The performance of the state-of-the-art Deep Reinforcement algorithms such as Proximal Policy Optimization, Twin Delayed Deep Deterministic Policy Gradient, and Soft Actor-Critic for generating a quadruped walking gai...The performance of the state-of-the-art Deep Reinforcement algorithms such as Proximal Policy Optimization, Twin Delayed Deep Deterministic Policy Gradient, and Soft Actor-Critic for generating a quadruped walking gait in a virtual environment was presented in previous research work titled “A Comparison of PPO, TD3, and SAC Reinforcement Algorithms for Quadruped Walking Gait Generation”. We demonstrated that the Soft Actor-Critic Reinforcement algorithm had the best performance generating the walking gait for a quadruped in certain instances of sensor configurations in the virtual environment. In this work, we present the performance analysis of the state-of-the-art Deep Reinforcement algorithms above for quadruped walking gait generation in a physical environment. The performance is determined in the physical environment by transfer learning augmented by real-time reinforcement learning for gait generation on a physical quadruped. The performance is analyzed on a quadruped equipped with a range of sensors such as position tracking using a stereo camera, contact sensing of each of the robot legs through force resistive sensors, and proprioceptive information of the robot body and legs using nine inertial measurement units. The performance comparison is presented using the metrics associated with the walking gait: average forward velocity (m/s), average forward velocity variance, average lateral velocity (m/s), average lateral velocity variance, and quaternion root mean square deviation. The strengths and weaknesses of each algorithm for the given task on the physical quadruped are discussed.展开更多
In order to study the critical load position that causes cavities beneath the continuously reinforced concrete pavement（ CRCP） slab under vehicle loading, the elliptical load is translated into the square load based...In order to study the critical load position that causes cavities beneath the continuously reinforced concrete pavement（ CRCP） slab under vehicle loading, the elliptical load is translated into the square load based on the equivalence principle.The CRCP slab is analyzed to determine the cavity position beneath the slab under vehicle loading. The influences of cavity size on the CRCP slab＇s stress and vertical displacement are investigated. The study results showthat the formation of the cavity is unavoidable under traffic loading, and the cavity is located at the edge of the longitudinal crack and the slab corner.The cavity size exerts an obvious influence on the largest horizontal tensile stress and vertical displacement. The slab corner is the critical load position of the CRCP slab. The results can be used to assist the design of CRCP in avoiding cavities beneath slabs subject to vehicle loading.展开更多
The purpose of this study is to determine the teacher’s perceptions of the challenges and strategies in supporting students with reading difficulties.This study used qualitative method of research and descriptive app...The purpose of this study is to determine the teacher’s perceptions of the challenges and strategies in supporting students with reading difficulties.This study used qualitative method of research and descriptive approach as its research design,in addition to a set of structured interview questions administered through Google Forms to gather data from elementary teachers of Taal Central School,located at Taal Batangas.These structured interview questions were carefully designed to cover various dimensions of the study,including the types of challenges perceived by teachers,strategies employed,and possible solutions for addressing the problems encountered in the process of supporting students with reading difficulties.The results revealed that teachers faced several challenges when teaching students with reading difficulties such as emotional and motivational issues/factors,lack of resources or teaching aids,deficits in knowledge and skills,and problems with student engagement and participation.This study also showed common approaches utilized by the teachers in supporting students with reading difficulties,which were fostering a positive and supportive environment,adopting individualized and multifaceted approaches,and utilizing effective teaching tools and strategies.Lastly,teachers also concluded varied solutions in addressing the challenges perceived in teaching students with reading difficulties towards fostering reading proficiency.These include developing peer support,use of positive reinforcement,and parental involvement.Moreover,specialized resources,professional development for teachers,and specific teaching strategies are also highlighted as crucial components.By integrating these approaches,teachers concluded that it can create a supportive and effective learning environment tailored to the needs of students with reading difficulties.展开更多
