Improved Double Deep Q Network Algorithm Based on Average Q-Value Estimation and Reward Redistribution for Robot Path Planning

By integrating deep neural networks with reinforcement learning,the Double Deep Q Network(DDQN)algorithm overcomes the limitations of Q-learning in handling continuous spaces and is widely applied in the path planning of mobile robots.However,the traditional DDQN algorithm suffers from sparse rewards and inefficient utilization of high-quality data.Targeting those problems,an improved DDQN algorithm based on average Q-value estimation and reward redistribution was proposed.First,to enhance the precision of the target Q-value,the average of multiple previously learned Q-values from the target Q network is used to replace the single Q-value from the current target Q network.Next,a reward redistribution mechanism is designed to overcome the sparse reward problem by adjusting the final reward of each action using the round reward from trajectory information.Additionally,a reward-prioritized experience selection method is introduced,which ranks experience samples according to reward values to ensure frequent utilization of high-quality data.Finally,simulation experiments are conducted to verify the effectiveness of the proposed algorithm in fixed-position scenario and random environments.The experimental results show that compared to the traditional DDQN algorithm,the proposed algorithm achieves shorter average running time,higher average return and fewer average steps.The performance of the proposed algorithm is improved by 11.43%in the fixed scenario and 8.33%in random environments.It not only plans economic and safe paths but also significantly improves efficiency and generalization in path planning,making it suitable for widespread application in autonomous navigation and industrial automation.

Periodic Motion Planning and Control for Double Rotary Pendulum via Virtual Holonomic Constraints

Periodic motion planning for an under-actuated system is rather difficult due to differential dynamic constraints imposed by passive dynamics, and it becomes more difficult for a system with higher underactuation degree, that is with a higher difference between the number of degrees of freedom and the number of independent control inputs. However, from another point of view, these constraints also mean some relation between state variables and could be used in the motion planning.We consider a double rotary pendulum, which has an underactuation degree 2. A novel periodic motion planning is presented based on an optimization search. A necessary condition for existence of the whole periodic trajectory is given because of the higher underactuation degree of the system. Moreover this condition is given to make virtual holonomic constraint(VHC) based control design feasible. Therefore, an initial guess for the optimization of planning a feasible periodic motion is based on this necessary condition. Then, VHCs are used for the system transformation and transverse linearization is used to design a static state feedback controller with periodic matrix function gain. The controller gain is found through another optimization procedure. The effectiveness of initial guess and performance of the closed-loop system are illustrated through numerical simulations.

Double BP Q-Learning Algorithm for Local Path Planning of Mobile Robot

Aiming at the dimension disaster problem, poor model generalization ability and deadlock problem in special obstacles environment caused by the increase of state information in the local path planning process of mobile robot, this paper proposed a Double BP Q-learning algorithm based on the fusion of Double Q-learning algorithm and BP neural network. In order to solve the dimensional disaster problem, two BP neural network fitting value functions with the same network structure were used to replace the two Q value tables in Double Q-Learning algorithm to solve the problem that the Q value table cannot store excessive state information. By adding the mechanism of priority experience replay and using the parameter transfer to initialize the model parameters in different environments, it could accelerate the convergence rate of the algorithm, improve the learning efficiency and the generalization ability of the model. By designing specific action selection strategy in special environment, the deadlock state could be avoided and the mobile robot could reach the target point. Finally, the designed Double BP Q-learning algorithm was simulated and verified, and the probability of mobile robot reaching the target point in the parameter update process was compared with the Double Q-learning algorithm under the same condition of the planned path length. The results showed that the model trained by the improved Double BP Q-learning algorithm had a higher success rate in finding the optimal or sub-optimal path in the dense discrete environment, besides, it had stronger model generalization ability, fewer redundant sections, and could reach the target point without entering the deadlock zone in the special obstacles environment.

