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61.
The automatic design of controllers for mobile robots usually requires two stages. In the first stage, sensorial data are preprocessed or transformed into high level and meaningful values of variables which are usually defined from expert knowledge. In the second stage, a machine learning technique is applied to obtain a controller that maps these high level variables to the control commands that are actually sent to the robot. This paper describes an algorithm that is able to embed the preprocessing stage into the learning stage in order to get controllers directly starting from sensorial raw data with no expert knowledge involved. Due to the high dimensionality of the sensorial data, this approach uses Quantified Fuzzy Rules (QFRs), that are able to transform low-level input variables into high-level input variables, reducing the dimensionality through summarization. The proposed learning algorithm, called Iterative Quantified Fuzzy Rule Learning (IQFRL), is based on genetic programming. IQFRL is able to learn rules with different structures, and can manage linguistic variables with multiple granularities. The algorithm has been tested with the implementation of the wall-following behavior both in several realistic simulated environments with different complexity and on a Pioneer 3-AT robot in two real environments. Results have been compared with several well-known learning algorithms combined with different data preprocessing techniques, showing that IQFRL exhibits a better and statistically significant performance. Moreover, three real world applications for which IQFRL plays a central role are also presented: path and object tracking with static and moving obstacles avoidance. 相似文献
62.
63.
Kinetic,thermodynamic parameters and in vitro digestion of tannase from Aspergillus tamarii URM 7115
Amanda Reges de Sena Tonny Cley Campos Leite Talita Camila Evaristo da Silva Nascimento Anna Carolina da Silva Catiane S. Souza Antônio Fernando de Mello Vaz 《Chemical Engineering Communications》2018,205(10):1415-1431
Tannase is an enzyme used in various industries and produced by a large number of microorganisms. The aim of this study was to evaluate tannase production to determine the biochemical, kinetic, and thermodynamic properties and to simulate tannase in vitro digestion. The tannase-producing fungal strain was isolated from “jamun” leaves and identified as Aspergillus tamarii. Temperature at 26°C for 67?h was the best combination for maximum tannase activity (6.35-fold; initial activity in Plackett–Burman design—15.53?U/mL and average final activity in Doehlert design—98.68?U/mL). The crude extract of tannase was optimally active at 40°C, pH 5.5 and 6.5. Moreover, tannase was stimulated by Na+, Ca2+, Mg2+, and Mn2+. The half-life at 40°C lasted 247.55?min. The free energy of Gibbs, enthalpy, and entropy, at 40°C, was 81.47, 16.85, and ?0.21?kJ/mol?·?K, respectively. After total digestion, 123.95% of the original activity was retained. Results suggested that tannase from A. tamarii URM 7115 is an enzyme of interest for industrial applications, such as gallic acid production, additive for feed industry, and for beverage manufacturing, due to its catalytic and thermodynamic properties. 相似文献
64.
Rui
Zhang Junmin Li Jianmin Jiao 《International Journal of Adaptive Control and Signal Processing》2020,34(7):919-936
This article investigates an adaptive fuzzy tracking control problem for a class of nontriangular form systems with asymmetric time-varying full state constraints. Unknown functions are approximated by the fuzzy logic systems. A domination approach is employed to tackle the nontriangular form structure. Time-varying asymmetric barrier Lyapunov functions (ABLFs) are adopted to ensure full-state constraints satisfaction. Based on the backstepping technique and time-varying ABLFs, an adaptive controller is proposed and guarantees that all the signals in the closed-loop system are ultimately bounded and the time-varying full state constraints are met. Simulation examples are presented to further demonstrate the effectiveness of the proposed approach. 相似文献
65.
66.
张峰水库溢洪道体型优化设计 总被引:1,自引:0,他引:1
本文对已设计的张峰水库溢洪道进行了模型试验,根据对试验结果分析,认为原方案设计存在一些问题,并针对问题进行了优化设计。通过对修改方案模型试验结果分析,得出修改方案改进了原方案中存在的不足,优化合理,是可以采用的。 相似文献
67.
Defects are often present in rolled products, such as wire rod. The market demand for wire rod without any defects has increased. In the final wire rod products, defects originating from steel making, casting, pre‐rolling of billets and during wire rod rolling can appear. In this work, artificial V‐shaped longitudinal surface cracks have been analysed experimentally and by means of FEM. The results indicate that the experiments and FEM calculations show the same tendency except in two cases, where instability due to fairly “round” false round bars disturbed the experiment. FE studies in combination with practical experiments are necessary in order to understand the behaviour of the material flows in the groove and to explain whether the crack will open up as a V‐shape or if it will be closed as an I‐shape. 相似文献
68.
PDC钻头水力结构优化设计研究 总被引:9,自引:0,他引:9
在PDC钻头工作过程中,钻井液对钻头体表面的冲洗、冷却和润滑是保证钻头正常工作的一个非常重要的条件。对PDC钻头而言,水力结构(主要是中心水眼和冠部水道)设计的重要性尤其突出。以前,对钻头水力系统研究只能通过实验的方法进行,研究周期长、成本高、结构调整不方便,而数值模拟的方法在几年前还不成熟,甚至静态的复杂结构流场问题基本无法解决。为此,在提出PDC钻头水力结构优化设计原则的基础上,对PDC钻头的三维流场进行了数值模拟。模拟中考虑了钻头的喷嘴布置位置、直径、数量以及切削齿对流场的影响。计算结果表明,原设计在喷嘴布置位置和喷射角度上存在不足,以此为基础进行了水力结构的优化设计。文中的研究成果成功地应用在新型钻头水力结构的设计中,研究方法为PDC钻头水力结构优化分析奠定了理论基础。 相似文献
69.
70.
继电器微机检测装置的软件设计 总被引:2,自引:0,他引:2
继电器作为主要电气元件之一,广泛应用于各个领域。对继电器的检测主要包括机械参数和电气参数的检测。电气参数由于其项目多,实现微机测试比较困难,据此,开发了电磁继电器电参数的自动测试装置,本文仅介绍其软件设计。 相似文献