liu Jun yao Research Center of Multiphase Flow in Porous Media China University of Petroleum(East China)Qingdao 266000China

The non-uniform temperature distribution in supercritical CO_(2)(Sc-CO_(2))fracturing influences the density,viscosity,and volume expansion or shrinkage rate of Sc-CO_(2),impacting proppant *** study presents a coupled computational fluid dynamics-discrete element method and heat transfer model to examine the effects of proppant bed shape and the heat transfers of proppant-wall,proppant-fluid,and fluid-wall on the fluid and proppant temperature *** Sc-CO_(2)volume expansion is assessed under various temperature conditions by evaluating the volume-averaged Sc-CO_(2)*** factors,including proppant size,shape,thermal conductivity,concentration,temperature difference,and injection velocity,are carefully analyzed to elucidate their *** findings elucidate the existence of four distinct zones in the fluid temperature *** zone exhibits different magnitudes of temperature change under diverse conditions and undergoes dynamic transformations with the development of the proppant *** fluid-wall heat transfer and the fluid temperatures in Zones C and D are significantly subject to the fluid injection velocity(governing the heating duration),the temperature difference between fluid and formation(impacting the magnitude of heat flux),and the proppant bed shape(controlling the effective heating area).Additionally,the proppant-wall and proppant-fluid heat transfers determine the temperatures of both the proppant bed and the fluid within Zone B,showing a strong correlation with proppant thermal conductivity,proppant size,injection velocity,and temperature *** proposed coupled model provides valuable insights into the temperature distributions and flow behaviors of temperature-dependent fracturing fluids and proppants.

关键词： CFD-DEM Heat transfer Compressible fluid CO_(2)sequestration Proppant transport

Fresh-Keeping Decision and Coordination of Fresh Agricultural Product Supply Chain Considering Carbon Cap-and-Trade under Different Dominance

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Journal of Systems Science and Systems Engineering 2024年第1期33卷 30-51页

作者： Yang Yang Guanxin yao China Institute for Agricultural Equipment Industrial Development Jiangsu UniversityZhenjiang212013China Jiangsu Modern Logistics Research Base Yangzhou UniversityYangzhou225009China

In the context of low carbon,this paper discussed the impact of the carbon cap-and-trade policy on the fresh-keeping decision-making of two-echelon fresh agricultural product supply chains under different dominance,and designed cost-sharing contracts to coordinate the supply chain of fresh agricultural products dominated by suppliers and retailers *** results showed that:dominance has no effect on the fresh-keeping decision and total revenue of fresh agricultural product supply chain,but it affects the internal income distribution,and dominance does not always bring more benefits;the implementation of carbon cap-and-trade reduces the fresh-keeping decision-making of fresh agricultural products supply chain and reduces the free-rider income of followers;the role of higher carbon trading price is twofold,which not only brings about the speculation of leading enterprises,but also promotes the application of low-carbon technologies;consumers’high preference for freshness,low-cost and high-efficiency low-carbon technology are all conducive to improving the fresh-keeping efforts and benefits of the supply chain;cost-sharing contracts can coordinate the supply chain of fresh agricultural products.

关键词： Dominant power carbon cap-and-trade policy fresh agricultural product supply chain fresh-keeping decision-making

Limits of Uneven Battery Power in Modular Multilevel Converter-based Battery Energy Storage Systems

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CSEE Journal of Power and Energy Systems 2024年第2期10卷 686-695页

作者： yao Pan Xiaofeng Sun Wei Zhao Xin Li yao Cai Institute of Electrical Engineering Yanshan UniversityQinhuangdao 066004China

For modular multilevel converter-based battery energy storage systems (MMC-BESS), uneven power among batteries of SMs will be deduced by battery aging, battery fault, etc., which will degrade performance and even lead to system failure. For maintaining the balance of capacitor voltage, this paper analyzes the limits of the uneven power of batteries, which are presented as the current limits in this paper. According to analysis, an analytical method is proposed that only the dc and fundamental frequency components of the arm current are used to calculate current limits. With the current limits it is able to evaluate the reasonability of power distribution among batteries. Meanwhile, increase of fundamental frequency component will enhance the current limits, and the dc component determines the size relationship between the absolute values of the upper and lower current limits. Finally, simulation model and experiment prototype are built for verifying the theoretical analysis and current limits calculation method, and satisfactory results are provided.

关键词： Arm current balance of capacitor voltage current limits MMC-BESS uneven power

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校企协同人才培养机制创新研究

北华大学学报（社会科学版） 2018年第5期19卷 107-111页

作者：姚文学北华大学

校企协同培养作为高等学校人才培养特殊组织形式,是根据高等学校人才培养目标定位以及合作主体属性决定,在动力机制作用下,有效汇集人才培养资源要素,突破不同主体间壁垒并释放要素活力而实现的人才培养全过程深度合作。建立校企协同培... 详细信息

校企协同培养作为高等学校人才培养特殊组织形式,是根据高等学校人才培养目标定位以及合作主体属性决定,在动力机制作用下,有效汇集人才培养资源要素,突破不同主体间壁垒并释放要素活力而实现的人才培养全过程深度合作。建立校企协同培养长效机制是地方性普通本科高等学校转型发展中的重点和难点,在转型过程中,应明晰校企协同培养内涵,突破校企协同培养现实矛盾,聚焦校企协同培养机制创新。