Teaching Reform and Research on Art Design Majors in Higher Vocational Colleges under the Background of “Double High Plan”

Training talents for the society is the responsibility of colleges and universities.The society needs applied and innovative art design majors.In order to cultivate talents needed by society and keep up with the development plan of the Ministry of Education,higher vocational colleges need to reform.This paper adopts the method of theoretical analysis to elaborate from the four aspects of focusing equally on science and education,promote learning by competition;integrating industry and education,nurturing talents together;keeping the mission in mind while serving students;and finding the right positioning,giving full play to the advantages.

Development of Strategic Industrial Clusters in Guangdong Higher Vocational Colleges based on the"Double High Plan"

This article analyzed the ten strategic pillar industry clusters and the ten strategic emerging industry clusters which were confirmed and announced by Guangdong Province in May 2020 in addition to the 14 professional groups of schools in Guangdong Province which were shortlisted in the"Double High Plan."With comparison and analysis,the degree of coincidence between the professional groups of higher vocational colleges and strategic industrial clusters in Guangdong Province which covered most of the industrial clusters was relatively high.The higher vocational colleges that were shortlisted in the"Double High Plan"still required dynamic adjustments in the construction of professional groups to achieve an allrounded integration of the supply of talents and industrial demands.

Research on the Optimization of Talent Recruitment Process in Higher Vocational Colleges under the Background of Double High Plan

In order to elucidate the relationship between talent recruitment and teacher allocation management in higher vocational colleges under the background of the"Double High Plan",this paper studies and analyzes the current status of talent recruitment in Chinese higher vocational colleges in conjunction with the characteristics of talent resource allocation in higher vocational colleges and proposes to elucidate the priorities and improve supporting policies with reasonable planning to improve the optimization guideline of talent recruitment efficiency,so as to better accomplish the building of the national"double high plan"and improve the ability of higher vocational colleges to nurture more outstanding talents for the society.

Thoughts on the Management of Personnel Files in Higher Vocational Colleges in the Context of“Double High Plan”

Starting from the background of the"Double High Plan"in conjunction with the role of personnel file management in advancing the"Double High Plan",this paper analyzes the current status of personnel file management in higher vocational colleges and the necessity of personnel management in higher vocational colleges,and explores the effective measures to strengthen the informatization of personnel files management to make it more reasonable,standardized and informatized.

Research on Innovation of Modern Apprenticeship Talent Training Model for Art and Design Majors in Higher Vocational Education under the Background of "Double High"

In order to cultivate more excellent talents in art and design majors following the requirements of the"13th Five-Year Plan"national education development,this paper analyzes in-depth on the current status of higher vocational education in art design profession under the background of the"Double High"plan and the challenges faced,and proposes the building of school-enterprise"Double Subject"education system and the establishment of a"diversified"evaluation system.Deepening the integration of industry and education,schools and enterprises jointly explore modern apprenticeship talent training models for innovative art and design majors,and provide a strong guarantee for the implementation of the"Double High"plan modern apprenticeship talent training model.

“双万计划”背景下“流体力学”一流课程建设与实践

在“双万计划”背景下,介绍了大连理工大学“流体力学”一流课程教学改革与实践工作。以本硕贯通的流体力学系列教材为基础,构建“纸质教材—电子教案—线上慕课—习题指导”多方互补的立体化教学资源体系;通过强化课堂的主导作用,构建“寓教于研,寓学于趣”的情景式、参与式课堂氛围;通过推动课内课外、线上线下、本硕知识相融合的全方位混合式教学,践行以学生学习为中心的研究型教学模式;探索理论教学、科学研究与课程思政三方联动的教育机制,逐步形成了相对完善的“流体力学”一流课程建设模式。

