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101.
This article presents a new approach for solving the Optimal Control Problem (OCP) of linear time-delay systems with a quadratic cost functional. The proposed method can also be used for designing optimal control time-delay systems with disturbance. In this study, the Variational Iteration Method (VIM) is employed to convert the original Time-Delay Optimal Control Problem (TDOCP) into a sequence of nonhomogeneous linear two-point boundary value problems (TPBVPs). The optimal control law obtained consists of an accurate linear feedback term and a nonlinear compensation term which is the limit of an adjoint vector sequence. The feedback term is determined by solving Riccati matrix differential equation. By using the finite-step iteration of a nonlinear compensation sequence, we can obtain a suboptimal control law. Finally, Illustrative examples are included to demonstrate the validity and applicability of the technique. 相似文献
102.
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
103.
In recent years, the Industry 4.0 concept brings new demands and trends in different areas; one of them is distributing computational power to the cloud. This concept also introduced the Reference Architectural Model for Industry 4.0 (RAMI 4.0). The efficiency of data communications within the RAMI 4.0 model is a critical issue. Aiming to evaluate the efficiency of data communication in the Cloud Based Cyber-Physical Systems (CB-CPS), this study analyzes the periods and data amount required to communicate with individual hierarchy levels of the RAMI 4.0 model. The evaluation of the network properties of the communication protocols eligible for CB-CPS is presented. The network properties to different cloud providers and data centers’ locations have been measured and interpreted. To test the findings, an architecture for cloud control of laboratory model was proposed. It was found that the time of the day; the day of the week; and data center utilization have a negligible impact on latency. The most significant impact lies in the data center distance and the speed of the communication channel. Moreover, the communication protocol also has impact on the latency. The feasibility of controlling each level of RAMI 4.0 through cloud services was investigated. Experimental results showed that control is possible in many solutions, but these solutions mostly cannot depend just on cloud services. The intelligence on the edge of the network will play a significant role. The main contribution is a thorough evaluation of different cloud providers, locations, and communication protocols to provide recommendations sufficient for different levels of the RAMI 4.0 architecture. 相似文献
104.
对污染源废气监测原理进行了简单分析,阐述了当前我国常用的环境中污染源废气检测方法,并对废气检测影响因素及质量控制进行了深入探究。 相似文献
105.
《Journal of the European Ceramic Society》2020,40(8):3348-3353
Large transduction coefficient () is difficult to obtain in piezoelectric ceramics because these two parameters show opposite trends with compositional modifications. Herein, the Pb(Zr0.53Ti0.47)O3 ceramic powders were calcinated under different temperatures (A:830 °C, B:860 °C, and C:890 °C), and then mixed together according to different weight ratios (1A:1B:1C, 1A:2B:1C, 1A:2B:3C and 3A:2B:1C) for ceramics preparation. Both d33 and g33 are improved successfully, and the transduction coefficient with the weight ratio of 1A:2B:3C reaches up to 17,500 × 10−15 m2/N, which is 60 % higher than that with the powders calcinated under 830 °C, and at least twice those of commercial PZT-4, PZT-5A and PZT-8 ceramics. The improved transduction coefficient is owing to the enhanced piezoelectric constant and spontaneous polarization resulted from the increased grain size, relative density and the fraction of tetragonal phase. These results indicate that this is a simple but effective way to tailor the transduction coefficient in piezoelectric ceramics. 相似文献
106.
107.
108.
高浓度聚合物驱提高采收率方法实验研究 总被引:3,自引:0,他引:3
为探索一种新的提高原油采收率的方法,在外形尺寸为4.5 cm×4.5 cm×30 cm、气测渗透率0.9~1.0μm2、变异系数为0.72的二维纵向非均质人造岩心上,模拟大庆油田油藏流体性质及温度条件,研究了高浓度聚合物(HPAM)驱注入时机、聚合物相对分子质量、聚合物段塞体积及段塞组合对驱油效果的影响。通过注入大分子量、高浓度聚合物,结合合理的注入方式,在化学剂成本与三元复合驱相当的情况下,采收率比水驱提高20个百分点以上,接近或超过三元复合驱的水平。实验表明,采用高浓度聚合物驱油是一种较好的提高原油采收率的方法。 相似文献
109.
最大塑性功原理在烧结体上限分析中的应用 总被引:1,自引:0,他引:1
最大塑性功原理又称第二塑性变分原理,在致密体塑性变形分析叶l是运用能量法进行变形力能计算的基础。本文从分析Drucker公设的亢要条件出发,证明了烧结体塑性变形最大塑性功原理的存在,片在该原理的荩础卜,推导出塑性变形的上限功率表达式,并以平面挤压条件下的上限法应用作为实例加以说明。 相似文献
110.
Based on the current spin density functional theory, a theoretical model of three vertically aligned semiconductor quantum dots is proposed and numerically studied. This quantum dot molecule (QDM) model is treated with realistic hard-wall confinement potential and external magnetic field in three-dimensional setting. Using the effective-mass approximation with band nonparabolicity, the many-body Hamiltonian results in a cubic eigenvalue problem from a finite difference discretization. A self-consistent algorithm for solving the Schrödinger-Poisson system by using the Jacobi-Davidson method and GMRES is given to illustrate the Kohn-Sham orbitals and energies of six electrons in the molecule with some magnetic fields. It is shown that the six electrons residing in the central dot at zero magnetic field can be changed to such that each dot contains two electrons with some feasible magnetic field. The Förster-Dexter resonant energy transfer may therefore be generated by two individual QDMs. This may motivate a new paradigm of Fermionic qubits for quantum computing in solid-state systems. 相似文献