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Discounted Iterative Adaptive Critic Designs With Novel Stability Analysis for Tracking Control

IEEE/CAA Journal of Automatica Sinica 2022年第7期9卷 1262-1272页

作者： Mingming Ha Ding Wang Derong Liu School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing 100083China Faculty of Information Technology the Beijing Key Laboratory of Computational Intelligence and Intelligent Systemthe Beijing Laboratory of Smart Environmental Protectionand the Beijing Institute of Artificial IntelligenceBeijing University of TechnologyBeijing 100124China Department of Electrical and Computer Engineering University of Illinois at ChicagoChicago IL 60607 USA IEEE

The core task of tracking control is to make the controlled plant track a desired *** traditional performance index used in previous studies cannot eliminate completely the tracking error as the number of time steps *** this paper,a new cost function is introduced to develop the value-iteration-based adaptive critic framework to solve the tracking control *** the regulator problem,the iterative value function of tracking control problem cannot be regarded as a Lyapunov function.A novel stability analysis method is developed to guarantee that the tracking error converges to *** discounted iterative scheme under the new cost function for the special case of linear systems is ***,the tracking performance of the present scheme is demonstrated by numerical results and compared with those of the traditional approaches.

关键词： Adaptive critic design adaptive dynamic programming(ADP) approximate dynamic programming discrete-time nonlinear systems reinforcement learning stability analysis tracking control value iteration(VI)

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Advanced Affine Optimal Tracking Control Through Online Value Iteration and Its Stability Proof 41

Advanced Affine Optimal Tracking Control Through Online Valu...

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第41届中国控制会议

作者： Junlong Wu Ding Wang Mingming Ha Mingming Zhao Jin Ren Faculty of Information Technology Beijing University of Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing Laboratory of Smart Environmental Protection Beijing Institute of Artificial Intelligence School of Automation and Electrical Engineering University of Science and Technology Beijing

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,to tackle the optimal tracking control problem for discrete-time systems,an advanced online value iteration(VI) algorithm is ***,the derivation of traditional VI for the optimal tracking control problem is ***,the stability condition of traditional VI is established,in order to evaluate the current iterative tracking control ***,based on the concept of attraction domain,the improved tracking control policies under online VI can be obtained by judging the location of the current tracking ***,we prove the stability of the online VI algorithm for the present tracking control problem.A simulation example is displayed to verify the effectiveness of the developed algorithm.

关键词： Adaptive dynamic programming attraction domain online value iteration optimal tracking control stability proof

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Rush-Out Risk Mapping from Human Operational Commands Considering Field Context*

Rush-Out Risk Mapping from Human Operational Commands Consid...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Fumiya Ohnishi Yosuke Kawasaki Masaki Takahashi School of Science for Open and Environmental Systems Graduate School of Science and Technology Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama Japan Department of System Design Engineering Faculty of Science and Technology Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama Japan

Collaborative delivery robots in hospitals are required to move safely and efficiently in a short time, without colliding with people. Hence, they must consider the risk of people rushing out from blind spots or rooms, including field context such as the role and usage of the location. However, these factors are difficult to extract solely from geometric information. Therefore, we propose a method for generating a rush-out risk map considering the field context from the hospital staf’s operation data of an electric wheelchair. We convert the wheelchair’s speed operated by staff into rush-out risk, and then place rush-out risk potentials at positions where rush-outs may occur. Subsequently, we optimize the mapping position of rush-out risk and parameters of each potential to minimize the error to obtain a rush-out risk map. We collected actual staff operation data in the hospital and confirmed that we could generate a rush-out risk map with small errors.

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The missing base molecules in atmospheric acid-base nucleation

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National science Review 2022年第10期9卷 196-208页

