Asymptotic switched composite adaptive control with application to robotic interaction tasks

This article proposes a new switched adaptive control design for uncertain switched systems with composite (time-driven and state-dependent) switching and shows its applicability in switched impedance control. A composite switched adaptive control design, consisting of the direct switched adaptive control and the indirect switched adaptive control counterpart, is developed to improve the control performance. Specifically, a new stability condition for composite switching is proposed by making use of differential matrix equations and Sylvester matrix equations, which are a generalization of Lyapunov matrix equations. The design results in a time-varying multiple Lyapunov function that is decreasing at the switching instants. From the theoretical point of view, the relevance of this work is the construction of the adaptive laws that guarantee asymptotic tracking error and asymptotic estimation for the direct and indirect switched adaptive control loops, respectively. From the practical point of view, the relevance of this work is validated in a new switched impedance control for the robot interaction with uncertain and discontinuous environments.     

Web service adaptation: A decade’s overview

With the exponential growth of communication and information technologies, adaptation has gained a significant attention as it becomes a key feature of service-based systems, allowing them to operate and evolve in highly dynamic and uncertain environments. Although several Web service standards and frameworks have been proposed and extended, existing solutions do not provide a suitable architecture, in which all aspects of monitoring and adaptation (e.g., proactive, cross-layer, and autonomic adaptation) can be expressed. In addition, the emergence of new computing environments to host and execute various types of services (Web/cloud services, big data-intensive services, mobile services, microservices, etc.) raises the need for more efficient monitoring and adaptation systems. This survey aims to bring a synthesis and a road-map to the adaptation of service-based systems. We also discuss adaptation solutions in emerging service models, such as cloud services and big services. Based on an adaptation taxonomy which we extracted from the surveyed approaches, and by identifying the main requirements and goals of service adaptation in Web, cloud and big data environments, detailed analysis and discussions, as well as the open issues, are provided.     

MAML2: meta reinforcement learning via meta-learning for task categories

Meta-learning has been widely applied to solving few-shot reinforcement learning problems, where we hope to obtain an agent that can learn quickly in a new task. However, these algorithms often ignore some isolated tasks in pursuit of the average performance, which may result in negative adaptation in these isolated tasks, and they usually need sufficient learning in a stationary task distribution. In this paper, our algorithm presents a hierarchical framework of double meta-learning, and the whole framework includes classification, meta-learning, and re-adaptation. Firstly, in the classification process, we classify tasks into several task subsets, considered as some categories of tasks, by learned parameters of each task, which can separate out some isolated tasks thereafter. Secondly, in the meta-learning process, we learn category parameters in all subsets via meta-learning. Simultaneously, based on the gradient of each category parameter in each subset, we use meta-learning again to learn a new meta-parameter related to the whole task set, which can be used as an initial parameter for the new task. Finally, in the re-adaption process, we adapt the parameter of the new task with two steps, by the meta-parameter and the appropriate category parameter successively. Experimentally, we demonstrate our algorithm prevents the agent from negative adaptation without losing the average performance for the whole task set. Additionally, our algorithm presents a more rapid adaptation process within re-adaptation. Moreover, we show the good performance of our algorithm with fewer samples as the agent is exposed to an online meta-learning setting.     

Fe3Se8/Co3Se4/NiSe2/NC复合材料的制备及性能

由于锂资源的价格逐渐攀升,亟需开发价格低廉的电池系统。通过共沉淀法合成FeCoNiCP片状前驱体,再经过包覆多巴胺、退火和在氮气下硒化,制备钠离子电池负极材料Fe₃Se₈/Co₃Se₄/NiSe₂/NC。在0.01~3.00 V充放电,以0.1 A/g的电流循环70次,电极仍有468.38 mAh/g的可逆比容量;在0.1 A/g、0.2 A/g、0.5 A/g、1.0 A/g、2.0 A/g和5.0 A/g的电流下,分别具有363.85 mAh/g、345.88 mAh/g、320.73 mAh/g、308.31 mAh/g、290.33 mAh/g和249.29 mAh/g的可逆比容量。Fe₃Se₈/Co₃Se₄/NiSe₂/NC复合材料较好的电化学性能,可归因于碳导电网络、多金属硒化物和独特的纳米结构的协同作用,缓解了充放电过程中的体积膨胀。     

