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Construction and optimization of traditional Chinese medicine constitution prediction models based on deep learning
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作者 ZHANG Xinge XU Qiang +1 位作者 WEN Chuanbiao LUO Yue 《Digital Chinese Medicine》 CAS CSCD 2024年第3期241-255,共15页
Objective To cater to the demands for personalized health services from a deep learning per-spective by investigating the characteristics of traditional Chinese medicine(TCM)constitu-tion data and constructing models ... Objective To cater to the demands for personalized health services from a deep learning per-spective by investigating the characteristics of traditional Chinese medicine(TCM)constitu-tion data and constructing models to explore new prediction methods.Methods Data from students at Chengdu University of Traditional Chinese Medicine were collected and organized according to the 24 solar terms from January 21,2020,to April 6,2022.The data were used to identify nine TCM constitutions,including balanced constitution,Qi deficiency constitution,Yang deficiency constitution,Yin deficiency constitution,phlegm dampness constitution,damp heat constitution,stagnant blood constitution,Qi stagnation constitution,and specific-inherited predisposition constitution.Deep learning algorithms were employed to construct multi-layer perceptron(MLP),long short-term memory(LSTM),and deep belief network(DBN)models for the prediction of TCM constitutions based on the nine constitution types.To optimize these TCM constitution prediction models,this study in-troduced the attention mechanism(AM),grey wolf optimizer(GWO),and particle swarm op-timization(PSO).The models’performance was evaluated before and after optimization us-ing the F1-score,accuracy,precision,and recall.Results The research analyzed a total of 31655 pieces of data.(i)Before optimization,the MLP model achieved more than 90%prediction accuracy for all constitution types except the balanced and Qi deficiency constitutions.The LSTM model's prediction accuracies exceeded 60%,indicating that their potential in TCM constitutional prediction may not have been fully realized due to the absence of pronounced temporal features in the data.Regarding the DBN model,the binary classification analysis showed that,apart from slightly underperforming in predicting the Qi deficiency constitution and damp heat constitution,with accuracies of 65%and 60%,respectively.The DBN model demonstrated considerable discriminative power for other constitution types,achieving prediction accuracy rates and area under the receiver op-erating characteristic(ROC)curve(AUC)values exceeding 70%and 0.78,respectively.This indicates that while the model possesses a certain level of constitutional differentiation abili-ty,it encounters limitations in processing specific constitutional features,leaving room for further improvement in its performance.For multi-class classification problem,the DBN model’s prediction accuracy rate fell short of 50%.(ii)After optimization,the LSTM model,enhanced with the AM,typically achieved a prediction accuracy rate above 75%,with lower performance for the Qi deficiency constitution,stagnant blood constitution,and Qi stagna-tion constitution.The GWO-optimized DBN model for multi-class classification showed an increased prediction accuracy rate of 56%,while the PSO-optimized model had a decreased accuracy rate to 37%.The GWO-PSO-DBN model,optimized with both algorithms,demon-strated an improved prediction accuracy rate of 54%.Conclusion This study constructed MLP,LSTM,and DBN models for predicting TCM consti-tution and improved them based on different optimisation algorithms.The results showed that the MLP model performs well,the LSTM and DBN models were effective in prediction but with certain limitations.This study also provided a new technology reference for the es-tablishment and optimisation strategies of TCM constitution prediction models,and a novel idea for the treatment of non-disease. 展开更多
关键词 Traditional Chinese medicine(TCM) CONSTITUTION Deep learning Constitution classification Prediction model Optimization research
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理论带动实践,知识提高能力——环境工程“十三五”优势专业的核心骨干课程建设研究 被引量:2
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作者 江博琼 《科教文汇》 2020年第2期70-71,共2页
为建设具有浙江工商大学特色的环境工程“十三五”优势专业,通过优化学分分布、理论结合实践、科研结合教学,进行专业核心骨干课程建设,提升学生对知识的全面掌握程度,增强学生工程实践能力和创新能力,为培养具有经济管理能力的工程人... 为建设具有浙江工商大学特色的环境工程“十三五”优势专业,通过优化学分分布、理论结合实践、科研结合教学,进行专业核心骨干课程建设,提升学生对知识的全面掌握程度,增强学生工程实践能力和创新能力,为培养具有经济管理能力的工程人才和具有创新能力的相应领域浙商提供良好的平台。 展开更多
关键词 核心骨干课程建设 学分优化 工程能力
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Thermodynamic Analysis,Simulation and Optimization on Energy Savings of Ideal Internal Thermally Coupled Distillation Columns 被引量:3
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作者 刘兴高 马龙华 钱积新 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2000年第1期57-63,共7页