作者： Runlong Cai Rujing Yin Chao Yan Dongsen Yang Chenjuan Deng Lubna Dada Juha Kangasluoma Jenni Kontkanen Roope Halonen Yan Ma Xiuhui Zhang Pauli Paasonen Tuukka Pet?j? Veli-Matti Kerminen Yongchun Liu Federico Bianchi Jun Zheng Lin Wang Jiming Hao James N.Smith Neil M. Donahue Markku Kulmala Douglas R.Worsnop Jingkun Jiang State Key Joint Laboratory of Environment Simulation and Pollution Control School of Environment Tsinghua University Institute for Atmospheric and Earth System Research/Physics Faculty of Science University of Helsinki Aerosol and Haze Laboratory Beijing Advanced Innovation Center for Soft Matter Science and Engineering Beijing University of Chemical Technology Collaborative Innovation Center of Atmospheric Environment and Equipment Technology Nanjing University of Information Science and Technology Laboratory of Atmospheric Chemistry Paul Scherrer Institute Center for Joint Quantum Studies and Department of Physics School of Science Tianjin University Key Laboratory of Cluster Science Ministry of Education of China School of Chemistry and Chemical Engineering Beijing Institute of Technology Shanghai Key Laboratory of Atmospheric Particle Pollution and Prevention (LAP3) Department of Environmental Science and Engineering Fudan University Chemistry Department University of California Center for Atmospheric Particle Studies Carnegie Mellon University Department of Chemistry Carnegie Mellon University Aerodyne Research Inc.

Transformation of low-volatility gaseous precursors to new particles affects aerosol number concentration,cloud formation and hence the *** clustering of acid and base molecules is a major mechanism driving fast nucleation and initial growth of new particles in the ***,the acid-base cluster composition,measured using state-of-the-art mass spectrometers,cannot explain the measured high formation rate of new *** we present strong evidence for the existence of base molecules such as amines in the smallest atmospheric sulfuric acid clusters prior to their detection by mass *** demonstrate that forming（H2SO4）1（amine）1is the rate-limiting step in atmospheric H2SO4-amine nucleation and the uptake of（H2SO4）1（amine）1is a major pathway for the initial growth of *** proposed mechanism is very consistent with measured new particle formation in urban Beijing,in which dimethylamine is the key base for H2SO4nucleation while other bases such as ammonia may contribute to the growth of larger *** findings further underline the fact that strong amines,even at low concentrations and when undetected in the smallest clusters,can be crucial to particle formation in the planetary boundary layer.

关键词： new particle formation acid-base nucleation aerosol polluted urban environment

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Learning-Based N-Step Heuristic Dynamic Programming for Affine Nonlinear Optimal Regulation 41

Learning-Based N-Step Heuristic Dynamic Programming for Affi...

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第41届中国控制会议

作者： Peng Xin Ding Wang Mingming Zhao Mingming Ha Jin Ren Faculty of Information Technology Beijing University of Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing University of Technology Beijing Laboratory of Smart Environmental Protection Beijing University of Technology Beijing Institute of Artificial Intelligence Beijing University of Technology School of Automation and Electrical Engineering University of Science and Technology Beijing

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper introduces n-step heuristic dynamic programming(NSHDP),which combines regular temporal difference(TD) learning with TD(λ) learning,in order to solve optimal control ***,the implementation process of the basic value iteration algorithm is ***,based on the traditional HDP algorithm,the architecture of the NSHDP(λ) algorithm is *** the same time,the most important thing is that the stability condition of the NSHDP(λ) algorithm is ***,the one-step critic network,the n-step critic network,and the action network are designed,***,the effectiveness of the proposed algorithm is verified by simulation experiment.

关键词： N-step heuristic dynamic programming Neural networks Optimal control TD learning

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Perspectives on Compound Flooding in Chinese Estuary Regions

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International Journal of Disaster Risk science 2023年第2期14卷 269-279页

作者： Hanqing Xu Elisa Ragno Jinkai Tan Alessandro Antonini Jeremy D.Bricker Sebastiaan N.Jonkman Qing Liu Jun Wang Institute of Eco-Chongming(IEC) Key Laboratory of Geographic Information Science of Ministry of Education and School of Geographic SciencesEast China Normal UniversityShanghai200241China Faculty of Civil Engineering and Geosciences Delft University of Technology2628 CNDelftThe Netherlands School of Atmospheric Sciences and Key Laboratory of Tropical Atmosphere-Ocean System of Ministry of Education Sun Yat-sen UniversityZhuhai519082China Department of Civil and Environmental Engineering University of MichiganAnn ArborMI48109USA

