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Improved Double Deep Q Network Algorithm Based on Average Q-Value Estimation and Reward Redistribution for robot Path Planning

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Computers, Materials & Continua 2024年第11期81卷 2769-2790页

作者： Yameng Yin Lieping Zhang Xiaoxu Shi Yilin Wang Jiansheng Peng Jianchu Zou Key Laboratory of Advanced Manufacturing and Automation Technology Guilin University of TechnologyEducation Department of Guangxi Zhuang Autonomous RegionGuilin541006China Guangxi Key Laboratory of Special Engineering Equipment and Control Guilin University of Aerospace TechnologyGuilin541004China Guilin Mingfu Robot Technology Company Limited Guilin541199China Key Laboratory of AI and Information Processing Education Department of Guangxi Zhuang Autonomous RegionHechi UniversityYizhou546300China

By integrating deep neural networks with reinforcement learning,the Double Deep Q Network(DDQN)algorithm overcomes the limitations of Q-learning in handling continuous spaces and is widely applied in the path planning of mobile ***,the traditional DDQN algorithm suffers from sparse rewards and inefficient utilization of high-quality *** those problems,an improved DDQN algorithm based on average Q-value estimation and reward redistribution was ***,to enhance the precision of the target Q-value,the average of multiple previously learned Q-values from the target Q network is used to replace the single Q-value from the current target Q ***,a reward redistribution mechanism is designed to overcome the sparse reward problem by adjusting the final reward of each action using the round reward from trajectory ***,a reward-prioritized experience selection method is introduced,which ranks experience samples according to reward values to ensure frequent utilization of high-quality ***,simulation experiments are conducted to verify the effectiveness of the proposed algorithm in fixed-position scenario and random *** experimental results show that compared to the traditional DDQN algorithm,the proposed algorithm achieves shorter average running time,higher average return and fewer average *** performance of the proposed algorithm is improved by 11.43%in the fixed scenario and 8.33%in random *** not only plans economic and safe paths but also significantly improves efficiency and generalization in path planning,making it suitable for widespread application in autonomous navigation and industrial automation.

关键词： Double Deep Q Network path planning average Q-value estimation reward redistribution mechanism reward-prioritized experience selection method

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Effect of the configuration and concentration of B-doping on the thermal properties and structural stability of graphene: A theoretical study

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Diamond and Related Materials 2025年 156卷

作者： Li, Dongbo Da, Liangguo Huang, Kaifeng Li, Dong Yu, Liang Wang, Haini Yu, Yaqi Wu, Long Tang, Yunqing School of Mechanical and Electrical Engineering Huainan Normal University Huainan232038 China Human-computer collaborative robot Joint Laboratory of Anhui Province Huainan232038 China School of Mechanical Engineering Shandong University Jinan250061 China State Key Laboratory of Advanced Equipment and Technology for Metal Forming Shandong University Jinan250061 China Key Laboratory of High Efficiency and Clean Mechanical Manufacture Ministry of Education Shandong University Jinan250061 China

The thermal properties and structural stability of B-doped graphene were investigated by employing density functional theory (DFT), ab initio molecular dynamics (AIMD), and molecular dynamics (MD) simulations, with a focus on the effects of doping configuration and concentration. DFT calculations indicate that B-doping reduces the cohesive energy of graphene, consequently diminishing its structural stability. Among the three B double-doping configurations, only the para configuration exhibits a phonon dispersion without imaginary frequencies, whereas both meta and ortho configurations show imaginary frequencies, indicating structural instability. The AIMD results further demonstrate that B-doped graphene preferentially undergoes cleavage at B[sbnd]B bonds, leading to decreased structural stability. MD results show that B-doping significantly reduces the thermal conductivity of graphene. At a doping concentration is 0.6 %, the thermal conductivity of meta and para configurations decreases to 48.08 % and 54.6 % of that of the pristine graphene, respectively. The results of phonon properties show that B-doping reduces the phonon participation rate and induces strong phonon localization at the B-doped site. These results and conclusions will provide valuable theoretical insights for the thermal design of graphene-based semiconductor devices. © 2025 Elsevier B.V.

关键词： Temperature distribution

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Research on Active Training Model of Rehabilitation robot Based on Joint Torque Signal 2

Research on Active Training Model of Rehabilitation Robot Ba...

