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机械臂变长度误差跟踪迭代学习控制
迭代学习控制 误差跟踪 变迭代长度 机械臂
2024/1/16
针对任意初始状态下机械臂轨迹跟踪问题,提出一种变长度误差跟踪迭代学习控制(Iterative learning control,ILC)方法.首先,构造不依赖于期望轨迹的双曲余弦型期望误差轨迹,放宽经典迭代学习控制初始状态要求严格一致的条件.由于该误差轨迹只需设置一个常数项,因而能够有效减少计算量,使得期望误差轨迹的设计更为简单.其次,考虑机械臂运行区间随迭代次数变化的问题,构建虚拟误差变量补偿机...
一种基于随机权神经网络的类增量学习与记忆融合方法
连续学习 灾难性遗忘 随机权神经网络 再可塑性启发
2024/1/16
连续学习(Continual learning,CL)多个任务的能力对于通用人工智能的发展至关重要.现有人工神经网络(Artificial neural networks,ANNs)在单一任务上具有出色表现,但在开放环境中依次面对不同任务时非常容易发生灾难性遗忘现象,即联结主义模型在学习新任务时会迅速地忘记旧任务。
基于滚动时域强化学习的智能车辆侧向控制算法
滚动时域 强化学习 智能汽车 侧向控制
2024/1/16
针对智能车辆的高精度侧向控制问题,提出一种基于滚动时域强化学习(Receding horizon reinforcement learning,RHRL)的侧向控制方法.车辆的侧向控制量由前馈和反馈两部分构成,前馈控制量由参考路径的曲率以及动力学模型直接计算得出;而反馈控制量通过采用滚动时域强化学习算法求解最优跟踪控制问题得到。
基于加权矩阵的多维广义特征值并行分解算法
广义特征值分解 加权矩阵 并行分解 多维估计
2024/1/16
针对串行广义特征值分解算法实时性差的缺点,提出基于加权矩阵的多维广义特征值分解算法.与串行算法不同,所提算法能够在一次迭代过程中并行地估计出多维广义特征向量.平稳点分析表明:当且仅当算法中状态矩阵等于所需的广义特征向量时,算法达到收敛状态.通过对比相邻时刻的状态矩阵模值证明了所提算法的自稳定特性.所提算法参数选取简单,实际实施较为容易.数值仿真和实例应用进一步验证了算法的并行性、自稳定性和实用性。
Upgrading catalytic activity of NiO/CaO/MgO from natural limestone as catalysts for transesterification of coconut oil to biodiesel
Biodiesel Limestone Methyl ester PEG Vegetable oil
2023/12/19
Limestone was converted to high surface area CaO/MgO catalysts via calcination-hydration-dehydration (CHD) method for transesterification of coconut oil to biodiesel. Thermal?decomposition?at 900 degr...
Renewable UV-curable?polyester?methacrylate/cellulose nanocrystals composite?resin?for wood waterproof coating
UV-curable cellulose nanocrystals low viscosity composite star-shaped bio-based
2023/12/19
Low-viscosity UV-curable?resins?are widely used in industry as they allow for UV curing materials with reduced amounts of reactive diluents to adjust the viscosity. But their?mechanical properties?and...
Wood-inspired strategy to toughen transparent cellulose nanofibril films
Cellulose nanofibril film Wood-inspired strategy Lignosulfonic acid Toughness Transparency
2023/12/19
The simultaneous attainment of high strength and high toughness of transparent cellulose nanofibril (CNF) film can expedite its uses in advanced applications. In this work, a wood-inspired strategy is...
Hexachlorocyclotriphosphazene Functionalized Graphene Oxide as a Highly Efficient?Flame Retardant
flame-retardant thermal stability epoxy resin combustion
2023/12/19
A?flame-retardant?composite was synthesized through a simple graphene oxide functionalization route with hexachlorocyclotriphosphazene and p-phenylenediamine. Flame experiments conducted on the synthe...
Synthesis of a Novel?Flame Retardant?Containing Phosphorus, Nitrogen, and Silicon and Its Application in?Epoxy?Resin
Flame Retardant Epoxy Resin thermal stability mechanical properties
2023/12/19
A novel?flame retardant?(TDA) containing phosphorus, nitrogen, and silicon was synthesized successfully via a controllable ring-opening addition reaction between 1,3,5-triglycidyl isocyanurate, 9,10-d...
Fast pyrolysis of?pitch pine biomass?in a bubbling fluidized-bed reactor for bio-oil production
Pinus rigida pitch pine Thermogravimetric analysis Fast pyrolysis Bubbling fluidized-bed reactor Bio-oil
2023/12/18
The kinetic parameters for the pyrolysis of biomass of the pitch pine (Rigida pine?P. Mill) were examined by thermogravimetric analysis in the temperature range 25?°C to 700?°C, in which the main deco...
Lignocellulosic biomass based biorefinery: A successful platform towards circular bioeconomy
Lignocellulosic biorefinery Circular bioeconomy Lignin Cellulose Hemicellulose Value added products
2023/12/18
Biorefining of second-generation feedstock gains more attention to improve the living standards and promote circular bioeconomy. The biorefinery concept made an effort to make the environmentally sust...
Addition of Pine Rosin to Pectin bioplastic films for improved water resistance
Pine?Rosin Pectin Bioplastics Water resistance
2023/12/18
Pectin films were prepared by addition of different quantities of Rosin in order to test the effects of this natural hydrophobic polymer in increasing the water resistance of Pectin films. Scanning El...
Fully Bio-Based Polyhydroxyurethanes with a Dynamic Network from a Terpene Derivative and Cyclic Carbonate Functional Soybean Oil
fully bio-based non-isocyanate?polyurethanes dynamic covalent bond exchange self-healing recyclability shape memory
2023/12/18
Polyhydroxyurethanes (PHUs), polyurethanes with excellent properties, are cured without poisonous isocyanate. The carbamate groups in the structure can undergo bond exchange in the presence of amino g...
Recent advances in carbon-based nanomaterials for?flame retardant?polymers and composites
Graphene Polymer Flame retardant Nanocomposite carbon nanomaterials Flammability
2023/12/18
An urgent need is to reduce the?flammability?of polymers and manage their toxic thermal?decomposition?products. Although conventional halogenated, metallic and phosphorus-based?flame retardants?(FRs) ...