Extreme surges and rainfall represent major driving factors for compound flooding in estuary regions along the Chinese *** combined effect of extreme surges and rainfall(that is,compound floods)might lead to greater impacts than if the drivers occurred in ***,understanding the frequency and severity of compound flooding is important for improving flood hazard assessment and compound flood resilience in coastal *** this study,we examined the dependence between extreme surges and corresponding rainfall events in 26 catchments along the Chinese coastline during typhoon and non-typhoon seasons using copula functions,to identify where the two drivers more often occur together and the implication for flood management in these *** found that the interaction between flood drivers is statistically significant in 10catchments located around Hainan Island(south)and Shanghai,where surge peaks occur mainly during the typhoon season and around the Bohai Sea(north),where surge peaks occur mainly during the non-typhoon *** further applied the copula-based framework to model the dependence between surge peaks and associated rainfall and estimate their joint and conditional probability in two specific locations—Hainan Island and the Bohai Sea,where the correlation between flood drivers is statistically *** observed that in Hainan Island where most of the surge peaks occur during the typhoon season,extreme rainfall events during the typhoon season are generally more intense compared to annual maxima *** contrast,around the Bohai Sea where surge peaks occur mainly outside the typhoon season,rainfall is less intense than annual maxima *** results show that the interaction between extreme surges and rainfall can provide valuable insight when designing coastal and urban infrastructure,especially in highly populated urban areas prone to both coastal and pluvial flooding,such as many Chinese coastal cities.

关键词： China Coastal catchments Compound flooding Copula function Extreme surge Optimal threshold

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Small moleculeπ-conjugated electron acceptor for highly enhanced photocatalytic nitrogen reduction of BiOBr

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Journal of Materials science & technology 2022年第14期109卷 276-281页

作者： Derek Hao Tianyi Ma Baohua Jia Yunxia Wei Xiaojuan Bai Wei Wei Bing-Jie Ni Centre for Technology in Water and Wastewater(CTWW) School of Civil and Environmental EngineeringUniversity of Technology Sydney(UTS)SydneyNSW 2007Australia Centre for Translational Atomaterials Faculty of ScienceEngineering and TechnologySwinburne University of TechnologyHawthornVIC 3122Australia College of Chemistry and Chemical Engineering Lanzhou City UniversityLanzhou 730070China Beijing Engineering Research Center of Sustainable Urban Sewage System Construction and Risk Control Beijing University of Civil Engineering and ArchitectureBeijing 102612China

Artificial ammonia synthesis using solar energy is of great significance as it can help narrow the gap to the zero-net emission ***,the current photocatalytic activity is generally too low for mass ***,we report a novel bismuth bromide oxide(BiOBr)-Tetracyanoquinodimethane(TCNQ)photocatalyst prepared via a facile self-assembly *** to the well-match band structure of TCNQ and Bi OBr,the separation and transfer of photogenerated electron-hole pairs were significantly *** importantly,the abundant delocalizedπelectrons of TCNQ,and the electron-withdrawing property of TNCQ made electrons efficiently accumulated on the catalysts,which can strengthen the adsorption and cleavage of nitrogen *** a result,the photocatalytic activity increased *** highest ammonia yield of the optimized sample reached 2.617 mg/(h gcat),which was 5.6-fold as that of pristine BiOBr and higher than the reported BiOBr-based *** isotope labeled^(15)N_(2)was used to confirm that the ammonia is formed form the fixation of N_(2).Meanwhile,the sample also had good *** 4-time usage,the photocatalysts still had about 81.8%as the fresh *** results of this work provide a new way for optimizing the electronic structure of photocatalysts to achieve highly efficient photochemical N_(2) reduction.

关键词： BiOBr TCNQ Nitrogen reduction Electron accepter Photocatalysis。

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应急状态下新冠流行曲线预测的方法学研究——基于北京市百度搜索和传统流感样病例监测

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Engineering 2023年第12期31卷 112-119页

作者： Ting Zhang Liuyang Yang Xuan Han Guohui Fan Jie Qian Xuancheng Hu Shengjie Lai Zhongjie Li Zhimin Liu Luzhao Feng Weizhong Yang School of Population Medicine and Public Health Chinese Academy of Medical Sciences&Peking Union Medical CollegeBeijing 100730China Department of management science and information system Faculty of Management and EconomicsKunming University of Science and TechnologyKunming 650504China WorldPop School of Geography and Environmental ScienceUniversity of SouthamptonSouthampton SO171BJUK The Third Affiliated Hospital of Kunming Medical University Kunming 650118China

