Inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision

In an environment where robots coexist with humans, mobile robots should be human-aware and comply with humans' behavioural norms so as to not disturb humans' personal space and activities. In this work, we propose an inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision. In this method, the planning process of time-dependent A* is regarded as a Markov decision process and the cost function of the time-dependent A* is learned using the inverse reinforcement learning via capturing humans' demonstration trajectories. With this method, a robot can plan a path that complies with humans' behaviour patterns and the robot's kinematics. When constructing feature vectors of the cost function, considering the local vision characteristics, we propose a visual coverage feature for enabling robots to learn from how humans move in a limited visual field. The effectiveness of the proposed method has been validated by experiments in real-world scenarios: using this approach robots can effectively mimic human motion patterns when avoiding pedestrians; furthermore, in a limited visual field, robots can learn to choose a path that enables them to have the larger visual coverage which shows a better navigation performance.     

Magneto-rotation-fibre-reinforced thermoelastic with gravity and energy dissipation

In this article, two theories of the generalized thermoelasticity Green-Naghdi theory (of type II and III) are applied, as well as the coupled theory to study the effect of magnetic field and rotation under influence of gravity on 2D problem of a fibre-reinforced thermoelastic. The normal mode analysis is used to obtain the expressions for the temperature, displacement components and the thermal stresses distributions. The resulting formulation is applied for two different concrete problems. The first concerns the case of a punch moving across the surface of semi-infinite thermoelastic half-space subjected to appropriate boundary conditions. The second deals with a thick plate subjected to a time-dependent heat source on each face. Numerical results are illustrated graphically for each problem considered. A comparison is made with the results predicted obtained by the two theories in the presence and absence of magnetic field, rotation and gravity field.     

单组份聚氨酯炮孔填塞剂应用性试验

炮孔填塞是爆破施工过程中的一个关键环节,也是践行精细爆破设计理论的重要措施。传统的炮泥填塞存在着诸多不足,为此,研制了以聚氨酯为基材的TK炮孔填塞剂,通过大量基础性能研究和隧道现场工业性试验,论证了其作为炮孔填塞材料可降低炸药单耗,提高单循环进尺和炮孔利用率,减小空气冲击波、爆破噪声等有害效应的影响,且是安全可靠的。TK炮孔填塞剂优良的填塞效果、方便快捷的施工方法及显著的经济效益,方便于在爆破工程中推广应用。     

Magnetocaloric and magneto-transport properties of Gd10Co20Si70 alloy

We report the results of magnetic, thermodynamic, transport and magnetocaloric effect (MCE) studies of newly synthesized Gd_(10)Co_(20)Si_(70) alloy. These measurements confirm an antiferromagnetic transition at T_N=9 K. Both MCE and magnetoresistance (MR) show quadratic dependence on the applied magnetic field, indicating the presence of spin fluctuations in the alloy. The maximum values of the magnetic entropy change determined from the isothermal magnetization data for magnetic field change of 7 and9 T are found to be 10.5 and 15.6 J/kg·K, respectively. As a consequence of the spin fluctuations effect, the MCE peaks are pulled towards high temperature side as asymmetrically broadened peak. The MR attains a large positive value of 73%at 2 K in 8 T. The large MR and reversible MCE make this alloy an attractive multifunctional magnetic material.     

高光谱激光雷达谱位合一的角度效应分析

高光谱激光雷达以其谱位合一的技术优势为实现超三维精准遥感观测提供了可行途径,因此成为当前激光雷达与高光谱遥感领域共同大力推进的前沿发展方向。目前已有多型原型系统研发出来并得到了原理性验证,然而针对其数据处理核心环节问题的基础技术仍较为欠缺。典型问题之一是不同波段回波信号受激光入射角度的影响,该角度效应限制了高光谱激光雷达实现高性能遥感。以芬兰空间信息研究所高光谱激光雷达原型系统扫描桦树树干为例探讨了该角度效应,发现了不同激光波段对不同入射角度的回波强度响应模式,推导出了角度效应的基本规律及其精细尺度的统计规律,为后续该方向的系统研发、数据处理及信息提取等提供了可借鉴的底层机理与技术基础。     

