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PATH OPTIMIZATION FOR DYNAMIC OBSTACLE AVOIDANCE OF PIONEER ROBOT BASED ON DDPG SMART AGENT

UPB Scientific Bulletin, Series D: Mechanical Engineering 2023年第2期85卷 29-42页

作者： Zheng, Qingchun Peng, Zhi Zhu, Peihao Zhao, Yangyang Ma, Wenpeng Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China China School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China School of Computer Science and Engineering Tianjin University of Technology Tianjin300384 China

To improve the path efficiency for dynamic obstacle avoidance algorithms of Pioneer robots, this paper proposes an approach to create deep deterministic policy gradient (DDPG) smart agents with recurrent neural networks (RNN) to optimize the path strategy. This approach is realized by training RNN with the backpropagation (BP) algorithm to train the agent. First, the SolidWorks model and obstacle avoidance model of the Pioneer robot is established. The LIDAR sensor is used to obtain environmental information. Further, deep reinforcement learning obstacle avoidance algorithm based on RNN is presented. The dynamic obstacle avoidance path of the Pioneer robot is further simulated in two different virtual robot experiment platform (V-REP) scenarios. The simulation results show that the proposed algorithm shortens the training time by 26.3% compared with the DDPG algorithm. Our proposed scheme can improve the path efficiency for dynamic obstacle avoidance of the Pioneer robot. © 2023, Politechnica University of Bucharest. All rights reserved.

关键词： Reinforcement learning

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EXPERIMENTAL STUDY ON HEAT TRANSFER CHARACTERISTICS OF HIGH TEMPERATURE HEAT PIPE WITH CAPILLARY WICK DURING EVAPORATION 30

EXPERIMENTAL STUDY ON HEAT TRANSFER CHARACTERISTICS OF HIGH ...

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30th International Conference on Nuclear Engineering, ICONE 2023

作者： Zhou, Zheng Ma, Yugao Wu, Qi Ma, Zaiyong Sun, Wan Zhang, Luteng Zhu, Longxiang Pan, Liangming Key Laboratory of Low-grade Energy Utilization Technologies and Systems Ministry of Education Chongqing University Chongqing400044 China Department of Nuclear Engineering and Technology Chongqing University Chongqing400044 China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu610213 China

ISBN: (纸本)9784888982566

Due to the surface covered by the capillary wick in the high temperature heat pipe, the classical evaporation and condensation model may be difficult to characterize the evaporation process well in the high temperature heat pipe under different working conditions. Therefore, this paper carried out an experimental study on the heat transfer characteristics of the evaporation process of high temperature heat pipe with capillary wick. By measuring the axial and radial temperature distribution in the high temperature heat pipe under different working conditions, the phase interface evaporation thermal resistance and evaporation coefficient (Hertz-Knudsen equation) at different temperatures in the high temperature heat pipe were calculated, and the variation law of evaporation coefficient under different working conditions was analyzed. The results show that the magnitude of the evaporation thermal resistance is between 0 and 10-3, which means the evaporation heat transfer coefficient is very high. In general, with the increase of temperature(pressure), the logarithm of evaporation coefficient has a good negative linear correlation with pressure. In addition, it is found that if the adiabatic section temperature commonly used in engineering calculation is taken as the saturation temperature, the value of evaporation coefficient obtained is relatively small, as well as the data dispersion, which is due to axial thermal resistance is introduced. Furthermore, by fitting the experimental data, a correlation for the evaporation of high temperature heat pipe with capillary wick is proposed. © 2023 by JSME.

关键词： Evaporation

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Optimization of spatial structure designs of control rod using Monte Carlo code RMC

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Frontiers in Energy 2021年第4期15卷 974-983页

作者： Hao LUO Mancang LI Shanfang HUANG Minyun LIU Kan WANG Department of Engineering Physics Tsinghua UniversityBeijing 100084China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of ChinaChengdu 610213China CNNC Key Laboratory on Nuclear Reactor Thermal Hydraulics Technology China National Nuclear Corporation Nuclear Power Institute of ChinaChengdu 610213China