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2nd International Symposium on Application of Materials Science and Energy Materials, SAMSE 2018

作者： Wang, Hongbo Yan, Hao Yan, Yonggan Li, Yungui Niu, Baoshan Liu, Meng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education Yanshan University China Academy for Engineering and Technology Fudan University Shanghai China

This paper constructs a man-machine integrated no-load static model considering the self-balancing of the mechanism, obtains the mapping relationship among joint variable, no-load torque, measured torque and end-force of the patient. According to the damping control strategy, the end force and speed mapping function planning is completed. The joint angular velocities based on the kinematic inverse solution are calculated, which are important parameter of man-machine coupling motion. © Published under licence by IOP Publishing Ltd.

关键词： Balancing

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Kinetostatics Analysis of a Novel 6-DOF Parallel Manipulator with Three Planar Limbs and Equipped with Three Fingers

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Chinese Journal of Mechanical Engineering 2014年第5期27卷 919-927页

作者： LU Yi LI Xuepeng College of Mechanical Engineering Yanshan University Key Laboratory of Parallel Robot and Mechatronic System of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education

It is significant to develop a robot hand with high rigidity by a 6-DOF parallel manipulator（PM）.However,the existing6-DOF PMs include spherical joint which has less capability of pulling force bearing,less rotation range and lower precision under alternately heavy loads.A novel 6-DOF PM with three planar limbs and equipped with three fingers is proposed and its kinematics and statics are analyzed systematically.A 3-dimension simulation mechanism of the proposed manipulator is constructed and its structure characteristics is *** kinematics formulae for solving the displacement,velocity,acceleration of the platform,the active legs and the fingers are *** statics formulae are derived for solving the active forces of PM and the finger *** analytic example is given for solving the kinematics and statics of proposed manipulator and the analytic solved results are verified by the simulation *** is proved from the error analysis of analytic solutions and simulation solutions that the derived analytic formulae are correct and provide the theoretical and technical foundations for its manufacturing,control and application.

关键词： parallel manipulator planar limbs finger kinematics statics

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Enhanced hydrogen storage properties of NaBH4–Mg（BH4）2 composites by NdF3 addition

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Progress in Natural Science:Materials International 2021年第4期31卷 521-526页

作者： Jianguang Yuan Jinting Chen Haixiang Huang Yujie Lv Bogu Liu Zhongyu Li Bao Zhang Wei Lv Ying Wu Central Iron & Steel Research Institute Advanced Technology & Materials Co. Ltd Jiangsu JITRI Advanced Energy & Materials Research Institute Co. Ltd Advanced Materials Research Institute North China Electric Power University Jiangsu Provincial Key Laboratory of Special Robot Technology Hohai University

As two important members of complex hydrides,Mg（BH4）2and Na BH4have a high gravimetric capacity （14.9 and10.8 wt%,respectively）.In this study,the Mg（BH4）2was synthesized by the ion exchange ***,the Mg（BH4）2and Na BH4composites with different amounts （30,40 and 50 wt%） of NdF3were prepared by mechanical *** of the Nd F3on the microstructural evolution and hydrogen storage properties were *** results show that Nd F3catalyst can significantly improve the dehydrogenation kinetics of the eutectic composites of Na BH4–Mg（BH4）*** onset hydrogen desorption temperature of the composites is about88.6C,which is about 110C lower than that of Mg（BH4）2and Na ***（BH4）2–Na BH4-0.5NdF3composites can released 5.2 wt%H2at 250C within 30 min,and the dehydrogenation capacity is significantly higher than that of Mg（BH4）2–Na *** analysis of the dehydrogenation mechanism reveals that NdF3takes participate in the reaction to generate Na MgF3to promote the dehydrogenation reaction process of the composites.

关键词： Hydrogen storage materials Mg(BH4)2 NaBH4 NdF3 Ball-milling Hydrogen desorption performance

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Dynamics analysis and simulation of a new 6-DOF lower limb rehabilitation robot 2

Dynamics analysis and simulation of a new 6-DOF lower limb r...

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2nd International Symposium on Application of Materials Science and Energy Materials, SAMSE 2018

作者： Wang, Hongbo Lin, Musong Yan, Yonggan Liu, Guowei Su, Bowen Zhao, Chaosheng Wang, Fuhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education Yanshan University Qinhuangdao China Academy for Engineering and Technology Fudan University Shanghai China

This paper proposes a new hybrid (parallel-serial) 6-DOF lower limb rehabilitation robot including two mechanical legs and an adjustable seat, which could train in sitting, lying and standing three postures. Each mechanical leg consists of hip joint, knee joint and ankle joint. The dynamics and DOF of the robot are analysed, and the result is verified by the software ADAMS. The result lay the foundation for prototype build in future. © Published under licence by IOP Publishing Ltd.

