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991.
Yong Song Yi-bin Li Cai-hong Li Gui-fang Zhang 《International Journal of Control, Automation and Systems》2012,10(1):166-172
This article demonstrates that Q-learning can be accelerated by appropriately specifying initial Q-values using dynamic wave
expansion neural network. In our method, the neural network has the same topography as robot work space. Each neuron corresponds
to a certain discrete state. Every neuron of the network will reach an equilibrium state according to the initial environment
information. The activity of the special neuron denotes the maximum cumulative reward by following the optimal policy from
the corresponding state when the network is stable. Then the initial Q-values are defined as the immediate reward plus the
maximum cumulative reward by following the optimal policy beginning at the succeeding state. In this way, we create a mapping
between the known environment information and the initial values of Q-table based on neural network. The prior knowledge can
be incorporated into the learning system, and give robots a better learning foundation. Results of experiments in a grid world
problem show that neural network-based Q-learning enables a robot to acquire an optimal policy with better learning performance
compared to conventional Q-learning and potential field-based Qlearning. 相似文献
992.
Yong Zhang 《Quantum Information Processing》2012,11(2):585-590
We recognize quantum circuit model of computation as factorisable scattering model and propose that a quantum computer is
associated with a quantum many-body system solved by the Bethe ansatz. As an typical example to support our perspectives on
quantum computation, we study quantum computing in one-dimensional nonrelativistic system with delta-function interaction,
where the two-body scattering matrix satisfies the factorisation equation (the quantum Yang–Baxter equation) and acts as a
parametric two-body quantum gate. We conclude by comparing quantum computing via the factorisable scattering with topological
quantum computing. 相似文献
993.
Guoxuan Zhang Il Hong Suh 《International Journal of Control, Automation and Systems》2012,10(3):547-557
In this paper, we propose a vertical and floor line-based monocular simultaneous localization and mapping (SLAM) system which utilizes vertical lines, floor lines, and vanishing points as sensory input to perform robust SLAM in corridor environments. By combining three map feature types, our design can help a robot to perform accurate pose estimation, repeatable loop closure, and to construct a more expressive environmental map. As a primitive element of a geometric structure, a line segment has one additional dimension compared to a point feature, thereby allowing the use of line segments to easily represent a geometric structure using a smaller number of features. This system presents map features on a 2D ground space: the vertical line as a projection point, the floor line as the original line, and the vanishing point as a directional vector. Although the vertical line, floor line, and vanishing point use different parameterization and initialization methods, their measurement models are integrated into a unified extended Kalman filter (EKF) framework. Experimental results show that our system can be deployed in a structured indoor environment as a suitable SLAM solution. 相似文献
994.
Ning-Cong Xiao Hong-Zhong Huang Zhonglai Wang Yu Liu Xiao-Ling Zhang 《Structural and Multidisciplinary Optimization》2012,46(6):803-812
Uncertainties exist in products or systems widely. In general, uncertainties are classified as epistemic uncertainty or aleatory uncertainty. This paper proposes a unified uncertainty analysis (UUA) method based on the mean value first order saddlepoint approximation (MVFOSPA), denoted as MVFOSPA-UUA, to estimate the systems probabilities of failure considering both epistemic and aleatory uncertainties simultaneously. In this method, the input parameters with epistemic uncertainty are modeled using interval variables while input parameters with aleatory uncertainty are modeled using probability distribution or random variables. In order to calculate the lower and upper bounds of system probabilities of failure, both the best case and the worst case scenarios of the system performance function need to be considered, and the proposed MVFOSPA-UUA method can handle these two cases easily. The proposed method is demonstrated to be more efficient, robust and in some situations more accurate than the existing methods such as uncertainty analysis based on the first order reliability method. The proposed method is demonstrated using several examples. 相似文献
995.
Jie Zhang Souma Chowdhury Achille Messac 《Structural and Multidisciplinary Optimization》2012,46(2):223-238
The determination of complex underlying relationships between system parameters from simulated and/or recorded data requires advanced interpolating functions, also known as surrogates. The development of surrogates for such complex relationships often requires the modeling of high dimensional and non-smooth functions using limited information. To this end, the hybrid surrogate modeling paradigm, where different surrogate models are combined, offers an effective solution. In this paper, we develop a new high fidelity surrogate modeling technique that we call the Adaptive Hybrid Functions (AHF). The AHF formulates a reliable Crowding Distance-Based Trust Region (CD-TR), and adaptively combines the favorable characteristics of different surrogate models. The weight of each contributing surrogate model is determined based on the local measure of accuracy for that surrogate model in the pertinent trust region. Such an approach is intended to exploit the advantages of each component surrogate. This approach seeks to simultaneously capture the global trend of the function as well as the local deviations. In this paper, the AHF combines four component surrogate models: (i) the Quadratic Response Surface Model (QRSM), (ii) the Radial Basis Functions (RBF), (iii) the Extended Radial Basis Functions (E-RBF), and (iv) the Kriging model. The AHF is applied to standard test problems and to a complex engineering design problem. Subsequent evaluations of the Root Mean Squared Error (RMSE) and the Maximum Absolute Error (MAE) illustrate the promising potential of this hybrid surrogate modeling approach. 相似文献
996.
Computational modeling and simulation can provide an effective predictive capability for flow properties of the confined fluids in micro/nanoscales. In this paper, considering the boundary slip at the fluid–solid interface, the motion property of fluids confined in parallel-plate nanochannels are investigated to couple the atomistic regime to continuum. The corrected second-order slip boundary condition is used to solve the Navier–Stokes equations for confined fluids. Molecular dynamics simulations for Poiseuille flows are performed to study the influences of the strength of the solid–fluid coupling, the fluid temperature, and the density of the solid wall on the velocity slip at the fluid boundary. For weak solid–fluid coupling strength, high temperature of the confined fluid and high density of the solid wall, the large velocity slip at the fluid boundary can be obviously observed. The effectiveness of the corrected second-order slip boundary condition is demonstrated by comparing the velocity profiles of Poiseuille flows from MD simulations with that from continuum. 相似文献
997.
998.
999.
Morphology and geometry of melted zones, cooling rates, microstructure and microhardness in the laser-glazed Fe-4%C-10%Sn alloy have been investigated. The computer simulation on the basis of the moving gaussian source model was used successfully to predict the maximum width and depth of the melted zone and the cooling rate. The microstructure from the surface to the bottom of the laser-melted zone is a non-crystalline phase, dendritic grains and a microcrystalline zone successively. Values of the averaged-spacing of the non-crystalline phase are 0.2056 and 0.1219nm, respectively; twinned martensites, having an axial ratioc/a of 1.128, existed in dendritic grains, and carbides of Fe3 C at the interdendritic regions; the microcrystalline zone was composed of -Fe and a new bet (a=0.415 nm,c=0.955 nm) phase. The different microstructure in the melted zone can be explained by the results of the heat flow calculation. A fine eutectic structure (-Fe + Fe3C) was observed in heat-affected zones. Microhardness of the eutectic structure can be predicted by the empirical relation of fracture stress to the interlamellar spacing of pearlite. 相似文献
1000.