Control rod is the most important approach to control reactivity in reactors,which is currently a cluster of pins filled with boron carbide(B4C).In this case,neutrons are captured in the outer region,and thus the inner absorber is ***,the lifetime of the control rod is challenged due to the high reactivity worth loss resulted from the excessive degradation of B4C in the high flux *** this work,some control rod designs are proposed with optimized spatial structures including the spatially mixed rod,radially moderated rod,and composite control rod with small-sized *** control rod worth and effective absorption cross section of these designs are computed using the Monte Carlo code RMC.A long-time depletion calculation is conducted to evaluate their burnup *** the spatially mixed rod,rare-earth absorbers are combined with B4C in spatial *** with the homogenous B4C rod,mixed designs ensure more sufficient reactivity worth in the lifetime of the *** minimum reactivity loss at the end of the cycle is only 1.8%from the dysprosium titanate rod,while the loss for pure B4C rod is nearly 12%.For the radially moderated design,a doubled neutronic efficiency is achieved when the volume ratio of moderator equals approximately 0.3,while excessive moderating may lead to the failure of control *** control rod with small-sized pins processes an enhanced safety performance and saves the investment in *** rod worth can be further enhanced by introducing small moderator pins,and the reactivity loss caused by the reduction of absorbers is sustainable.

关键词： control rod optimized spatial structure neutronic performance burnup stability

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Simulation of Nuclear reactor Accident Scenarios using Physics-Informed Neural Networks and Transfer-Learning 4

Simulation of Nuclear Reactor Accident Scenarios using Physi...

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4th International Conference on Electronic Information Engineering and Computer science, EIECS 2024

作者： Yu, Yang Xie, Yufei Wang, Wenlin Wu, Guohua Lan, Haitao Lin, Enbo An, Ping Sun, Zibin Zhang, Haichuan Wu, Yixian National University of Defense Technology National Key Laboratory of Parallel and Distributed Computing Changsha China Nuclear Power Institute of China Science and Technology on Reactor System Design Technology Laboratory Chengdu China School of Automation Wuhan University of Technology Wuhan China Sino-German College of Intelligent Manufacturing Shenzhen Technology University Shenzhen China Institute of Automotive Engineers Hubei University of Automotive Technology Shiyan China Nuclear Power Institute of China Chengdu China

ISBN: (纸本)9798331531409

In a Loss of Coolant Accident (LOCA), reactor core temperatures can rise rapidly, leading to potential fuel damage and radioactive material release. This research presents a groundbreaking method that combines the power of Monte Carlo Sampling and Physics-Informed Neural Networks (PINNs) to simulate and effectively address the challenging Loss of Coolant Accidents (LOCA) in nuclear reactors. In the event of a LOCA, reactor core temperatures can soar rapidly, posing a significant threat to fuel integrity and potentially leading to the release of radioactive materials. By leveraging the strengths of both Monte Carlo Sampling and PINNs, this approach aims to provide a comprehensive and accurate simulation framework for assessing and mitigating the consequences of such accidents. The method yields high prediction accuracy (MAE: 0.033, RMSE: 0.098, R2: 0.814) and demonstrates robustness through transfer learning, maintaining strong performance (MAE: 0.064, RMSE: 0.163, R2: 0.735). © 2024 IEEE.

关键词： Coolants

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Reversible solid-liquid conversion enabled by self-capture effect for stable non-flow zinc-bromine batteries

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Green Energy & Environment 2024年第6期9卷 1035-1044页

作者： Xixi Zhang Xiaoke Wang Guangmeng Qu Tairan Wang Xiliang Zhao Jun Fan Cuiping Han Xijin Xu Chunyi Zhi Hongfei Li School of Physics and Technology University of JinanShandong250022China Songshan Lake Materials Laboratory DongguanGuangdong523808China Department of Materials Science and Engineering City University of Hong Kong83 Tat Chee AvenueHong KongChina Faculty of Materials Science and Engineering and Low Dimensional Energy Materials Research Center Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenGuangdong518055China School of System Design and Intelligent Manufacturing Southern University of Science and TechnologyShenzhenGuangdong518055China