Internal thermally coupled distillation columns (ITCDIC) are the frontier of distillation energy saving research. In this paper, a novel energy saving model of ideal ITCDIC and a simulation algorithm are presented,upo... Internal thermally coupled distillation columns (ITCDIC) are the frontier of distillation energy saving research. In this paper, a novel energy saving model of ideal ITCDIC and a simulation algorithm are presented,upon which a series of comparative studies on energy savings with conventional distillation columns are carried out. Furthermore, we present an optimization model of ideal ITCDIC, which can be used to achieve the maximum energy saving and find the optimal design parameters directly. The binary system of benzene-toluene is adopted for the illustrative example of simulation and optimization. The results show that the maximum energy saving of ITCDIC is 52.25% (compared with energy consumption of conventional distillation under the minimum reflux ratio operation); the optimal design parameters are obtained, where the rectifying section pressure and the feed thermal condition are Pr=0.3006 MPa and q=0.5107 respectively. 展开更多
关键词 DISTILLATION thermal coupling energy savings SIMULATION OPTIMIZATION
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Optimizing the Chemical Compositions of Protective Agents for Freeze-drying Bifidobacterium longum BIOMA 5920 被引量:6
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作者 杨婵媛 朱晓丽 +4 位作者 范代娣 米钰 骆艳娥 惠俊峰 苏然 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2012年第5期930-936,共7页
Freeze drying has a deleterious effect on the viability of microorganisms. In front of this difficulty, the present study adopts response surface methodology to optimize the chemical compositions of protective agents ... Freeze drying has a deleterious effect on the viability of microorganisms. In front of this difficulty, the present study adopts response surface methodology to optimize the chemical compositions of protective agents to seek for maximum viability of Bifidobacterium longum BIOMA 5920 during freeze-drying. Through the compara- tive analysis of single protectant, the complex protective agents show better effect on the Bifidobacterium viability. Human-like collagen (HLC), trehalose and glycerol are confirmed as significant factors by Box-Behnken Design. The optimized formula for these three variables is tested as follows: HLC 1.23%, trehalose 11.50% and glycerol 4.65%. Under this formula, the viability is 88.23%, 39.67% higher in comparison to the control. The viable count is 1.07×10 9 cfu·g-1 , greatly exceeding the minimum viable count requirement (10 6 cfu·g-1 ). 展开更多
关键词 BIFIDOBACTERIUM FREEZE-DRYING VIABILITY protective agent response surface methodology
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Commercial AM60 alloy for semisolid processing:Alloy optimization and thermodynamic analysis 被引量:1
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作者 李元东 D.APELIAN +2 位作者 邢博 马颖 郝远 《Transactions of Nonferrous Metals Society of China》 SCIE EI CAS CSCD 2010年第9期1572-1578,共7页
Semisolid processing is now a commercially successful manufacturing route to produce net-shape parts in automotive industry. The conspicuous results of alloy optimization with thermodynamic simulations for semisolid p... Semisolid processing is now a commercially successful manufacturing route to produce net-shape parts in automotive industry. The conspicuous results of alloy optimization with thermodynamic simulations for semisolid processing of commercial AM60 alloy were present. The results indicate that the available processing temperature range of AM60 alloy is 170 ℃. The temperature sensitivity of solid fraction decreases with increasing solid fraction or with decreasing temperature above eutectic reaction temperature of AM60 alloy. When the solid fraction φs is 0.4, corresponding processing temperature is 603.8 ℃ and the sensitivity -dφs/dT is 0.0184. The effects of various alloying elements on the solidification behavior and SSM processability of AM60 alloy were calculated with Pandat software. 展开更多
关键词 AM60 alloy semisolid processing alloy optimization thermodynamic analysis solid fraction
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Analysis of F_1 Heterosis of Agronomic Traits and Chemical Components on Selfbred Highpotassium New Lines 被引量:2
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作者 Linjian DAI Zhu PAN Jun ZHONG 《Agricultural Science & Technology》 CAS 2017年第1期27-31,40,共6页
F1 heterosis of agronomic characters and chemical components of 8 fluecured tobacco varieties and 6 self-bred high-potassium new lines was studied. The results showed that 4-5 weeks after transplanting was the main ch... F1 heterosis of agronomic characters and chemical components of 8 fluecured tobacco varieties and 6 self-bred high-potassium new lines was studied. The results showed that 4-5 weeks after transplanting was the main changing period of agronomic traits. Compared with the comparative heterosis, among the proportions of combinations showing positive comparative heterosis at the significant level, the heterosis proportions of plant height (97.92%), internode length (100%) and stem girth (58.33%) were larger, these of total nitrogen (83.33%), protein (79.17%), nicotine (79.17%) and potassium (95.83%) in upper leaves were larger, these of total sugar (64.58%), total nitrogen (68.75%), protein (72.92%) and nicotine (64.58%) in middle leaves were larger, and in lower leaves, except that the proportion of chlorine was smaller (12.50%), the proportions of other chemical components all exceeded 40%. Compared with average heterosis, among the proportions of combinations