基于优势学习的深度Q网络

强化学习问题中，同一状态下不同动作所对应的状态-动作值存在差距过小的现象，Q-Learning算法采用MAX进行动作选择时会出现过估计问题，且结合了Q-Learning的深度Q网络（Deep Q Net）同样存在过估计问题。为了缓解深度Q网络中存在的过估计问题，提出一种基于优势学习的深度Q网络，通过优势学习的方法构造一个更正项，利用目标值网络对更正项进行建模，同时与深度Q网络的评估函数进行求和作为新的评估函数。当选择的动作是最优动作时，更正项为零，不对评估函数的值进行改动，当选择的动作不是最优动作时，更正项的值为负，降低了非最优动作的评估值。和传统的深度Q网络相比，基于优势学习的深度Q网络在Playing Atari 2600的控制问题breakout、seaquest、phoenix、amidar中取得了更高的平均奖赏值，在krull、seaquest中取得了更加稳定的策略。     

Common due date assignment scheduling for a no-wait flowshop with convex resource allocation and learning effect

This article addresses the no-wait flowshop scheduling problem with simultaneous consideration of common due date assignment, convex resource allocation and learning effect in a two machine setting. The processing time of each job can be controlled by its position in a sequence and also by allocating extra resource, which is a convex function of the amount of a common continuously divisible resource allocated to the job. The objective is to determine the optimal common due date, the resource allocation and the schedule of jobs such that the total earliness, tardiness and common due date cost (the total resource consumption cost) are minimized under the constraint condition that the total resource consumption cost (the total earliness, tardiness and common due date cost) is limited. Polynomial time algorithms are developed for two versions of the problem.     

Strain-rate dependence of surface/subsurface deformation mechanisms during nanoscratching tests of GGG single crystal

Constant- and varied-depth nanoscratching tests of GGG single crystal were carried out at different scratching velocities. The morphologies of the scratched grooves and chips were analysed using scanning electron microscope. The experimental results indicated that higher scratching velocity led to shallower penetration depth, shallower residual depth, and larger continuous chips. Increasing the scratching velocity could effectively improve the plasticity and reduce the brittle-to-ductile transition depth of GGG single crystal. Based on the contact stress and contact area between the analysed sample and Berkovich indenter, a model for predicting the penetration depth was developed, which took into account the strain rate effect and elastic recovery of materials. The model was verified using constant- and varied-depth nanoscratching tests, and the predicted and experimental results were in good agreement. Subsurface damage underneath the ductile surface was characterised using transmission electron microscope. The TEM results demonstrated that higher scratching velocity led to the slipping planes appearing in more directions, which prevented the generation of long slipping plane and reduced the depth of the damage layers. The plastic deformation of GGG at the scratching velocity of 100 μm/s was dominated by poly-crystalline nanocrystallites and amorphous phases, and was similar to that at the low scratching velocity. This study provided a fundamental understanding of the strain-rate dependence of surface/subsurface deformation mechanisms of GGG during ultra-precision machining.     

高熵合金的抗辐照性能研究进展

高熵合金作为一种新型多主元固溶体合金，成分复杂、全局无序，且具有多主元效应，表现出较为优异的综合性能，有望作为新型抗辐照结构材料应用于先进核能反应堆系统。本文介绍了目前高熵合金抗辐照性能的研究现状，主要涉及高熵合金辐照缺陷演化、微观结构变化和性能退化等辐照损伤演化过程，梳理了多主元效应对辐照损伤演化过程的影响规律。针对高熵合金的抗辐照性能研究，总结了目前高熵合金的几种抗辐照损伤机制，归纳了高熵合金抗辐照性能研究存在的问题，以及对高熵合金后续的研究方向进行了展望。