代码搜索方法研究进展

开源软件的成功推动了软件产业的蓬勃发展,大量代码资源为代码搜索创造了条件.如何通过代码搜索技术找到需求代码成为一个重要问题.为了更好地推进后续研究工作,首先对代码搜索相关概念及研究趋势进行介绍和说明;其次对使用不同技术的代码搜索研究工作进行综述,包括基于信息检索、查询和代码描述增强、程序特征分类以及深度学习等方面,并进一步总结归纳不同方法的优缺点;接下来针对代码搜索技术所应用的多个领域进行介绍,包括程序合成、代码推荐与补全和代码风格改善等方面;最后分析现阶段代码搜索面临的主要问题,为未来该方向的发展提供一定的参考与建议.     

Virtual Model Reduction-based Control Strategy of Planar Three-link Underactuated Manipulator with Middle Passive Joint

This paper presents a position control strategy for a planar active-passive-active (APA) underactuated manipulator with second-order nonholonomic characteristics. According to the structural characteristics of the planar APA system, we divide the system into two parts: a planar virtual Pendubot (PVP) and a planar virtual Acrobot (PVA). For the PVP, we mainly fulfill the target angle of the first link, which is calculated through the geometry method, and make the system stable. In this stage, via keeping the states of the third link being zero, the system is reduced to the PVP. Meanwhile, we design an open-loop control law based on the nilpotent approximation (NA) model of the PVP to make the second link stable and the first link stabilize at its target angle. Then, the planar APA system is reduced to a PVA with all links’ angular velocities being zero. For the PVA, we mainly realize the other two links’ target angles obtained via the particle swarm optimization (PSO) algorithm. Thus, the control objective of the planar APA system is achieved. Finally, above control strategy is verified by simulation results.

     

An Adaptive Fault-tolerant Control Method for Robot Manipulators

International Journal of Control, Automation and Systems - This paper presents a new method for adaptive continuous nonsingular fast terminal sliding mode control (ACNFTSMC) based on a novel...     

Chaos-PSO-based Motion Planning and Accurate Tracking for Position-posture Control of a Planar Underactuated Manipulator with Disturbance

Unlike a fully-actuated manipulator, the position-posture control of a planar underactuated manipulator (PUM) is more difficult, but the research on it is significant due to the wide practical applications. The existing control methods consider no external disturbance and are involved in the staged control idea, bringing the problems of nonsmooth control torque and time-consuming. A novel one-stage control approach is proposed in this paper for the position-posture control of a three-link PUM with the first free joint under the external disturbance. By analyzing the coupling relationship between its active joints and free joint, the position-posture control is transformed into the trajectory tracking control. Unlike the general trajectory planning, the trajectories of the active joints are planned to include several parameters. Meanwhile, the parameters are solved using a chaos particle swarm optimization algorithm to guarantee that all joint angles can reach to their desired angles. Then, to obtain the high trajectory tracking accuracy at every moment under the external disturbance, the nonlinear disturbance observer is constructed and a nonlinear fast terminal sliding mode tracking controller is designed. Finally, the feasibility and superiority of this strategy are verified via two simulations.

     

Research on Action Strategies and Simulations of DRL and MCTS-based Intelligent Round Game

International Journal of Control, Automation and Systems - The reinforcement learning problem of complex action control in multiplayer online battlefield games has brought considerable interest in...     

Modeling and Control of Hybrid-driven Gliding Motion for an Underwater Gliding Snake-like Robot

International Journal of Control, Automation and Systems - An underwater gliding snake-like robot (UGSR) combines the advantages of an underwater glider (UG) and an underwater snake-like robot...     

Adaptive Safety Motion Control for Underactuated Hovercraft Using Improved Integral Barrier Lyapunov Function

International Journal of Control, Automation and Systems - In this paper, we investigate the problem of safety motion control for an underactuated hovercraft from subject to safety constraint on...     

Reaction mechanism and microstructure evolution of reaction sintered <Emphasis Type="Italic">h</Emphasis>-BN

Hexagonal boron nitride ceramic (h-BN) based on the nitridation of B powders was obtained by reaction sintering method. The effects of sintering temperature on the mechanical properties and microstructure of the resultant products were investigated and the reaction mechanism was discussed. Results showed that the reaction between B and N₂ occurred vigorously at temperatures ranging from 1 000 °C to 1 300 °C, which resulted in the generation of t-BN. When the temperature exceeded 1 450 °C, transformation from t-BN to h-BN began to occur. As the sintering temperature increased, the spherical particles of t-BN gradually transformed into fine sheet particles of h-BN. These particles subsequently displayed a compact arrangement to achieve a more uniform microstructure, thereby increasing the strength.     

Mechanical analysis of double-layered circular graphene sheets as building material embedded in an elastic medium

Journal of Central South University - Possessing the unique and highly valuable properties, graphene sheets (GSs) have attracted increasing attention including that from the building engineer due...     

Differential amplification method for flow structures analysis of centrifugal pump between design and off-design points

Journal of Central South University - The three-dimensional internal flow field of centrifugal pump is complex and variable with design parameters and operation conditions. The post-processing...