showing positive comparative heterosis at the significant level, the heterosis proportions of plant height (54.17%), leaf width (43.75%), stem girth (43.75%) and internode length (72.92%) were larger, these of total sugar (47.92%) and reducing sugar (54.17%) in upper leaves were larger, these of all the chemical components in middle leaves exceeded 30%, and these of all the chemical components in lower leaves were in the range of 27.08%-41.67%. Compared with heterobeltiosis, among the proportions of combinations showing positive comparative heterosis at the significant level, that of the internode length (60.42%) was larger, these of chemical components in upper leaves were in the range of 8.33%-29.17%, these of chemical components in middle leaves were in the range of 20.83%-39.58%, and these of chemical components in lower leaves were in the range of 16.67%-35.42%. It was indicated that rational effective control of water and fertilizer in this sensitive period could significantly enhance heterosis. 展开更多
关键词 TOBACCO High potassium Agronomic character Chemical component HETEROSIS
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Novel sensitivity analysis method and dynamics optimization for multiple launch rocket systems 被引量:1
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作者 Tu Tianxiong Wang Guoping +1 位作者 Rui Xiaoting Miao Yunfei 《Journal of Southeast University(English Edition)》 EI CAS 2022年第1期15-19,共5页
This study establishes the launch dynamics method,sensitivity analysis method,and multiobjective dynamic optimization method for the dynamic simulation analysis of the multiple launch rocket system(MLRS)based on the R... This study establishes the launch dynamics method,sensitivity analysis method,and multiobjective dynamic optimization method for the dynamic simulation analysis of the multiple launch rocket system(MLRS)based on the Riccati transfer matrix method for multibody systems(RMSTMM),direct differentiation method(DDM),and genetic algorithm(GA),respectively.Results show that simulation results of the dynamic response agree well with test results.The sensitivity analysis method is highly programming,the matrix order is low,and the calculation time is much shorter than that of the Lagrange method.With the increase of system complexity,the advantage of a high computing speed becomes more evident.Structural parameters that have the greatest influence on the dynamic response include the connection stiffness between the pitching body and the rotating body,the connection stiffness between the rotating body and the vehicle body,and the connection stiffnesses among 14^(#),16^(#),and 17^(#)wheels and the ground,which are the optimization design variables.After optimization,angular velocity variances of the pitching body in the revolving and pitching directions are reduced by 97.84%and 95.22%,respectively. 展开更多
关键词 Riccati transfer matrix method for multibody systems multiple launch rocket system launch dynamics sensitivity analysis optimization design
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Detection and Quantitative Analysis of Dominant Bacteria On Aging Flue-cured Tobacco Leaves 被引量:3
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作者 Fang LIU Zhe ZHAO Mingqin ZHAO 《Agricultural Science & Technology》 CAS 2016年第11期2611-2614,共4页
[Objective] The aim was to construct the internal motivation of flued-cured tobacco natural aging. [Method] The variation of DNA copies of Bacillus megaterium, amylase activity, PPO, peroxydase and content of starch, ... [Objective] The aim was to construct the internal motivation of flued-cured tobacco natural aging. [Method] The variation of DNA copies of Bacillus megaterium, amylase activity, PPO, peroxydase and content of starch, neutro-protein, polyphenol in different aging period were investigated using Henan flue-cured tobacco leaves. [Result] Results showed that the DNA copies of Bacillus megaterium increased initially but decreased subsequently with the aging time. The DNA copies of Bacillus per gram of tobacco leaf surface reached the maximum number at 6 months aging. The activities of four enzymes showed the same variation trend as in DNA copies, and also reached the highest level at 6 months aging. Chemical ingredients, however, displayed a downward trend. The variation of enzyme activity and content of chemical composition were reflected in the changes of DNA copies in Bacillus megaterium. [Conclusion] The result indicate that Bacillus megaterium was the internal motivation of flue-cured tobacco natural aging. 展开更多
关键词 Flue-cured tobacco AGING Real-time PCR SYBR Green DNA copies
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The Application and Optimization of Modular Hierarchical Teaching in Computer Courses of Universities and Colleges
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作者 Yi Chen 《International English Education Research》 2014年第3期103-105,共3页
The current status of university computer teaching, taking fully into account the differences between students, competency-based education philosophy as a guide, this paper discusses the application of modular and hie... The current status of university computer teaching, taking fully into account the differences between students, competency-based education philosophy as a guide, this paper discusses the application of modular and hierarchical optimization problems in teaching computer courses in colleges and universities, and in-depth analyzes the basic content and implementation strategies of module level teaching. 展开更多
