基于个体协同触发强化学习的多机器人行为决策方法* .txt

摘要：为了提高多机器人行为最优决策控制中强化学习的效率和收敛速度，研究了多机器人的分布式马尔科夫建模与控制策略。根据机器人有限感知能力设计了个体 协同感知触发函数，机器人个体从环境观测结果计算个体 协同触发响应概率，定义一次触发过程后开始计算联合策略，减少机器人间通讯量和计算资源。引入双学习率改进Q学习算法，并将该算法应用于机器人行为决策。仿真实验结果表明，当机器人群组数量在20左右时，本文算法的协同效率较高，单位时步比为1085 0。同时距离调节参数η对机器人协同搜索效率有影响，当η=0008时，所需的移动时步比和平均移动距离都能达到最小值。通过双学习率的引入，该算法较基于环境模型的强化学习算法具有更高的学习效率和适用性，平均性能提升35%，对于提高多机器人自主协同能力具有较高的理论意义及应用价值。 .txt     

Microwave dielectric properties of SrLa[Ga1−x(Mg0.5Ti0.5)x]O4 and SrLa[Ga1−x(Zn0.5Ti0.5)x]O4 (x = 0.2-0.8) ceramics

SrLa[Ga_1−x(R_0.5Ti_0.5)_x]O₄ (R = Mg, Zn) ceramics were prepared by a standard solid state sintering method. The single-phase ceramics with K₂NiF₄-type layered perovskite structure and I4/mmm space group were obtained, indicating that SrLa(R_0.5Ti_0.5) and SrLaGaO₄ can form the unlimited solid solutions. With increasing x for R = Mg and Zn, ε_r increases monotonously, the Qf value first increases and then decreases, while τ_f increases from a negative to a positive value. The optimized microwave dielectric properties were obtained as following: ε_r = 23.3, Qf = 89 400 GHz, τ_f = −0.8 ppm/°C for SrLa[Ga_0.6(Mg_0.5Ti_0.5)_0.4]O₄ and ε_r = 23.3, Qf = 76 200 GHz, τ_f = 0.2 ppm/°C for SrLa[Ga_0.7(Zn_0.5Ti_0.5)_0.3]O₄, indicating that the present solid solution ceramics are the promising candidates as microwave resonator materials for the telecommunication applications.     

机制砂混凝土耐磨性的主要影响因素分析及多因素计算模型

本文研究了砂类型、砂率、石粉含量和抗压强度对机制砂混凝土耐磨性的影响,建立了磨损量的多因素计算模型。结果表明:由于含石粉及具有更高的粗糙度和坚固性,石灰岩与辉绿岩机制砂制备的C30、C40混凝土耐磨性比河砂混凝土提高20%以上;在0.40~0.44范围内选取较低的砂率可获得较优的耐磨性;利用石粉含量为5%~11%(质量分数)的机制砂制备混凝土,石粉含量为9%时可获得最佳的混凝土耐磨性,微观分析表明此时混凝土密实度最佳;通过灰色系统理论确定了耐磨性影响因素的影响程度排序为:砂率R₃>压碎值R₂>粗糙度R₁>抗压强度R₅>石粉含量R₄>0.6;对比验证表明提出的混凝土磨损量多因素计算模型具有较高的预测精度和良好的适用性。     

Dietary exposure to acrylamide in a group of Japanese adults based on 24-hour duplicate diet samples

Acrylamide is a probable human carcinogen and known human neurotoxin that can be generated in food through heating. Using a mathematical modelling approach, our previous study estimated long-term average dietary exposure to acrylamide in the Japanese people; however, the validity of these estimates remained unknown. Here, we aimed to obtain a more accurate estimate of acrylamide exposure that would reflect the usual practice of heat processing and consumption of foods in the population. We collected duplicate diet samples and dietary records during 24 h from a group of Japanese adults. A total of 110 duplicate diet samples were analysed for acrylamide by LC-MS/MS. Data from individual dietary records were used to examine the association between dietary acrylamide exposure and consumption of selected food groups (e.g., coffee, tea, confectioneries, and vegetables prepared at high temperature [deep-frying, stir-frying, sautéing, and baking]). Of the 110 homogenised diet samples, 108 contained detectable levels of acrylamide. Dietary exposure to acrylamide ranged from 8 to 1582 ng/kg body weight (bw)/day, with the mean value of 215 ng/kg-bw/day and median value of 143 ng/kg-bw/day. This mean value was higher than the value we previously estimated for Japanese adults using a mathematical approach. Multiple linear regression analysis showed log dietary acrylamide exposure was significantly associated with consumption of coffee and vegetables prepared at high temperature during 24-hr of sampling (adj. R² = 0.250, p < 0.001). We revealed significant difference in dietary acrylamide exposure between participants who had coffee and vegetables prepared at high temperature (median, 169 ng/kg-bw/day; range, 35–1224 ng/kg-bw/day, n = 42) and those who had none of them (median, 75 ng/kg-bw/day; range, 8–311 ng/kg-bw/day, n = 15) (Steel-Dwass test, p < 0.05).     