关键词： Joints (anatomy)

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Mechanism Design and Walking Stability Study of (2UPS-U) +R Series-Parallel Hybrid Bionic Wheel-Legged Quadruped robot

Mechanism Design and Walking Stability Study of (2UPS-U) +R ...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Li, Shanshan Wang, Hongbo Li, Dong Li, Minghao Li, Lianqing Tian, Yu Niu, Jianye Yanshan University Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Qinhuangdao066004 China Fudan University Academy for Engineering & Technology Shanghai200433 China Yanshan University Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Key Lab. of Advanced Forging Stamping Technology and Science of Ministry of Education of China Qinhuangdao066004 China

ISBN: (纸本)9798350325706

In this paper, a bionic-based design of a series-parallel hybrid wheel-legged quadruped robot that can realize wheel-foot transformations is presented to achieve footed stable walking, and a method of measuring the static stability of the robot by the evaluation of the torque of the supporting leg rotor axis is proposed with the consideration of the robot's leg mass. Firstly, the whole robot position is solved;Secondly, the force on the robot during static walking is analyzed, and the stability of its static walking is also analyzed from the moment perspective;Finally, the stabilizing support region for static walking is solved, and the stabilizing support region for the robot in such a motion state is calculated. This paper provides high reference significance and value for the mechanism design and walking stability research of series-parallel hybrid wheel-legged quadruped robots. © 2023 IEEE.

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Type Synthesis of Two-Degrees-of-Freedom Rotational Parallel Mechanism with Two Continuous Rotational Axes

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Chinese Journal of Mechanical Engineering 2016年第4期29卷 694-702页

作者： XU Yundou ZHANG Dongsheng WANG Min YAO Jiantao ZHAO Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University Library Yanshan University

The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic *** is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application ***,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two ***,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically ***,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two *** different distributions of the constraint forces in each branch are also *** the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are *** the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained.

关键词： type synthesis continuous rotational axes two rotational degrees of freedom parallel mechanism constraint force

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Designing a human-robot interaction framework for home service robot

Designing a human-robot interaction framework for home servi...

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14th IEEE Workshop on robot and Human Interactive Communication, RO-MAN 2005

作者： Lee, Kangwoo Kim, Hyoung-Rock Yoon, Wan Chul Yoon, Young-Sik Kwon, Dong-Soo Human Robot Interaction Research Center Korea Advanced Institute of Science and Technology 373-7 KAIST Guseong-dong Yuseong-gu Daejeon Korea Republic of Mechanical Engineering Korea Advanced Institute of Science and Technology 373-7 KAIST Guseong-dong Yuseong-gu Daejeon Korea Republic of Industrial Engineering Korea Advanced Institute of Science and Technology 373-7 KAIST Guseong-dong Yuseong-gu Daejeon Korea Republic of

ISBN: (纸本)0780392752

This paper presents a human-robot interaction framework that outlines a general structure of future home service robots that are expected to assist humans in their home-based daily activities. We describe three interaction modules - multimodal, cognitive, and emotional interaction modules. Each module takes a different role in the process of human robot interaction. The purpose of multi-modal interaction is to make the interaction convenient for the human, the cognitive interaction is for cooperative sharing of tasks, and the emotional interaction is to maintain a close relationship. The general concept for the systematical software integration and the relationships among the three modules are described. © 2005 IEEE.

关键词： Human computer interaction

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Multi-robot cooperative pursuit based on combinatorial auction mechanism under dynamic environment

Multi-robot cooperative pursuit based on combinatorial aucti...

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2008 2nd International Symposium on Systems and Control in Aerospace and Astronautics, ISSCAA 2008

作者： Su, Cai Ze Ning, Sun Li Bo, Gao Hai Cheng, Zhou Pu State Key Laboratory of Advanced Robot and System Harbin Institute of Technology Harbin 150001 Heilongjiang China School of Computer Science and Technology Harbin Institute of Technology Harbin 150001 Heilongjiang China Department of Information Engineering Artillery Academy of PLA Hefei 230031 AnHui Province China

This paper mainly discusses the pursuit-evasion games, in which a team of autonomous mobile robots act as pursuers to pursue multiple moving targets cooperatively. In order to reduce the communication load during the task negotiation process, the auction mechanism in Economics was introduced,and an improved task negotiation process based on Multi-Unit Combinatorial Auction was proposed. It allocated task dynamically through capability classification and independent competition. A kind of multi-robot cooperative pursuit algorithm that allows dynamic alliance is proposed. Simulation results show the feasibility and validity ofthe given algorithm.

关键词： Multipurpose robots

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