多智能体强化学习的机械臂运动控制决策研究

针对传统运动控算法存在环境适应性较差,效率低的问题。可以利用强化学习在环境中不断去探索试错,并通过奖励函数对神经网络参数进行调节的方法对机械臂的运动进行控制。但是在现实中无法提供机械臂试错的环境,采用Unity引擎平台来构建机械臂的数字孪生仿真环境,设置观察状态变量和设置奖励函数机制,并提出在该模型环境中对PPO(proximal policy optimization)与多智能体（agents）结合的M-PPO算法来加快训练速度,实现通过强化学习算法对机械臂进行智能运动控制,完成机械臂执行末端有效避障快速到达目标物体位置,并通过该算法与M-SAC（多智能体与Soft Actor-Critic结合）和PPO算法的实验结果进行分析,验证M-PPO算法在不同环境下机械臂运动控制决策调试上的有效性与先进性。实现孪生体自主规划决策,反向控制物理体同步运动的目的。     

Vapor Phase Growth of Centimeter-Sized Band Gap Engineered Cesium Lead Halide Perovskite Single-Crystal Thin Films with Color-tunable Stimulated Emission

Single crystal metal halide perovskites thin films are considered to be a promising optical, optoelectronic materials with extraordinary performance due to their low defect densities. However, it is still difficult to achieve large-scale perovskite single-crystal thin films (SCTFs) with tunable bandgap by vapor-phase deposition method. Herein, the synthesis of CsPbCl_3(1–x)Br_3x SCTFs with centimeter size (1 cm × 1 cm) via vapor-phase deposition is reported. The Br composition of CsPbCl_3(1–x)Br_3x SCTFs can be gradually tuned from x = 0 to x = 1, leading the corresponding bandgap to change from 2.29 to 2.91 eV. Additionally, an low-threshold (≈23.9 µJ cm⁻²) amplified spontaneous emission is achieved based on CsPbCl_3(1–x)Br_3x SCTFs at room temperature, and the wavelength is tuned from 432 to 547 nm by varying the Cl/Br ratio. Importantly, the high-quality CsPbCl_3(1–x)Br_3x SCTFs are ideal optical gain medium with high gain up to 1369.8 ± 101.2 cm⁻¹. This study not only provides a versatile method to fabricate high quality CsPbCl_3(1–x)Br_3x SCTFs with different Cl/Br ratio, but also paves the way for further research of color-tunable perovskite lasing.     

Adaptive fault-tolerant control of switched nonlinear systems based on tuning function method

This paper solves the problem of adaptive fault-tolerant control of uncertain switched nonlinear systems with unknown parameters and actuator failures. Based on the multi-Lyapunov function method, a novel adaptive switched controller with tuning function is designed using the backstepping procedure. Meanwhile, a switched fault-tolerant adaptation mechanism is also given to compensate the fault efficiency. Furthermore, it is certificated that all the signals of the closed-loop system are uniformly bounded and the tracking error restrain to a small neighbor. Finally, the simulation results verify the feasibility of the proposed method.     

Neural network-based event-triggered cluster quasi-consensus for unknown multiagent systems with directed topology

This paper studies cluster quasi-consensus problem for a class of unknown nonlinear multiagent systems (MASs) with directed communication topology. First, a distributed continuous neural network (NN)-based adaptive protocol is presented for solving this problem by introducing reference model to each agent. Then, taking limited communication resource and energy consumption into account, a distributed event-triggered cluster quasi-consensus protocol is proposed. Different from the existing results, two event-triggered mechanisms are constructed in the proposed event-triggered protocol to reduce communication load and control update frequency as possible. The sufficient conditions that guarantee cluster quasi-consensus under the both proposed protocols are obtained, respectively. Zeno behavior is proved to be excluded. Finally, simulation results verify the effectiveness of the proposed protocols.     

Research on the Mechanical Properties of Magnetorheological Damping and the Performance of Microprobe Test Process

Journal of Electronic Testing - In order to control the stable and controllable loading of the wafer level microprobe test bench, the magnetorheological (MR) damper used in the existing research...     

Structural and optical properties of AIN sputtering deposited on sapphire substrates with various orientations

AIN thin films were deposited on c-,a-and r-plane sapphire substrates by the magnetron sputtering technique.The in-fluence of high-temperature thermal annealing (HTTA) on the structural,optical properties as well as surface stoichiometry were comprehensively investigated.The significant narrowing of the (0002) diffraction peak to as low as 68 arcsec of AIN after HTTA implies a reduction of tilt component inside the AIN thin films,and consequently much-reduced dislocation densities.This is also supported by the appearance of E2(high) Raman peak and better Al-N stoichiometry after HTTA.Furthermore,the in-creased absorption edge after HTTA suggests a reduction of point defects acting as the absorption centers.It is concluded that HTTA is a universal post-treatment technique in improving the crystalline quality of sputtered AIN regardless of sapphire orienta-tion.     

Simultaneous wireless information and power transfer with fixed and adaptive modulation

Activating Wireless Power Transfer (WPT) in Radio-Frequency (RF) to provide on-demand energy supply to widely deployed Internet of Everything devices is a key to the next-generation energy self-sustainable 6G network. However, Simultaneous Wireless Information and Power Transfer (SWIPT) in the same RF bands is challenging. The majority of previous studies compared SWIPT performance to Gaussian signaling with an infinite alphabet, which is impossible to implement in any realistic communication system. In contrast, we study the SWIPT system in a well-known Nakagami-m wireless fading channel using practical modulation techniques with finite alphabet. The attainable rate-energy-reliability tradeoff and the corresponding rationale are revealed for fixed modulation schemes. Furthermore, an adaptive modulation-based transceiver is provided for further expanding the attainable rate-energy-reliability region based on various SWIPT performances of different modulation schemes. The modulation switching thresholds and transmit power allocation at the SWIPT transmitter and the power splitting ratios at the SWIPT receiver are jointly optimized to maximize the attainable spectrum efficiency of wireless information transfer while satisfying the WPT requirement and the instantaneous and average BER constraints. Numerical results demonstrate the SWIPT performance of various fixed modulation schemes in different fading conditions. The advantage of the adaptive modulation-based SWIPT transceiver is validated.     

静电喷印技术在太赫兹超表面制备中的应用

近年来,太赫兹技术快速发展,基于超表面的太赫兹器件受到广泛关注,并已应用于太赫兹成像、光谱和生物传感等诸多领域。但太赫兹超表面器件的制备复杂且成本高,而静电喷印技术无需掩模版,成本低、精度高且易于在异形曲面上制作。基于静电喷印技术设计和制备了太赫兹吸波器,并利用太赫兹时域光谱系统（THz-TDS）对样品进行了性能测试,实验与仿真结果基本相符,在0.098~0.353 THz频段内吸收大于90%。此外,还设计了太赫兹线极化转换器,在0.167~0.355 THz频段内的极化转换大于95%,相对带宽约72%,并分析了所设计样品的制备工艺条件,验证了静电喷印技术对于制备太赫兹极化转换器的可行性。研究成果表明,静电喷印技术在太赫兹超表面器件的制备中具有广泛的应用前景。     

Special Issue on Advanced Network Security: Methods and Applications

Mobile Networks and Applications -