关键词 Computer Teaching Modular Level Teaching Application and Optimization
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Optimization of parameters, characterization and thermal property analysis of hafnium ethoxide synthesized by electrochemical method
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作者 Chang-hong WANG Sheng-hai YANG +3 位作者 Yong-ming CHEN Yan-zeng WU Jing HE Chao-bo TANG 《Transactions of Nonferrous Metals Society of China》 SCIE EI CAS CSCD 2017年第3期694-700,共7页
Hafnium ethoxide was synthesized using electrochemical method.Optimization experiments were used to optimizevarious parameters namely Et4NBr concentration(c):0.01?0.06mol/L,solution temperature(t):30?78°C,polar d... Hafnium ethoxide was synthesized using electrochemical method.Optimization experiments were used to optimizevarious parameters namely Et4NBr concentration(c):0.01?0.06mol/L,solution temperature(t):30?78°C,polar distance(D):2.0?4.0cm and current density(J):100?400A/m2.The electrolytic products obtained under optimum conditions of c=0.04mol/L,t=78°C,D=2.0cm and J=100A/m2were further isolated by vacuum distillation under5kPa.The product was characterized byFourier transform infrared(FT-IR)spectra,nuclear magnetic resonance(NMR)spectra.The results indicated that the product washafnium ethoxide.ICP analysis suggested that the content of hafnium ethoxide in the final product exceeded99.997%.Thermalproperties of the product were analyzed by TG/DTG.The vaporization enthalpy of hafnium ethoxide was found to be79.1kJ/mol.The result confirmed that hafnium ethoxide was suitable for the preparation of hafnium oxide by atomic layer deposition. 展开更多
关键词 hafnium ethoxide electrochemical synthesis parameter optimization CHARACTERIZATION thermal analysis
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A decision tree based decomposition method for oil refinery scheduling 被引量:2
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作者 Xiaoyong Gao Dexian Huang +1 位作者 Yongheng Jiang Tao Chen 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2018年第8期1605-1612,共8页
Refinery scheduling attracts increasing concerns in both academic and industrial communities in recent years.However, due to the complexity of refinery processes, little has been reported for success use in real world... Refinery scheduling attracts increasing concerns in both academic and industrial communities in recent years.However, due to the complexity of refinery processes, little has been reported for success use in real world refineries. In academic studies, refinery scheduling is usually treated as an integrated, large-scale optimization problem,though such complex optimization problems are extremely difficult to solve. In this paper, we proposed a way to exploit the prior knowledge existing in refineries, and developed a decision making system to guide the scheduling process. For a real world fuel oil oriented refinery, ten adjusting process scales are predetermined. A C4.5 decision tree works based on the finished oil demand plan to classify the corresponding category(i.e. adjusting scale). Then,a specific sub-scheduling problem with respect to the determined adjusting scale is solved. The proposed strategy is demonstrated with a scheduling case originated from a real world refinery. 展开更多
关键词 Refinery scheduling Decision tree C4.5 Decomposition method
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Research on Optimized Allocation of English Teaching Resources Based on Network Cloud Platform
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作者 LIU Yajuan 《International English Education Research》 2018年第1期73-76,共4页
The allocation of resources in English teaching can improve the ability of resource sharing, in order to optimize the allocation of resources, so as to improve the performance of English teaching, and promote the cons... The allocation of resources in English teaching can improve the ability of resource sharing, in order to optimize the allocation of resources, so as to improve the performance of English teaching, and promote the construction of English teaching resources database, a method of optimizing the allocation of English teaching resources is proposed based on network cloud platform. Text semantic key words conceptual decision tree model is constructed for massive English teaching resources allocation, semantic information conversion method is used to compute key semantic features of English Teaching resources, the concept convergence point of English Teaching resource allocation is formed in semantic model. According to the set between the upper and lower relationship, a decision tree model of English Teaching semantic subject words is constructed, semantic conversion and information extraction are realized. English teaching resources optimization allocation simulation is taken in the cloud platform, simulation results show that the scheduling performance of English teaching resources is better, and the adaptive allocation ability of English teaching resources is stronger, and the resource utilization rate is higher. 展开更多
