A new accelerating algorithm for multi-agent reinforcement learning

In multi-agent systems, joint-action must be employed to achieve cooperation because the evaluation of the behavior of an agent often depends on the other agents’ behaviors. However, joint-action reinforcement learning algorithms suffer the slow convergence rate because of the enormous learning space produced by joint-action. In this article, a prediction-based reinforcement learning algorithm is presented for multi-agent cooperation tasks, which demands all agents to learn predicting the probabilities of actions that other agents may execute. A multi-robot cooperation experiment is run to test the efficacy of the new algorithm, and the experiment results show that the new algorithm can achieve the cooperation policy much faster than the primitive reinforcement learning algorithm.

Perturbation to Noether-Mei Symmetry and Adiabatic Invariants for Nonholonomic Mechanical Systems in Phase Space

Based on the concept of adiabatic invariant, the perturbation to Noether Mei symmetry and adiabatic invariants for nonholonomie mechanical systems in phase space are studied. The definition of the perturbation to Noether-Mei symmetry for the system is presented, and the criterion of the perturbation to Noether-Mei symmetry is given. Meanwhile, the Noether adiabatic invariants and the Mei adiabatic invariants for the perturbed system are obtained.

The bond graph model of planar flexible multibody mechanical systems and its dynamic principle

In order to increase the efficiency and reliability of the dynamic analysis for flexible planar linkage containing the coupling of multi-energy domains, a method based on bond graph is introduced. From the viewpoint of power conservation, the peculiar property of bond graph multiport element MTF is discussed. The procedure of modeling planar flexible muhibody mechanical systems by bond graphs and its dynamic principle are deseribed. To overcome the algebraic difficulty brought by differential causality anti nonlinear junction structure, the constraint forces at joints can be considered as unknown effort sources and added to the corresponding O-junctions of system bond graph model. As a result, the automatic modeling on a computer is realized. The validity of the procedure is illustrated by a practical example.

Two New Types of Conserved Quantities Deduced from Noether Symmetry for Nonholonomic Mechanical System

For a nonholonomic mechanical system, the generalized Mei conserved quantity and the new generalized Hojman conserved quantity deduced from Noether symmetry of the system are studied. The criterion equation of the Noether symmetry for the system is got. The conditions under which the Noether symmetry can lead to the two new conserved quantities are presented and the forms of the conserved quantities are obtained. Finally, an example is given to illustrate the application of the results.

Control method for semi-active suspension based on virtual prototype

The simple dynamic model is often adopted to deal with control questions in research on semi-active suspension. The model has more theoretic meanings than authentic ones because of difference between practical and physical models. The virtual prototype has remarkable advantages in its application simulation processes. It is not only faster and more veracious, but also of better visualization of the simulation results.

Effect of Force Adaptation in Mechanics

Discovery of effect of force adaptation in mechanics is presented. The discovery is based on use of the mobile closed mechanical contour for force transfer from the mechanism input link to an output link, According to discovery the motion transfer can be carried out by Assur structural group in the form of the mobile closed contour, and the output link is the link with one degree of freedom. The received mechanical system includes an input link, an output link and the closed contour placed between them as fourth class Assur structural group. The kinematic chain has two degrees of freedom. However the closed contour imposes an additional constraint on relative motion of its links. The carried out discovery allows providing the variable transfer ratio only due to the variable external load. Mechanical properties of the closed contour allow providing the required transfer ratio independently, smart and automatically.

Study on air flow dynamic characteristic of mechanical ventilation of a lung simulator

As an important life support treatment, mechanical ventilation is usually adopted in clinics. With the development of the res-piratory diagnostic and treatment technologies, air flow dynamics of mechanical ventilation is usually referenced in the evaluation of pulmonary status and assessment of respiratory therapy. In order to improve the ventilation efficiency and provide a reference for pulmonary diagnostics, in this paper, a new mathematical model of mechanical ventilation system was set up. Furthermore, a prototype mechanical ventilation system for an artificial simulating lung was designed and experimentally studied. Lastly, in order to improve the ventilation efficiency and provide a reference for pulmonary diagnostics, the air flow dynamics of the mechanical ventilation system was illustrated through simulation and experimental studies. The study can be helpful to the optimization of the mechanical ventilation system.

Hybrid opto-mechanical systems with nitrogen-vacancy centers

In this review, we briefly review recent works on hybrid （nano） and diamond nitrogen-vacancy （NV） centers. We also review opto-mechanical systems that contain both mechanical oscillators two different types of mechanical oscillators. The first one is a clamped mechanical oscillator, such as a cantilever, with a fixed frequency. The second one is an optically trapped nano-diamond with a built-in nitrogen-vacancy center. By coupling mechanical resonators with electron spins, we can use the spins to control the motion of mechanical oscillators. For the first setup, we discuss two different coupling mechanisms, which are magnetic coupling and strain induced coupling. We summarize their applications such as cooling the mechanical oscillator, generating entanglements between NV centers, squeezing spin ensembles etc. For the second setup, we discuss how to generate quantum superposition states with magnetic coupling, and realize matter wave interferometer. We will also review its applications as ultra-sensitive mass spectrometer. Finally, we discuss new coupling mechanisms and applications of the field.

Discrete time transfer matrix method for dynamics analysis of complex weapon systems

Efficient, precise dynamic modeling and analysis for complex weapon systems have become more and more important in their dynamic design and performance optimizing. As a new method developed in recent years, the discrete time transfer matrix method of multibody system is highly efficient for multibody system dynamics. In this paper, taking a shipboard gun system as an example, by deducing some new transfer equations of elements, the discrete time transfer matrix method of multibody sys- tem is used to solve the dynamics problems of complex rigid-flexible coupling weapon systems successfully. This method does not need the global dynamic equations of system and has the low order of system matrix, high computational efficiency. The proposed method has advantages for dynamic design of complex weapon systems, and can be carried over straightforwardly to other complex mechanical systems.

New Homoclinic and Heteroclinic Solutions for Zakharov System

A new type of homoclinic arid heteroclinic solutions, i.e. homoclinic and heteroclinic breather solutions, for Zakharov system are obtained using extended homoclinic test and two-soliton methods, respectively. Moreover, the homoclinic and heteroclinic structure with local oscillation and mechanicaL feature different from homoclinic and heterocliunic solutions are investigated. Result shows complexity of dynamics for complex nonlineaR evolution system. Moreover, the similarities and differences between homoclinic （heteroclinic） breather and homoclinic （heteroclinic） tube are exhibited. These results show that the diversity of the structures of homoclinic and heteroclinic solutions.