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基于强化学习的多机器人系统的环围编队控制 被引量:2
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作者 韩艺琳 王丽丽 +1 位作者 杨洪勇 范之琳 《复杂系统与复杂性科学》 CAS CSCD 北大核心 2023年第3期97-102,共6页
针对机器人对未知目标的编队跟踪问题,建立机器人运动控制模型,提出了基于强化学习的目标跟踪与环围控制策略。在强化学习策略驱动下,机器人探索发现目标点位置并展开跟踪,使用环围编队运动模型对机器人跟踪策略进行实时优化,实现对逃... 针对机器人对未知目标的编队跟踪问题,建立机器人运动控制模型,提出了基于强化学习的目标跟踪与环围控制策略。在强化学习策略驱动下,机器人探索发现目标点位置并展开跟踪,使用环围编队运动模型对机器人跟踪策略进行实时优化,实现对逃逸目标点的动态跟踪与环围控制。搭建了多机器人运动测试环境,实验表明结合强化学习的方法能够缩短多机器人编队调节时间,验证了多机器人环围编队控制策略的有效性。 展开更多
关键词 运动控制 强化学习 目标跟踪 环围控制
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Strength and damage evolution mechanism of rock mass with holes under cyclic loading
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作者 LIU Hong-tao HAN Zi-jun +6 位作者 GUO Xiao-fei LIU Qin-yu QIAO Zhong-jin LIANG Jia-lu CHENG Wen-cong ZHANG Xi-ying ZHANG Yu-qi 《Journal of Central South University》 SCIE EI CAS CSCD 2024年第8期2717-2735,共19页
The damage and failure law of rock mass with holes is of great significance to the stability control of roadways. This study investigates the mechanical properties and failure modes of porous rock masses under cyclic ... The damage and failure law of rock mass with holes is of great significance to the stability control of roadways. This study investigates the mechanical properties and failure modes of porous rock masses under cyclic loading, elucidates the acoustic emission (AE) characteristics and their spatial evolution, and establishes the interrelation among AE, stress, strain, time, and cumulative damage. The results reveal that the rock mass with holes and the intact rock mass show softening and hardening characteristics after cyclic loading. The plastic strain of the rock mass with holes is smaller than that of the intact rock mass, and the stress −strain curve shows hysteresis characteristics. Under uniaxial compression, the pore-bearing rock mass shows the characteristics of higher ringing count, AE energy, b-value peak, and more cumulative ringing count in the failure stage, while it shows lower characteristics under cyclic action. At the initial stage of loading, compared with the intact rock mass, the pore-containing rock mass shows the characteristics of a low b-value. The AE positioning and cumulative damage percentage are larger, and the AE positioning is denser around the hole. The specimen with holes is mainly shear failure, and the complete specimen is mainly tensile shear failure. 展开更多
关键词 roadway surrounding rock control acoustic emission cyclic loading failure mode precursor of destruction
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Perioperative insulin therapy using a closed-loop artificial endocrine pancreas after hepatic resection 被引量:1
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作者 Takehiro Okabayashi Hiromichi Maeda +3 位作者 Zhao-Li Sun Robert A Montgomery Isao Nishimori Kazuhiro Hanazaki 《World Journal of Gastroenterology》 SCIE CAS CSCD 2009年第33期4116-4121,共6页
Postoperative hyperglycemia is common in critically ill patients, even in those without a prior history of diabetes mellitus. It is well known that hyperglycemia induced by surgical stress often results in dysregulati... Postoperative hyperglycemia is common in critically ill patients, even in those without a prior history of diabetes mellitus. It is well known that hyperglycemia induced by surgical stress often results in dysregulation of liver metabolism and immune function, impairing postoperative recovery. Current evidence suggests that maintaining normoglycemia postoperatively improves surgical outcome and reduces the mortality and morbidity of critically ill patients. On the basis of these observations, several large randomized controlled studies were designed to evaluate the benefit of postoperative tight glycemic control with intensive insulin therapy. However, intensive insulin therapy carries the risk of hypoglycemia, which is linked to serious neurological events. Recently, we demonstrated that perioperative tight glycemic control in surgical patients could be achieved safely using a closed-loop glycemic control system and that this decreased both the incidence of infection at the site of the surgical incision, without the appearance of hypoglycemia, and actual hospital costs. Here, we review the benefits and requirements of perioperative intensive insulin therapy using a dosed-loop artificial endocrine pancreas system in hepatectomized patients. This novel intensive insulin therapy is safe and effectively improves surgical outcome after hepatic resection. 展开更多
关键词 Artificial pancreas Hepatic resection HYPERGLYCEMIA Intensive insulin therapy Surgical site infection
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How to Conduct Emotional Education Analysis in College English Teaching
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作者 Wang Chengdong 《International English Education Research》 2014年第8期25-27,共3页
The so-called emotional education is the education of cultivating students' social emotion, promoting their self-control ability and promoting students to correctly cope with the relationship between themselves and s... The so-called emotional education is the education of cultivating students' social emotion, promoting their self-control ability and promoting students to correctly cope with the relationship between themselves and surrounding environment. In college English teaching, implementing emotional education not only can teach knowledge to students, but also can help others to form perfect personality, to promote all-round development of students. However, fi'om the present situation, in college English teaching, it generally exists "focusing more on knowledge and less on emotion" phenomenon, which doesn't conform to the requirement of quality education. In college English teaching, conducting emotional education is necessary and imminent. 展开更多
关键词 college English teaching emotional education IMPORTANCE STRATEGY
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