基于深度强化学习的舰载机动态避障方法

针对高度异构、动态的航母甲板作业场景中的舰载机避障问题,提出一种结合预测算法和深度强化学习的避障方法.该方法包含场景建模、奖励模型和轨迹预测模型等模块.首先基于智能体状态和动作空间对航母甲板场景进行建模;然后利用最小二乘法对场景中动态障碍物的位置进行实时轨迹预测,并构造了包含路径预测模块的深度强化学习方法——环境预测深度Q网络(PDQN);最后利用该方法实现航母甲板作业场景中的舰载机动态避障.利用Python绘图集Matplotlib进行仿真实验,实验数据结果表明,相比于Q-learning,SARSA等方法,所提方法的准确率提升了15％～25％,路径长度短9％～39％,平均奖励值高30％～100％,收敛速度快1～2倍且训练平稳后准确率的标准差小2％～50％.     

空气质量细粒度数据内联关系可视分析系统

随着数据观测和数字计算技术的快速发展,空气质量数据粒度越来越细致,为研究空气质量的细粒度数据内联关系可视化、辅助理解空气污染物的转化规律提供了数据基础.针对蕴含丰富内联特征的大气质量细粒度数据开发了一个内联关系可视分析系统.首先,基于大气质量数据多维属性设计时空数据维度模型增强数据的时空表达,并提出一种基于深度学习的特征提取方法,将空气质量数据从高维空间映射到支持交互可视分析的低维特征空间;然后,设计了一套多视图联动的可视化系统,帮助用户发现空气污染传输中的细粒度内联关系,理解污染传输途径的数据分布特征.用户实例和用户评价结果表明,该系统是有效的.     

基于深度学习的小样本声目标识别方法

声目标分类识别是声源识别领域的核心问题,然而,在应用深层神经网络进行声目标分类识别时,从少量样本中学习(样本复杂度较低)是一个具有挑战性的问题;针对此问题,提出了一种基于深度学习的小样本声目标识别方法,该方法将手工设计特征和对数梅尔声谱特征结合到一起,扩充了深度学习模型的可利用特征量,提高了声信号识别效率和精度;在实验验证中,该方法在测试集上实现了87.6%的识别精度;更进一步地,用较少量的训练样本对该方法和其它几种主流的深度学习模型的性能进行了比较验证,结果表明,该方法只需要更少量的数据即可实现同样的识别精度,在声源探测领域具有一定应用价值。     

Companion robots for older adults: Rodgers’ evolutionary concept analysis approach

Intelligent Service Robotics - This study aims to analyze the concept of companion robots for older adults from the perspective of nursing. This study employed a concept analysis. The literature...     

Growth and characterization of indium doped zinc oxide films sputtered from powder targets

Indium doped Zn O films were grown on quartz glass substrates by radio frequency magnetron sputtering from powder targets. Indium content in the targets varied from 1at% to 9at%. In doping on the structure, optical and electrical properties of Zn O thin films were studied. X-ray diffraction shows that all the films are hexagonal wurtzite with c-axis perpendicular to the substrates. There is a positive strain in the films and it increases with indium content. All the films show a high transmittance of 86% in the visible light region. Undoped Zn O thin film exhibits a high transmittance in the near infrared region. The transmittance of indium doped Zn O thin films decreases sharply in the near infrared region, and a cut-off wavelength can be found. The lowest resistivity of 4.3×10~(-4) Ω·cm and the highest carrier concentration of 1.86×10~(21) cm~(-3) can be obtained from Zn O thin films with an indium content of 5at% in the target.     