关键词 Network cloud platform English teaching resources Allocation: Decision tree model
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Maximum useful energy rate and efficiency of a recuperative Brayton cogeneration plant
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作者 郝小礼 张国强 《Journal of Central South University》 SCIE EI CAS 2013年第1期156-163,共8页
A thermodynamic model was developed to analyze the performance of cogeneration plant based on irreversible recuperative Brayton cycle. A parameter, dimensionless total useful energy rate (DTUER), was used as the crite... A thermodynamic model was developed to analyze the performance of cogeneration plant based on irreversible recuperative Brayton cycle. A parameter, dimensionless total useful energy rate (DTUER), was used as the criterion for performance optimization of cogeneration plant. The effects of cycle parameters, internal irreversibilities, and recuperator efficiency on maximum DTUER and on the efficiency at maximum DTUER were numerically investigated. The relation between DTUER and cogeneration efficiency was also analyzed. The results show that there exists an optimal compressor pressure ratio which maximizes the DTUER. It is also found that there exists an optimal power-to-heat ratio which results in a dual-maximum DTUER. 展开更多
关键词 recuperative Brayton cycle COGENERATION OPTIMIZATION THERMODYNAMICS
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Integrated Process for Production of Surfactin(III)Modeling of Adsorption Column
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作者 Ludovic Montastruc 刘涛 +2 位作者 Iordan Nikov Pascal Floquet Serge Domenech 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2011年第3期357-364,共8页
The study is focused on modeling of separation process and optimization.An adsorption separation process is simulated.The surfactin production process by Bacillus subtilis ATCC 21332 followed by surfactin adsorption i... The study is focused on modeling of separation process and optimization.An adsorption separation process is simulated.The surfactin production process by Bacillus subtilis ATCC 21332 followed by surfactin adsorption in a fixed-bed column packed with commercial active carbon is studied in laboratory.The adsorption column achieves high surfactin recovery(94%)by up-flow methanol elution at 25°C.The adsorption column is simulated with a complex one-dimensional plug flow dispersion model coupled with nonlinear adsorption equilibrium,based on the assumption that the adsorption of surfactin is monomolecular layer and no micelle is formed.The molecular diffusion coefficient of surfactin in water solution with electric neutrality is estimated to be 0.428×10 -5 cm 2 ·s -1 by molecular dynamics simulation.The model developed can describe the complex interplay of adsorption kinetics,fluid dynamics,and mass-transfer phenomena based on the assumption of no radial temperature and concentration gradients,and is of adequate precision.The work involved in this paper is valuable for the optimization of the production process of surfactin. 展开更多
关键词 SURFACTANT ADSORPTION mathematical modelling KINETICS integrated process
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Study of Total Process Energy Integration
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作者 俞红梅 姚平经 袁一 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 1999年第2期182-188,共7页
The energy utilization consistency method in process integration extracts the key component of process energy utilization, and simplifies the procedure of process analysis and integration. The method allows the conver... The energy utilization consistency method in process integration extracts the key component of process energy utilization, and simplifies the procedure of process analysis and integration. The method allows the conversion of the total process energy integration into a synthesis problem of a pseudo-heat exchanger network. The advantages of using the energy utilization consistency and the pseudo-temperature methods are presented by two examples of integration of large-scale complex processes. The improved genetic algorithm is proved to be an effective tool in the retrofitting procedures. 展开更多
关键词 total process energy integration global optimization synthesis of heat exchanger net-works ethylene process
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Structural Dynamic Optimization for Flexible Beam of Helicopter Rotor Based on GA
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作者 GAO Yadong PI Runge HUANG Dawei 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2022年第6期721-734,共14页