Surveillance is an essential work on infectious diseases prevention and *** the pandemic occurred,the inadequacy of traditional surveillance was exposed,but it also provided a valuable opportunity to explore new surveillance *** study aimed to estimate the transmission dynamics and epidemic curve of severe acute respiratory syndrome coronavirus 2(SARS-Co V-2)Omicron BF.7 in Beijing under the emergent situation using Baidu index and influenza-like illness(ILI)surveillance.A novel hybrid model(multiattention bidirectional gated recurrent unit(MABG)-susceptible-exposed-infected-removed(SEIR))was developed,which leveraged a deep learning algorithm(MABG)to scrutinize the past records of ILI occurrences and the Baidu index of diverse symptoms such as fever,pyrexia,cough,sore throat,anti-fever medicine,and runny *** considering the current Baidu index and the correlation between ILI cases and coronavirus disease 2019(COVID-19)cases,a transmission dynamics model(SEIR)was formulated to estimate the transmission dynamics and epidemic curve of SARS-Co *** the COVID-19 pandemic,when conventional surveillance measures have been suspended temporarily,cases of ILI can serve as a useful indicator for estimating the epidemiological trends of *** the specific case of Beijing,it has been ascertained that cumulative infection attack rate surpass 80.25%(95%confidence interval(95%CI):77.51%-82.99%)since December 17,2022,with the apex of the outbreak projected to transpire on December *** culmination of existing patients is expected to occur three days subsequent to this *** reproduction number(Rt)represents the average number of secondary infections generated from a single infected individual at a specific point in time during an epidemic,remained below 1 since December 17,*** traditional disease surveillance systems should be complemented with information from modern surveillance data such as online data sources with advanced techn

关键词： COVID-19 Epidemic curve Baidu search engine Influenza-like illness Deep learning Transmission dynamics model

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Time-constrained Optimization of Sit-to-stand Movements in Contact with the Environment

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IFAC-PapersOnLine 2022年第27期55卷 358-363页

作者： Yuno INOUE Masaki TAKAHASHI School of Science for Open and Environmental Systems Faculty of Science and Technology Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama Kanagawa 223-8522 Japan System Design Engineering Faculty of Science and Technology Keio University 3-14-1 Hiyoshi Kohoku-ku Yokohama Kanagawa 223-8522 Japan

This study aims to evaluate effects of different lower limb joint torque constraints on the motion trajectory of an sit-to-stand movement (STS) grasping an assistive device by simulating the STS with an assistive device using a human model with different lower limb joint torque constraints at various second lengths. This is an initial study for estimating lower limb muscle strength from the motion trajectory of the STS grasping an assistive device. In this study, instead of measuring many human subjects, optimal motion trajectories are calculated and simulated. Equations of the STS using the assistive device are first established using a rigid link model with both hands grasping the assistive device. Then, equations of motion and physical constraints such as joint range of motion and torque limitations are used as constraint conditions, and the sum of squares of joint torque, which calculates the action with the minimum muscle load on the body, is used as an evaluation function to optimize the STS. During optimization, calculations are performed with several types of joint torque conditions and end-time, i.e., the time required to complete the operation. By comparing several types of joint torque condition movements, the differences in the effects of different joint torque constraints on the motion trajectory of the STS grasping the assistive device can be determined.

关键词： Sit-to-stand Movement Assisted Motion Human Multi-body Dynamics Optimal Control Closed Loop Problems

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Modeled exposure to phthalates via inhalation and dermal pathway in children's sleeping environment: A preliminary study and its implications

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Building Simulation 2021年第6期14卷 1785-1794页

作者： Zhongming Bu Cong Dong Daniel Mmereki Yanghui Ye Zhu Cheng Department of Energy and Environmental System Engineering Zhejiang University of Science and TechnologyHangzhou 310023China Faculty of Health Sciences School of Public HealthUniversity of the WitwatersrandParktown Education Campus2193 JohannesburgSouth Africa College of Architecture and Environment Sichuan UniversityChengdu 610065China

In this study,exposure to phthalates during children’s sleeping time was evaluated based on a mechanistic *** phase-specific concentrations in this model were estimated taking into account kinetic partitioning,particle dynamics and time-varying *** pathways considered were inhalation exposure to airborne phases,dermal absorption from "air-to-skin" transport and direct *** taking di(n-butyl)phthalate(DnBP)and bis(2-ethylhexyl)phthalate(DEHP)as two representative pollutants,inhalation exposure accounted for>90%when children wore clean pajamas before going to *** uptake significantly increased when children's pajamas had absorbed DnBP before putting them on,whereas dermal uptake of DEHP was relatively lower and insensitive to the condition of *** air exchange rate at night and keeping clothes cleaner were effective for reducing children's exposures during sleeping *** studies are necessary taking into account source-proximity effect,particle emissions and refined dermal exposure routes.

关键词： indoor air phthalates exposure children sleeping environment

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