文摘The performance of the state-of-the-art Deep Reinforcement algorithms such as Proximal Policy Optimization, Twin Delayed Deep Deterministic Policy Gradient, and Soft Actor-Critic for generating a quadruped walking gait in a virtual environment was presented in previous research work titled “A Comparison of PPO, TD3, and SAC Reinforcement Algorithms for Quadruped Walking Gait Generation”. We demonstrated that the Soft Actor-Critic Reinforcement algorithm had the best performance generating the walking gait for a quadruped in certain instances of sensor configurations in the virtual environment. In this work, we present the performance analysis of the state-of-the-art Deep Reinforcement algorithms above for quadruped walking gait generation in a physical environment. The performance is determined in the physical environment by transfer learning augmented by real-time reinforcement learning for gait generation on a physical quadruped. The performance is analyzed on a quadruped equipped with a range of sensors such as position tracking using a stereo camera, contact sensing of each of the robot legs through force resistive sensors, and proprioceptive information of the robot body and legs using nine inertial measurement units. The performance comparison is presented using the metrics associated with the walking gait: average forward velocity (m/s), average forward velocity variance, average lateral velocity (m/s), average lateral velocity variance, and quaternion root mean square deviation. The strengths and weaknesses of each algorithm for the given task on the physical quadruped are discussed.
基金The Science Foundation of Ministry of Transport of the People's Republic of China(No.200731822301-7)
文摘In order to study the critical load position that causes cavities beneath the continuously reinforced concrete pavement（ CRCP） slab under vehicle loading, the elliptical load is translated into the square load based on the equivalence principle.The CRCP slab is analyzed to determine the cavity position beneath the slab under vehicle loading. The influences of cavity size on the CRCP slab＇s stress and vertical displacement are investigated. The study results showthat the formation of the cavity is unavoidable under traffic loading, and the cavity is located at the edge of the longitudinal crack and the slab corner.The cavity size exerts an obvious influence on the largest horizontal tensile stress and vertical displacement. The slab corner is the critical load position of the CRCP slab. The results can be used to assist the design of CRCP in avoiding cavities beneath slabs subject to vehicle loading.
文摘针对四旋翼无人机的悬停控制及轨迹跟踪问题,利用近端策略优化算法来控制四旋翼飞行器,通过强化学习训练神经网络,将状态直接映射到四个旋翼,是一种用于在未知动态参数和干扰下控制任何线性或非线性系统的技术。基于回报塑形技术(The reward shaping of RL),提出了一种新颖的奖励函数,相比传统的PID算法,可以使无人机飞行更迅速且平稳。实验表明,四旋翼无人机可以以高精度高平稳的性能从三维中的定点悬停及轨迹跟踪,精度高达97.2%;文中的位置控制器具有泛化性和鲁棒性。
文摘The purpose of this study is to determine the teacher’s perceptions of the challenges and strategies in supporting students with reading difficulties.This study used qualitative method of research and descriptive approach as its research design,in addition to a set of structured interview questions administered through Google Forms to gather data from elementary teachers of Taal Central School,located at Taal Batangas.These structured interview questions were carefully designed to cover various dimensions of the study,including the types of challenges perceived by teachers,strategies employed,and possible solutions for addressing the problems encountered in the process of supporting students with reading difficulties.The results revealed that teachers faced several challenges when teaching students with reading difficulties such as emotional and motivational issues/factors,lack of resources or teaching aids,deficits in knowledge and skills,and problems with student engagement and participation.This study also showed common approaches utilized by the teachers in supporting students with reading difficulties,which were fostering a positive and supportive environment,adopting individualized and multifaceted approaches,and utilizing effective teaching tools and strategies.Lastly,teachers also concluded varied solutions in addressing the challenges perceived in teaching students with reading difficulties towards fostering reading proficiency.These include developing peer support,use of positive reinforcement,and parental involvement.Moreover,specialized resources,professional development for teachers,and specific teaching strategies are also highlighted as crucial components.By integrating these approaches,teachers concluded that it can create a supportive and effective learning environment tailored to the needs of students with reading difficulties.