关键词：校企协同高校转型协同培养机制创新应用型人才

基于小学语文课堂应用综合性学习的教学策略研究

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天津教育 2020年第24期 87-88页

作者：姚文学甘肃省张掖市民乐县南古学区上花园小学

随着语文新课程标准的实行,其也强调了教师要注重对综合性学习的应用。教师引导学生进行综合性学习,不仅可以帮助学生对自身知识技能进行全面整合,同时也有利于学生对基础知识的灵活运用。在此形势背景下,教师需要根据教学的实际情况并... 详细信息

随着语文新课程标准的实行,其也强调了教师要注重对综合性学习的应用。教师引导学生进行综合性学习,不仅可以帮助学生对自身知识技能进行全面整合,同时也有利于学生对基础知识的灵活运用。在此形势背景下,教师需要根据教学的实际情况并采用科学的教学措施展开教学。基于此,本文围绕小学语文课堂应用综合性学习的教学策略进行了分析和探讨,以期可以促进小学语文教学质量和效率的提高。

关键词：小学语文课堂综合性学习应用策略

Preparation of TiO_(2) Nano-Flower Coating on Ti Substrates with Good Physical Sterilization Effect and Biocompatibility

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Acta Metallurgica Sinica(English Letters) 2024年第9期37卷 1581-1589页

作者： Ruoyu Di Yonghua Sun Runhua yao Sen Pei Xiaohong yao Ruiqiang Hang Shanxi Key Laboratory of Biomedical Metal Materials College of Materials Science and EngineeringTaiyuan University of TechnologyTaiyuan030024China College of Safety and Emergency Management Engineering Taiyuan University of TechnologyTaiyuan030024China

We report a facile solution method to form titanium oxide(TiO_(2))nano-flower structure on the titanium(Ti)substrates for realizing good physical sterilization and *** first prepare TiO_(2) nanotubes(NT)with a diameter of about 80-100 nm and a length of about 5μm on Ti substrates by anodization,which is utilized as ***,we employ immersion treatment in different concentrations of phosphoric acid solution at 75℃ for 5 h to realize the transformation from TiO_(2) NT to TiO_(2) nano-flower *** addition,we studied the effects of phosphoric acid concentration(1 wt%,2.5 wt%,5 wt% and 10 wt%)on the TiO_(2) nano-flower structure,and the antibacterial properties and biocompatibility of the TiO_(2) nano-flower *** results show that TiO_(2) nano-flower structure become larger and thicker with the increase in the phosphoric acid concentration,and the thickness of the coating can reach 6.88μ***,the TiO_(2) nano-flower structure shows good physical sterilization effect,especially for the TiO_(2) nano-flower structure formed in 10 wt%H^(3)PO_(4) solution,the antibacterial rate can reach 95%.In addition,the TiO_(2) nano-flower structure have no toxicity to the osteoblasts and support cell growth.

关键词： Anodization Biocompatibility Physical sterilization TiO_(2)nano-flower

A deformation criterion of pressurized non-circular cross-section cabin and its effects on cruise performance of BWB civil aircraft

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Chinese Journal of Aeronautics 2024年第6期37卷 78-88页

作者： Siyi GUO Zhenli CHEN Xuanyu yao School of Aeronautics Northwestern Polytechnical UniversityXi’an 710072China Aero Engine Academy of China Beijing 101304China

Blended-Wing-Body(BWB)aircraft is promoted as one of the most possible layouts to achieve more sustainable civil *** to the non-circular cross-section of the center-body,a bulge deformation forms over the upper surface of the body under the coupled loads of the internal pressurization of the cabin and the aerodynamic bending moments of the wing,which reduces the lift-to-drag ratio of BWB *** a limited deformation,the relationship between the aerodynamic performance and the structural weight needs to be *** this work,the effects of stiffness constraints on the center-body deformation,structural weight of the airframe and aerodynamic performance were investigated by using an analytical model of the Pultruded Rod Stitched Efficient Unitized Structure(PRSEUS)for the airframe and the computational fluid dynamics method,*** results show that as the stiffness constraint increases,the spacings between the rod stringers and the frame stiffeners decrease,and the structural weight increases inversely.A 5.2% reduction of the lift-to-drag ratio is encountered at cruise for a medium deformation design of 42.8 mm/m.A higher aerodynamic penalty is suffered when the stiffness constraint is further *** final deformation criterion is different when the weight vector of the aerodynamic performance and structural weight is different.

关键词： Blended-Wing-Body(BWB) Deformation PultrudedRod Stitched Effi-cient Unitized Structure(PRSEUS) Cabin structure Stiffness constraint

Initial costates derived by near-optimal reference sequence and least-squares method

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Chinese Journal of Aeronautics 2024年第5期37卷 377-391页

作者： Shaozhao LU yao ZHANG Quan HU School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China

In this paper,we present a novel initial costates solver for initializing time-optimal trajectory problems in relative motion with continuous low *** proposed solver consists of two primary components:training a Multilayer Perceptron(MLP)for generating reference sequence and Time of Flight(TOF)to the target,and deriving a system of linear algebraic equations for obtaining the initial *** overcome the challenge of generating training samples for the MLP,the backward generation method is proposed to obtain five different training *** training database and sample form are determined by analyzing the input and output correlation using the Pearson correlation *** best-performing MLP is obtained by analyzing the training results with various hyper-parameter combinations.A reference sequence starting from the initial states is obtained by integrating forward with the near-optimal control vector from the output of ***,a system of linear algebraic equations for estimating the initial costates is derived using the reference sequence and the necessary conditions for *** results demonstrate that the proposed initial costates solver improves the convergence ratio and reduce the function calls of the shooting ***,Monte-Carlo simulation illustrates that the initial costates solver is applicable to different initial velocities,demonstrating excellent generalization ability.

关键词： Relative motion Expanding training database Multilayer perceptron Initial costates Least-squares method