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101.
提出了水量分配方案后评价指标体系,建立了基于非负矩阵分解的水量分配方案后评价模型,并以1983年国务院批复的引滦水量分配方案为研究对象进行了水量分配方案诊断式后评价。该方法利用非负矩阵分解算法将指标矩阵最大程度分解为基向量和权向量,根据权向量元素的数值对水量分配方案进行评级,根据基向量元素的数值判断评价指标的实施状况。通过对引滦水量分配方案质量、实施过程、实施效果和可持续性的调查分析,得出方案综合后评价结果为优,但在来用水可持续性、对水环境影响及水质目标保证率等方面需加以改进。评价结果表明,基于非负矩阵分解原理的后评价方法评价效果较好,可为水量分配方案等项目的后评价提供科学依据。 相似文献
102.
A stochastic control scheme is developed for scalar, discrete-time, and linear-dynamic systems driven by Cauchy distributed process and measurement noises. When addressing the optimal control problem for such systems, the standard quadratic cost criteria cannot be used. In this study we introduce a new objective function that is functionally similar to the Cauchy probability density function. The performance index, defined as the expectation of this objective function with respect to the Cauchy densities, exists. The dynamic programming solution to the fixed and finite horizon optimal control problem that uses this performance index appears to be intractable. Therefore, a moving horizon optimal model predictive control problem is implemented, for which the conditional expected value of the objective function and its gradients can be computed in closed form and without assumptions such as certainty equivalence. Numerical results are shown for this m-step model predictive optimal controller and compared to a similar, Linear-Exponential-Gaussian model predictive controller. An essential difference between the Cauchy and Gaussian controllers when applied to a system with Cauchy noises is that, while the Gaussian controller is linear and reacts strongly to all noise pulses, the Cauchy controller can differentiate between measurement and process noise pulses by ignoring the former while responding to the latter. This property of the Cauchy controller occurs when an impulsive measurement noise is more likely than an impulsive process noise. The Cauchy and Gaussian controllers react similarly when applied to a system with Gaussian noises, demonstrating the robustness of the proposed control scheme. 相似文献
103.
《Automatica》2014,50(11):2918-2923
In this paper we consider the problem of global asymptotic stabilization with prescribed local behavior. We show that this problem can be formulated in terms of control Lyapunov functions. Moreover, we show that if the local control law has been synthesized employing an LQ approach, then the associated Lyapunov function can be seen as the value function of an optimal problem with some specific local properties. We illustrate these results on two specific classes of systems: backstepping and feedforward systems. Finally, we show how this framework can be employed when considering the orbital transfer problem. 相似文献
104.
《Automatica》2014,50(11):2822-2834
We study the quadratic control of a class of stochastic hybrid systems with linear continuous dynamics for which the lengths of time that the system stays in each mode are independent random variables with given probability distribution functions. We derive a condition for finding the optimal feedback policy that minimizes a discounted infinite horizon cost. We show that the optimal cost is the solution to a set of differential equations with unknown boundary conditions. Furthermore, we provide a recursive algorithm for computing the optimal cost and the optimal feedback policy. The applicability of our result is illustrated through a numerical example, motivated by stochastic gene regulation in biology. 相似文献
105.
This paper deals with an original micro aerial vehicle (MAV) design, the Omnicopter MAV. It has two central coaxial rotors with fixed-pitch propellers and three perimeter mounted ducted fans with servo motors performing thrust vectoring. Compared with traditional rotary wing MAVs that have inherent underactuation, the Omnicopter possesses some advantages in mobility, for example, lateral translation with zero attitude and hover with nonzero attitude. The trajectory tracking control design, global stability analysis, and control allocation are demonstrated through numerical simulation. The advantage of zero attitude translation is illustrated through experimental results. 相似文献
106.