电压互感器手车复合绝缘失效及电场分布的研究北大核心CSCD

复合绝缘是空气绝缘开关设备小型化设计的一种重要绝缘方式。复合绝缘结构的PT(电压互感器)柜运行情况表明,该类型产品的绝缘故障率较高,特别是在湿度和污秽联合影响下,因绝缘结构设计不当的产品很容易产生局部放电,进而引发相间短路。究其原因,绝缘隔板是相间短路的"桥梁"。文中对一起24 kV PT手车三相短路事故原因进行了详细分析,通过电场仿真结果可以看出:在复合绝缘结构中,高压对绝缘板之间的距离是复合绝缘结构设计的关键。文中的故障分析以及电场分析为新产品开发与故障诊断提供了有益的参考。     

货运列车自适应模型平滑切换及节能优化研究

为了使货运列车运行过程切近实际,提出了一种基于加速度自适应的货运列车质点模型平滑切换方法。首先,建立列车的单质点和多质点模型,基于扰动加速度偏差变化率进行列车多模型的自适应切换研究。然后,为了降低大功率机车牵引电机的工作能耗,引入货运列车牵引控制的多目标和约束条件,建立了多目标优化模型,并提出一种新型的多目标飞蛾扑火(MOMFO)算法用于优化货运列车运行过程。最后,采用HXD1型电力机车牵引50节C80货车作为研究对象,通过仿真验证了所提方法对货运列车牵引电机节能及运行过程优化具有重要意义。     

复合横担杆塔不平衡张力调节装置及其设计方法研究

针对复合横担杆塔易承受较大不平衡张力的问题,设计了一种杆塔不平衡张力自动调节装置,结合装置特点构建了不平衡张力计算方程组,提出了迭代求解方法,分析了装置结构参数对不平衡张力调节效果的影响规律。研究表明不平衡张力调节装置可有效降低在断线或不均匀覆冰工况下挂点处的最大不平衡张力。     

自适应提升及预测误差修正的风电功率超短期预测

为了提高超短期风电功率预测精度,提出了一种自适应提升及预测误差修正的风电功率超短期预测方法。首先,使用CEEMDAN将原始风电功率序列分解为多个分量,用RCMSE对其重构成新模态以降低风电功率序列复杂性及提高预测效率;其次,用EESHHO优化ELM权值和阈值提高模型的泛化性,同时引入AdaBoost提高预测模型的精确度和稳定性;最后,在学习历史训练误差的基础上提出修正预测值的策略,进一步提高预测精度。算例结果验证了所提方法的有效性。     

基于域自适应的二屏电能表显示屏质量检测方法

针对人工显示屏检测和机器检测存在精度较低及效率低下的问题,提出了一种基于域自适应的二屏电能表显示屏检测方法。为有效提高检测效率,对奇、偶二屏显示字段的虚显、断显、漏显和多显进行检测,快速实现对电能表显示屏字段、电能表显示屏驱动回路元器件及其生产过程的虚焊、漏焊、连锡等质量问题的检测。利用局部域自适应进行源域和目标域的对齐,提取显示屏中的细粒度信息以获取更高检测精度。实验结果表明,所提方法有效提高了电能表显示屏字段及其驱动回路质量的检测效率和检测精度。     

一种Ku波段综合馈电多功能板的研制

基于多层微波数字复合基板层叠互联技术,研制的Ku波段综合馈电多功能板集成了射频收发网络、电源分配网络、阵面波控及波控分配网络,主要负责16个片式T/R组件的功率分配与合成,同时为各T/R组件提供电源及控制信号。文中对多功能板的架构设计、工作原理进行了说明,重点介绍了各微波垂直互联电路和射频收发网络的设计,最后加工并测试了验证样件,测试结果良好。收发网络总口驻波＜1.9,分口驻波＜1.3,插损＜16 dB,相邻端口的隔离度＞20 dB,且幅度一致性≤0.602 dB,相位一致性≤6.429°。工程应用可行性和实用性得到了验证。