教育强国建设背景下国家“双高计划”建设的经验与思考

国家“双高计划”是立足教育整体发展的引领性制度设计。第一轮5年投入700多亿元,建成197所院校、253个高水平专业群,覆盖18个专业大类,人才培养和技术创新服务能力整体提升。但是,也存在专业群建设集群效应发挥不明显、育人成效的关注度不够、立地式研发成果还不强等问题。第二轮以“办学能力高水平、产教融合高质量”为目标,由“基础好、条件好”向“服务好、支撑好”转变,为实现该目标,要以思政引领力、人才竞争力、科技支撑力、民生保障力、社会协同力、国际影响力为目标指引,对接国家重大战略,深化职业教育教学改革,优化人才供给质量和结构,推动职业教育服务区域发展、支撑产业发展、完善教育对外开放,加快实现建成教育强国的宏伟目标。

“双高计划”背景下高职院校建设:成效、挑战和发展路径——基于首轮197所“双高计划”高职院校的资料分析

对首轮197所“双高计划”高职院校中期自评报告、总结验收报告及官网成果展示等资料进行分析,发现多数高职院校在服务国家战略和区域发展、提升高素质技术技能人才培养能力、推动职业教育“走出去”等方面都取得了显著成效。为推动实施新一轮“双高计划”,通过分析面临的挑战,提出加强思想政治教育、落实立德树人根本任务,创新产教融合机制、推动“四链”有效衔接,以“五金”建设为引领、提升关键办学能力等举措,希望能够促进新时代职业教育高质量发展。

“双高计划”背景下职业教育国际化数字资源建设准则及路径研究

在“双高计划”背景下,职业教育国际化数字资源建设应遵循技术标准对接、数据格式统一、信息安全保障、知识产权保护、内容多语种支持、用户服务体验优化等国际化准则,通过加强国际合作与交流,引进国际优质教育资源,推动专业课程国际认证、持续强化教师培训与能力提升,优化学生学习体验、大力加强技术支持与平台建设、强化效果评估与持续改进等举措,逐步探索出一条符合职业教育国际化发展需求的数字资源建设路径,以期为培养具有国际视野和跨文化交流能力的高素质技术技能人才提供有力支持。

多方向跳跃翻筋斗鼠群算法的UAV三维路径规划

针对鼠群搜索算法(Rat Swarm Optimizer,RSO)在求解无人机(Unmanned Aerial Vehicle,UAV)三维路径规划问题时的收敛精度低,易早熟等问题,提出了一种基于多方向跳跃翻筋斗鼠群算法(Multi-Direction Jump and Somersault RSO,MJSRSO)的UAV三维路径规划方法。首先,建立了UAV三维路径规划优化模型;其次,在MJSRSO算法中,引入It⁃erative混沌自适应小孔成像学习策略初始化种群以增强种群多样性;同时融入了多方向跳跃型捕食和莱维翻筋斗追逐策略,并利用双平衡自适应对称锥形因子更好地控制算法局部开发和全局探索,提高算法的寻优能力。最后,利用MJSRSO算法求解了不同的UAV三维路径规划问题。仿真结果表明,这里提出的MJSRSO算法能够规划出代价最小的安全飞行路径,其寻优性能优于其他算法,证明了所提出的无人机三维路径规划方法的有效性和优越性。

现代与历史的对话——解读德国Max-Planck公司总部大楼

从历史背景、平面布局、立面设计以及材料与色彩几个方面解读慕尼黑Max-Planck公司总部大楼,分析建筑师是如何在用现代建筑语汇谨慎、理性地映射历史的同时,展现自我、实现现代建筑与历史环境的对话,并使各自的建筑艺术特征更为突出。

考虑双线相互干涉的铁路项目施工组织研究

针对线状活动铁路工程施工场景,在双线相互干涉条件下,基于线性计划方法,对双线的空间表达以施工区段为单位进行重构,建立时间-施工区段模型,考虑时间、空间、施工资源等约束,构建线路内部约束条件,再以线路内部约束为基础,建立线路间约束条件。结合标准遗传算法,以各条线路各区段内施工资源配置情况为自变量,构建双线相互干涉条件下铁路工程施工进度计划工期优化算法,能够在算法中自动输出最优工期条件下的资源配置情况,根据算法输出的最优工期和资源配置情况制作对应的线性计划图。算例仿真结果表明,工期优化模型和算法能够高效获得最短工期下双线相互干涉的铁路项目施工进度计划,验证了本文模型的合理性和算法的有效性。