《Robotics and Autonomous Systems》2014,62(4):506-514
This paper investigates replanning strategies for container-transportation task allocation of autonomous Straddle Carriers (SC) at automated container terminals. The strategies address the problem of large-scale scheduling in the context of uncertainty (especially uncertainty associated with unexpected events such as the arrival of a new task). Two rescheduling policies–Rescheduling New arrival Jobs (RNJ) policy and Rescheduling Combination of new and unexecuted Jobs (RCJ) policy–are presented and compared for long-term Autonomous SC Scheduling (ASCS) under the uncertainty of new job arrival. The long-term performance of the two rescheduling policies is evaluated using a multi-objective cost function (i.e., the sum of the costs of SC travelling, SC waiting, and delay of finishing high-priority jobs). This evaluation is conducted based on two different ASCS solving algorithms–an exact algorithm (i.e., branch-and-bound with column generation (BBCG) algorithm) and an approximate algorithm (i.e., auction algorithm)–to get the schedule of each short-term planning for the policy. Based on the map of an actual fully-automated container terminal, simulation and comparative results demonstrate the quality advantage of the RCJ policy compared with the RNJ policy for task allocation of autonomous straddle carriers under uncertainty. Long-term testing results also show that although the auction algorithm is much more efficient than the BBCG algorithm for practical applications, it is not effective enough, even when employed by the superior RCJ policy, to achieve high-quality scheduling of autonomous SCs at the container terminals. 相似文献
107.
An isothermal model for hydrodemetallation (HDM) of crude oils in catalytic fixed-bed reactors is proposed. This model involves a consecutive reaction mechanism, which is capable of accounting for particle deposit profiles with interior maxima. Consistent with the fact that HDM catalysts are conglomerates formed by precipitation, the porous catalyst itself is modeled as randomly overlapping spheres of equal size. The metal is deposited as growing metal sulfide crystallites on the inner surface of the catalyst. These crystallites originate from a certain number of randomly scattered nuclei and increase in size as the deposition proceeds. The random sphere model for the catalyst and the deposit provides the changes in the catalyst pore structure—local porosity and surface area.
The mass transport within the domain of the particle is due to restricted liquid diffusion, since the diameter of the metal bearing compound (porphyrin) and the intermediate are comparable to the pore size. The diffusion restrictions taken into account are the enhanced drag imposed on a molecule by adjacent pore walls and steric partitioning.
Since the deposition process is much slower than diffusion and reaction, the pseudo-steady-state assumption can be justified. The equations of conservation for mass are solved by orthogonal collocation on finite elements. Based on this solution technique a computer simulation program of HDM is designed that allows two modes of operation: constant temperature and constant conversion. The simulation program “SIMULA” is highly flexible with regard to reaction kinetics, catalyst structure, reactor design, and operating conditions. In comparison to a base case with uniform activity, the effect of intraparticle (radial) and bed (axial) activity profiles on the conversion rate is discussed. For the case investigated, a radial distribution of activity higher at the center of the particle than at the edge can increase catalyst life by 25%, but axial distribution was less successful. 相似文献
The mass transport within the domain of the particle is due to restricted liquid diffusion, since the diameter of the metal bearing compound (porphyrin) and the intermediate are comparable to the pore size. The diffusion restrictions taken into account are the enhanced drag imposed on a molecule by adjacent pore walls and steric partitioning.
Since the deposition process is much slower than diffusion and reaction, the pseudo-steady-state assumption can be justified. The equations of conservation for mass are solved by orthogonal collocation on finite elements. Based on this solution technique a computer simulation program of HDM is designed that allows two modes of operation: constant temperature and constant conversion. The simulation program “SIMULA” is highly flexible with regard to reaction kinetics, catalyst structure, reactor design, and operating conditions. In comparison to a base case with uniform activity, the effect of intraparticle (radial) and bed (axial) activity profiles on the conversion rate is discussed. For the case investigated, a radial distribution of activity higher at the center of the particle than at the edge can increase catalyst life by 25%, but axial distribution was less successful. 相似文献
108.
109.
为了合理地实现多接口多信道车载自组织网络(VANET)车辆节点间通信信道的动态分配,提出了一种基于通信双方车辆节点信道切换队列的动态信道分配算法。定义了车辆节点的射频接口状态,给出了信道的性能因子以及信道切换队列的生成方法,通过综合考虑通信双方车辆节点的射频接口状态和信道切换队列,快速自主地建立通信链路,从而解决了信道公平接入和分配不合理的问题。通过软件仿真比较可以看出,该算法实现了信道的动态分配,减小了平均端到端时延,增加了网络平均吞吐量,显著提高了多接口多信道VANET的网络性能。 相似文献
110.