Non-flow aqueous zinc-bromine batteries without auxiliary components(e.g.,pumps,pipes,storage tanks)and ion-selective membranes represent a cost-effective and promising technology for large-scale energy ***,they generally suffer from serious diffusion and shuttle of polybromide(Br^(-),Br^(3-))due to the weak physical adsorption between soluble polybromide and host carbon materials,which results in low energy efficiency and poor cycling ***,we develop a novel self-capture organic bromine material(1,10-bis[3-(trimethylammonio)propyl]-4,4'-bipyridinium bromine,NVBr4)to successfully realize reversible solid complexation of bromide components for stable non-flow zinc-bromine battery *** quaternary ammonium groups(NV^(4+)ions)can effectively capture the soluble polybromide species based on strong chemical interaction and realize reversible solid complexation confined within the porous electrodes,which transforms the conventional“liquid-liquid”conversion of soluble bromide components into“liquid-solid”model and effectively suppresses the shuttle ***,the developed non-flow zinc-bromide battery provides an outstanding voltage platform at 1.7 V with a notable specific capacity of 325 mAh g^(-1)NVBr4(1 A g^(-1)),excellent rate capability(200 mAh g^(-1)NVBr4 at 20 A g^(-1)),outstanding energy density of 469.6 Wh kg^(-1)and super-stable cycle life(20,000 cycles with 100%Coulombic efficiency),which outperforms most of reported zinc-halogen *** mechanism analysis and DFT calculations demonstrate that the chemical interaction of quaternary ammonium groups and bromide species is the main reason for suppressing the shuttle *** developed strategy can be extended to other halogen batteries to obtain stable charge storage.

关键词： Solid-liquid conversion Self-capture Non-ﬂow zinc-bromine batteries Quaternary ammonium

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Research of SSAE-GPC in Coordinated Control system of Nuclear Power Plant 5th

Research of SSAE-GPC in Coordinated Control System of Nuclea...

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5th International Symposium on Software Reliability, Industrial Safety, Cyber Security and Physical Protection of Nuclear Power Plant, ISNPP 2020

作者： Deng, Zhi-Guang Wu, Qian Zhu, Bi-Wei Lv, Xin Zhu, Jia-Liang Xu, Si-Jie Wang, Xue-Mei National Key Laboratory of Science and Technology on Reactor System Design Technology Chengdu610213 China

ISBN: (纸本)9789811634550

For the problem of poor control effect of conventional PID controllers in complex systems, this paper fully combines the advantages of deep learning in feature extraction, regression prediction, and predictive control in dealing with multivariable, strong coupling and other issues. Firstly, the predictive model controller is constructed through the stacked sparse auto-encoder (SSAE) deep network, and then the stepped generalized predictive control (SGPC) is used as the rolling optimization controller. Thus, the SSAE-SGPC neural network predictive controller is built. Finally, a simulation experiment is carried out in the dual-input dual-output multi-variable coordinated control system of nuclear power plant. Through a series of simulations such as set value disturbance, internal disturbance and external disturbance, compared with conventional PID control, SSAE-GPC controller has better control effect. © 2021, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Controllers

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Structures and energetics of semicoherent interfaces of precipitates in hcp/bcc systems:A molecular dynamics study

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Journal of Materials science & technology 2021年第8期67卷 50-60页

作者： Jin-Yu Zhang Fu-Zhi Dai Zhi-Peng Sun Wen-Zheng Zhang Key Laboratory of Advanced Materials(MOE) School of Materials Science and EngineeringTsinghua UniversityBeijing 100084China Science and Technology of Advanced Functional Composite Laboratory Aerospace Research Institute of Materials&Processing TechnologyBeijing 100076China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of ChinaChengdu 610041China

α/β(hcp/bcc)interfaces are of great importance in the microstructure development and the mechanical properties of titanium and zirconium *** work contributes to the study of interface energetics and interfacial structures of the precipitate in the hcp/bcc system based on a simulation study using molecular statics(MS)and molecular dynamics(MD).The input orientation relationship(OR)was calculated based on the O-line *** on the energy of the interfaces containing the invariant line(IL),two preferred facets were determined by the Wulff construction,which explained the observed orientations of the habit plane(HP)and the side facet(SF).The deviation of the observed precipitate morphology from the equilibrium shape was discussed in terms of interface *** structures of the interfaces surrounding a three-dimensional(3 D)precipitate,including the preferred facets and the end face,were obtained at the atomic *** simulated dislocation structures and atomic structures in these interfaces are in good agreement with those of the experimental observations for Ti-Cr alloys.A method was suggested for modifying the O-cell structure with the guidance of the relaxed structure,yielding consistency between the calculated dislocation structure based on the generalized O-element approach and the simulation results.

关键词： Interface Misfit dislocation Precipitate

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Research of Advanced Control Algorithm in Primary Loop Control system 5th

Research of Advanced Control Algorithm in Primary Loop Contr...