“双高计划”背景下新建高职院校高水平专业群建设研究

在“双高计划”背景下,新建高职院校建设高水平专业群成为提升学校办学质量的关键路径。通过整合与优化配置资源,高水平专业群建设不仅能提升人才培养质量,增强社会服务能力,而且有利于教育教学改革,促进教育与产业的深度对接。为了有效推进高水平专业群建设,新建高职院校应采取科学组群,明确建设方向;重构课程体系,提升教学质量;加强师资队伍建设,提升教学水平,建立共享机制,分享教育资源等策略,以期为经济社会发展提供强有力的人才支撑和技术服务。

“双高”背景下工业机器人专业“三教”改革模式探究

“双高”时代,职业教育的发展面临巨大挑战,其中培养质量已经成为职业教育发展的重中之中,高职院校的教学发展应与“双高建设”的人才培养目标相一致,在此背景下,开展“三教”改革是推动职业教育高质量发展、培养高素质技能人才的关键路径之一。作为工业机器人专业的核心课程——工业机器人现场编程,是工业机器人专业人才培养目标中的重要课程之一,针对目前工业机器人专业教学环节中存在的教学内容与企业需求存在差异、教学方法陈旧及教材更新不及时等问题,从“三教”改革为出发点,详细剖析目前职业院校工业机器人专业存在的问题,结合“工业机器人编程综合应用”案例,探究“以学生为中心的项目式线上线下混合式教学”模式,将教师能力提升作为课程改革的起点,以教学方法为改革重点,为职业院校工业机器人专业的发展作出一定的贡献。

“双高计划”背景下高职院校专业群竞争力评价指标体系构建及应用

在“双高计划”高水平专业群面临终期验收和二次遴选的背景下,聚焦专业群建设成效,采用德尔菲专家咨询和AHP层次分析法构建了包括人才培养、师资队伍、教学改革、产教融合和社会服务5个一级指标、11个二级指标、40个三级指标的高职院校专业群竞争力评价指标体系。以广东省14所“双高计划”高职院校为例进行专业群建设实证分析,既验证了该评价指标体系的实际应用价值,又检验了14所“双高计划”学校目前专业群建设水平,从而从创新人才培养、加强师资队伍建设、深化教学改革、推进产教融合、增强社会服务能力等方面提出“双高计划”高职院校专业群建设策略。

“双高计划”背景下高职院校学报高质量发展策略探究

“双高计划”是推进中国职业教育现代化的重要决策。高职院校学报应当牢牢抓住“双高计划”给高职院校提供的发展机遇,不断提升学报编辑团队、审稿专家业务能力,围绕“双高计划”中院校与专业群建设的成果开办特色栏目,吸引优质稿源,加快数字化转型,深化科教融汇,在展示优秀学术与科研成果的同时,实现自身的可持续、高质量发展。

服务四川省食品饮料产业的工商专业群人才培养模式探索

依据“双高计划”要求,专业群的人才培养应与产业人才需求精准对接。面向先进制造业、现代农业和现代服务业等重点产业,服务于重点产业转型升级,以体现职业教育为生产劳动服务的功能。工商专业在组群中没有特色,常常被边缘化。因此,要跨专业组群,面向重点产业,兼顾培养懂技术的管理人才,懂管理的技术人才。通过“技术+管理”“工科+商科”,跨专业跨领域交叉融合,服务四川省食品饮料产业。目标是培养“懂管理、善操作、精技术”的复合型技术技能人才和“懂技术、会经营、擅管理”的技术技能型管理人才。