As one of the most important steps in the design of bearing-less rotor systems,the design of flexible beam has received much research attention.Because of the very complex working environment of helicopter,the flexibl... As one of the most important steps in the design of bearing-less rotor systems,the design of flexible beam has received much research attention.Because of the very complex working environment of helicopter,the flexible beam should satisfy both the strength and dynamic requirements.However,traditional optimization research focused only on either the strength or dynamical characteristics.To sufficiently improve the performance of the flexible beam,both aspects must be considered.This paper proposes a two-stage optimization method based on the Hamilton variational principle:Variational asymptotic beam section analysis(VABS)program and genetic algorithm(GA).Consequently,a two-part analysis model based on the Hamilton variational principle and VABS is established to calculate section characteristics and structural dynamics characteristics,respectively.Subsequently,the two parts are combined to establish a two-stage optimization process and search with GA to obtain the best dynamic characteristics combinations.Based on the primary optimization results,the section characteristics of the flexible beam are further optimized using GA.The optimization results show that the torsional stiffness decreases by 36.1%compared with the full 0°laying scheme without optimization and the dynamic requirements are achieved.The natural frequencies of flapping and torsion meet the requirements(0.5 away from the passing frequencies of the blade,0.25 away from the excitation force frequency,and the flapping and torsion frequencies keep a corresponding distance).The results indicate that the optimization method can significantly improve the performance of the flexible beam. 展开更多
关键词 bearing-less rotor system flexible beam dynamic optimization Hamilton variational principle variational asymptopic beam section analysis genetic algorithm(GA)
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Thermodynamic analyses and optimization for thermoelectric devices:The state of the arts 被引量:48
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作者 CHEN LinGen MENG FanKai SUN FengRui 《Science China(Technological Sciences)》 SCIE EI CAS CSCD 2016年第3期442-455,共14页
Thermoelectric effect is the most efficient way to convert electric energy directly from the temperature gradient. Thermoelectric effect-based power generation, cooling and heating devices are solid-stated, environmen... Thermoelectric effect is the most efficient way to convert electric energy directly from the temperature gradient. Thermoelectric effect-based power generation, cooling and heating devices are solid-stated, environmentally friendly, reliable, long-lived, easily maintainable, and easy to achieve miniaturization and integration. So they have unparalleled advantages in the aerospace, vehicle industry, waste heat recovery, electronic cooling, etc. This paper reviews the progress in thermodynamic analyses and optimizations for single- and multiple-element, single- and multiple-stage, and combined thermoelectric generators, thermoelectric refrigerators and thermoelectric heat pumps, especially in the aspects of non-equilibrium thermodynamics and finite time thermodynamics. It also discusses the developing trends of thermoelectric devices, such as the heat sources of thermoelectric generators, multi-stage thermoelectric devices, combined thermoelectric devices, and heat transfer enhancement of thermoelectric devices. 展开更多
关键词 THERMOELECTRICS power generation REFRIGERATION heat pumping non-equilibrium thermodynamics finite time thermo-dynamics
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A hybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundant humanoid manipulator 被引量:3
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作者 Zi-wu REN Zhen-hua WANG Li-ning SUN 《Frontiers of Information Technology & Electronic Engineering》 SCIE EI CSCD 2015年第7期607-616,共10页
The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex joint structure, and it is not easy to obtain its inverse kinematics solution. The inverse kinematics problem of a huma... The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex joint structure, and it is not easy to obtain its inverse kinematics solution. The inverse kinematics problem of a humanoid manipulator can be formulated as an equivalent minimization problem, and thus it can be solved using some numerical optimization methods. Biogeography-based optimization (BBO) is a new biogeography inspired optimization algorithm, and it can be adopted to solve the inverse kinematics problem of a humanoid manipulator. The standard BBO algorithm that uses traditional migration and mutation operators suffers from slow convergence and prematurity. A hybrid biogeography-based optimization (HBBO) algorithm, which is based on BBO and differential evolution (DE), is presented. In this hybrid algorithm, new habitats in the ecosystem are produced through a hybrid migration operator, that is, the BBO migration strategy and Did/best/I/bin differential strategy, to alleviate slow convergence at the later evolution stage of the algorithm. In addition, a Gaussian mutation operator is adopted to enhance the exploration ability and improve the diversity of the population. Based on these, an 8-DOF (degree of freedom) redundant humanoid manipulator is employed as an example. The end-effector error (position and orientation) and the 'away limitation level' value of the 8-DOF humanoid manipulator constitute the fitness function of HBBO. The proposed HBBO algorithm has been used to solve the inverse kinematics problem of the 8-DOF redundant humanoid manipulator. Numerical simulation results demonstrate the effectiveness of this method. 展开更多
关键词 Inverse kinematics problem 8-DOF humanoid manipulator Biogeography-based optimization (BBO) Differential evolution (DE)
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