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5th International Symposium on Software Reliability, Industrial Safety, Cyber Security and Physical Protection of Nuclear Power Plant, ISNPP 2020

作者： Deng, Zhi-Guang Zhu, Bi-Wei Wu, Qian He, Peng Xiang, Mei-Qiong Xu, Tao Qing, Yue National Key Laboratory of Science and Technology on Reactor System Design Technology Chengdu610213 China

ISBN: (纸本)9789811634550

The primary loop system of nuclear power plant is a large-scale control system with serious coupling between loops and complex objects. In order to solve the problem of integrated control of primary loop core power, stabilizer pressure and water level, and steam generator water level, this paper applies improved predictive control algorithms to each sub-control system on the basis of mechanism modeling. For the strong non-linear problem of water level control, a multi-model predictive controller is constructed through linearization at each typical operating point. The simulation results show that the application of advanced predictive control algorithm to the primary loop control system has achieved good control performance, and it also lays a solid foundation for subsequent practical engineering applications. © 2021, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Water levels

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Assessment of Coupled Effect of Steam Pipes on Seismic Analysis of reactor Coolant system 7

Assessment of Coupled Effect of Steam Pipes on Seismic Analy...

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7th International Conference on Environmental science and Civil Engineering, ESCE 2021

作者： Li, Lijuan Liu, Zhenyu Li, Hui Ye, Xianhui Ai, Honglei National Key Laboratory of Science and Technology on Reactor System Design Technology Chengdu Sichuan China

reactor coolant system is connected with auxiliary pipes, surge pipes and steam pipes. In order to facilitate the dynamic analysis of reactor coolant system, it is necessary to decouple the pipes connected with the reactor coolant system. Although some international standards stipulating requirements for the decoupling of subsystems from the main system, in order to further explore the influence of decoupling steam pipes, the seismic response of reactor coolant system with or without steam pipes is simulated by using ANSYS program. Firstly, the modal analysis of reactor coolant system is carried out to analysis the influence of steam pipes on the resonant frequency of reactor system. Then, the standardized seismic dynamic analysis of reactor system with or without steam pipes is carried out. The nozzle load (inlet and outlet nozzle load of main device, such as reactor pressure vessel, steam generator, pump) and support load (of main device such as reactor pressure vessel, steam generator, pump) are output and compared. According to nozzle load and support load, it can be seen that the steam pipes have little influence on the seismic analysis of reactor coolant system, i.e. steam pipes can be decoupled in the seismic analysis of reactor coolant system. © Published under licence by IOP Publishing Ltd.

关键词： Steam generators

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Label Recovery and Trajectory designable Network for Transfer Fault Diagnosis of Machines With Incorrect Annotation

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 932-945页

作者： Bin Yang Yaguo Lei Xiang Li Naipeng Li Asoke K.Nandi the Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System the School of Mechanical EngineeringXi’an Jiaotong UniveristyXi’an 710049 the Hunan Provincial Key Labortory of Health Maintenance for Mechanical Equipment Hunan Univeristy of Science and TechnologyXiangtan 411201China the Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi’an Jiaotong UniveristyXi’an 710049China the Department of Electronic and Electrical Engineering Brunel University LondonUxbridge UB83PHUK

The success of deep transfer learning in fault diagnosis is attributed to the collection of high-quality labeled data from the source ***,in engineering scenarios,achieving such high-quality label annotation is difficult and *** incorrect label annotation produces two negative effects:1)the complex decision boundary of diagnosis models lowers the generalization performance on the target domain,and2)the distribution of target domain samples becomes misaligned with the false-labeled *** overcome these negative effects,this article proposes a solution called the label recovery and trajectory designable network(LRTDN).LRTDN consists of three ***,a residual network with dual classifiers is to learn features from cross-domain ***,an annotation check module is constructed to generate a label anomaly indicator that could modify the abnormal labels of false-labeled samples in the source *** the training of relabeled samples,the complexity of diagnosis model is reduced via semi-supervised ***,the adaptation trajectories are designed for sample distributions across *** ensures that the target domain samples are only adapted with the pure-labeled *** LRTDN is verified by two case studies,in which the diagnosis knowledge of bearings is transferred across different working conditions as well as different yet related *** results show that LRTDN offers a high diagnosis accuracy even in the presence of incorrect annotation.

关键词： Deep transfer learning domain adaptation incorrect label annotation intelligent fault diagnosis rotating machines

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