Seismic cracking analyses of two types of face slab for concrete-faced rockfill dams

Estimating the cracking capacity of the face slab and recommending effective crack-control measures are important for the anti-seismic safety of concrete-faced rockfill dams (CFRDs). In this paper, two-dimensional analyses of CFRDs are performed to simulate the seismic cracking behavior of conventional reinforced concrete (RC) face slab and a type of composite face slab. The composite face slab is composed of a ductile fiber-reinforced cement-based composite (DFRCC) layer and an RC substrate. For this purpose, a co-axial rotating smeared crack model for concrete and DFRCC is coupled with the generalized plasticity model for the rockfill material, and then implemented in a finite element program. The results show that during strong earthquakes, an RC slab is more likely to develop a penetrating macro-crack in its thickness dimension. In contrast, the crack-controlling composite slab demonstrates excellent resistance to seismic cracking, and no penetrating macro-cracks are observed. Major harmful cracks that form in the concrete substrate are stopped by the DFRCC layer in composite slabs.     

Rheological behaviors of fresh cement pastes with polycarboxylate superplasticizer

The rheologicalbehaviors of fresh cement paste with polycarboxylate superplasticizer were systematically investigated.Influentialfactors including superplasticizer to cement ratio(Sp/C),water to cement ratio(w/c),temperature,and time were discussed.Fresh cement pastes with Sp/Cs in the range of 0 to 2.0% and varied W/Cs from 0.25 to 0.5 were prepared and tested at 0,20 and 40 °C,respectively.Flowability and rheologicaltests on cement pastes were conducted to characterize the development of the rheologicalbehavior of fresh cement pastes over time.The exprimentalresults indicate that the initialflowability and flowability retention over shelf time increase with the growth in superplasticizer dosage due to the plasticizing effect and retardation effect of superplasticizer.Higher temperature usually leads to a sharper drop in initialflowability and flowability retention.However,for the cement paste with high Sp/C or w/c,the flowability is slightly affected by temperature.Yield stress and plastic viscosity show similar variation trends to the flowability under the abovementioned influentialfactors at low Sp/C.In the case of high Sp/C,yield stress and plastic viscosity start to decline over shelf time and the decreasing rate descends at elevated temperature.Moreover,two equations to roughly predict yield stress and plastic viscosity of the fresh cement pastes incorporating Sp/C,w/c,temperature and time are developed on the basis of the existing models,in which experimentalconstants can be extracted from a database created by the rheologicaltest results.     

基于国际头痛诊断标准的原发性头痛辅助决策系统

针对原发性头痛在我国发病率较高但诊断准确率较低的问题,提出了一种将文本化的国际头痛诊断标准转换为计算机可执行推理的临床知识建模和知识库构建方法,该方法首先将基于诊断标准绘制的诊断思维流程图转换为规范化的临床知识表达模型,再将临床知识表达模型通过规则映射技术转换为计算机推理诊断所用的规则,形成知识库。并以此为基础开发了覆盖完整头痛诊断流程的原发性头痛辅助决策系统。临床评估显示,该系统可正确识别出91.3%的偏头痛、87.2%的紧张型头痛和90.0%的丛集性头痛病人,对常见的原发性头痛具有较高的诊断准确率。     

Stress-dilatancy of Zipingpu gravel in triaxial compression tests

Experimental investigations of the dilatancy and particle breakage of gravelly material from the Zipingpu concrete-faced rockfill dam, which was subjected to high-intensity seismic load during the 2008 Wenchuan earthquake, were conducted through a series of large-scale drained triaxial compression tests. A hyperbolic relation between the input plastic work and the degree of particle breakage was found for Zipingpu gravel, independent of the initial void ratio and confining pressures. The stress-dilatancy for Zipingpu gravel was analyzed and compared with data from two rounded alluvial and three angular quarried gravelly and rockfill materials in the literature. A nearly linear relationship between the dilatancy D~p and the stress ratio η was found at medium-to-large stress ratios before the peak stress ratio. The slope of the stress-dilatancy line before peak had slight dependence on the void ratio and confining pressure of the gravel. After peak, the stress-dilatancy relation shifts down compared with that before peak for the gravel specimen. The phase-transformation stress ratio decreased with increased confining pressure, with the exception of sub-rounded gravel with little particle breakage. A nearly linear relationship was found between the phase-transformation stress ratio M_f and the state parameter y for the Zipingpu gravel, regardless of the void ratio and confining pressure of the specimens.