湖北省保康县荆山玉地球化学特征及其成因分析

荆山玉是湖北省保康县新发现的一个玉石品种,形成于大陆边缘—洋盆区过渡带的热水沉积环境,为晚震旦世—早寒武世灯影组的一种硅质角砾岩:原地震碎角砾岩,由角砾和胶结物二部分构成,角砾局部可拼接;角砾成分为早期硅质岩碎裂产物,胶结物除早期硅质岩碎裂产物外,还有少量后期充填的石英、铁质等,受角砾、胶结物颗粒大小、裂隙发育程度不同的影响,后期热液改造程度不同,角砾和胶结物化学成分存在一定的差异,色调与铁质有关。荆山玉的形成主要经历了三个阶段的演化:第一阶段,低温150～225℃、弱氧化—弱还原条件下热水成因的硅质岩形成;第二阶段,热力膨胀外力作用下,硅质岩局部原地震碎形成硅质角砾岩,热水温度243～340℃,富氧氧化—贫氧过渡环境,红褐色的Fe~(3+)在胶结物、裂隙中富集;第三阶段,热水温度116～127℃、缺氧还原条件,黄色的Fe~(2+)在胶结物、裂隙中富集。     

Effects of structural characteristics on microwave dielectric properties of low-loss (Zn1-xNix)ZrNbTaO8 ceramics

Low-loss (Zn_1-xNi_x)ZrNbTaO₈ (0.02?≤?x?≤?0.10) ceramics possessing single wolframite structure are initiatively synthesized by solid-state route. Based on the results of Rietveld refinement, complex chemical bond theory is used to establish the correlation between structural characteristics and microwave performance in this ceramic system. A small amount of Ni²⁺ (x?=?0.06) in A-site with the fixed substitution of Ta⁵⁺ in B-site can effectually raise the Q?×?f value of ZnZrNb₂O₈ ceramic, embodying a dense microstructure and high lattice energy. The dielectric constant and τ_f are mainly affected by bond ionicity and the average octahedral distortion. The (Zn_0.94Ni_0.06)ZrNbTaO₈ ceramic sample sintered at 1150?°C for 3?h exhibits an outstanding combination of microwave dielectric properties: ε_r =?27.88, Q?×?f?=?128,951?GHz, τ_f =?–39.9?ppm/°C. Thus, it is considered to be a candidate material for the communication device applications at high frequency.     

Single copper sites dispersed on hierarchically porous carbon for improving oxygen reduction reaction towards zinc-air battery

The demand for high-performance non-precious-metal electrocatalysts to replace the noble metal-based catalysts for oxygen reduction reaction(ORR)is intensively increasing.Herein,single-atomic copper sites supported on N-doped three-dimensional hierarchically porous carbon catalyst(Cu₁/NC)was prepared by coordination pyrolysis strategy.Remarkably,the Cu₁/NC-900 catalyst not only exhibits excellent ORR performance with a half-wave potential of 0.894 V(vs.RHE)in alkaline media,outperforming those of commercial Pt/C(0.851 V)and Cu nanoparticles anchored on N-doped porous carbon(CuNPs/NC-900),but also demonstrates high stability and methanol tolerance.Moreover,the Cu₁/NC-900 based Zn-air battery exhibits higher power density,rechargeability and cyclic stability than the one based on Pt/C.Both experimental and theoretical investigations demonstrated that the excellent performance of the as-obtained Cu₁/NC-900 could be attributed to the synergistic effect between copper coordinated by three N atoms active sites and the neighbouring carbon defect,resulting in elevated Cu d-band centers of Cu atoms and facilitating intermediate desorption for ORR process.This study may lead towards the development of highly efficient non-noble metal catalysts for applications in electrochemical energy conversion.