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Multi-Level Robotic Pouring Using Offline Reinforcement Learning

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Multi-Level Robotic Pouring Using Offline Reinforcement Lear...

IEEE International Conference on Robotics and Biomimetics

作者： Xiaoxiong Zhang Junwei Liu Wei Zhang Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

This paper presents a novel learning-based method for a robotic manipulator to achieve liquid pouring across different liquid levels using only visual sensors. Previous works have relied on either online reinforcement learning or imitation learning, which are limited by sim-to-real gaps or data efficiency. In this paper, we propose to combine supervised learning and offline reinforcement learning, utilizing a human demonstration dataset containing only successful pouring at the highest level. Specifically, our approach employs supervised learning for a visual classifier, transforming the visual input into a categorical distribution over liquid levels. The offline reinforcement learning method is applied to a binary-conditioned control policy, which takes a binary signal and the robot's proprioception as inputs to determine the action. The binary signal indicates whether the desired liquid level has been reached based on the target liquid level. Through experiments, our method demonstrates superior effectiveness compared to a state-of-the-art imitation learning algorithm. Moreover, tests in unseen scenarios and multiple liquid level commands verify the generalization and transferability of our approach.

关键词： Visualization Liquids Imitation learning Biomimetics Supervised learning Reinforcement learning Robot sensing systems Manipulators Sensors Robots

Q-Learning for Finite-Horizon H8Tracking Control of Unknown Linear Discrete-Time systems 42

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Q-Learning for Finite-Horizon H8Tracking Control of Unknown ...

42nd Chinese Control Conference, CCC 2023

作者： Liu, Mingxiang Cai, Qianqian Meng, Wei Li, Dandan Fu, Minyue Han, Zhimin School of Automation Guangdong University of Technology Guangzhou510006 China Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangzhou510006 China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen518055 China School of Automation Hangzhou Dianzi University Hangzhou310018 China

ISBN: (纸本)9789887581543

In this paper, we present a Q-learning algorithm for finite-horizon H8 tracking control of unknown linear discrete-time systems. Finite horizon control is challenging due to its correspondence with a time-varying Riccati equation. The proposed algorithm can determine the solution of the time-varying Riccati equation with unknown system dynamics. We first establish the time-varying Q-function, then propose a corresponding Q-learning algorithm and prove its convergence. Finally, the proposed algorithm is proved to be effective through numerical examples. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Riccati equations

Influence of Si Addition on the Microstructure, Mechanical and LBE Corrosion Properties of an Amorphous AlCrFeMoTi High-Entropy Alloy Coating

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SSRN 2022年

作者： Yang, Jian Bai, Fan Zhou, Mingyang Deng, Jiuguo Zhong, Yilong Chen, Qingsong Zhang, Wei Zhu, Changda Liu, Ning Yang, Jijun Key Laboratory of Radiation Physics and Technology Ministry of Education Institute of Nuclear Science and Technology Sichuan University Chengdu610064 China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu610213 China

The effect of the Si addition content ranging from 3.3 to 9.1 at.% on the microstructure, mechanical properties and LBE corrosion behaviour of AlCrFeMoTi HEA coatings was investigated. The AlCrFeMoTiSix coatings still maintained an amorphous structure, and their mechanical properties were improved. The Si addition greatly contributed to the enhancement of the LBE corrosion resistance of the coatings, which could be attributed to the formation of a more continuous and protective Cr2O3 and Al2O3 layer. However, the improved efficiency was related to the Si addition content, with an oxidation process model put forwards to well explain this phenomenon. © 2022, The Authors. All rights reserved.

关键词： Corrosive effects

Influence of Si Addition on the Microstructure, Mechanical and Lbe Corrosion Properties of an Amorphous Alcrfemoti High-Entropy Alloy Coating

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SSRN 2022年

作者： Yang, Jian Zhou, Mingyang Liu, Ning Yang, Jijun Key Laboratory of Radiation Physics and Technology of Ministry of Education Institute of Nuclear Science and Technology Sichuan University Chengdu610064 China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu610213 China

关键词： Corrosive effects

Effect of ECAP process on liquid distribution of AZ80M alloy during semi-solid isothermal heat treatment

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Transactions of Nonferrous Metals Society of China 2021年第6期31卷 1599-1611页

作者： Ling-ling FAN Ming-yang ZHOU Yang-yang GUO Yu-wen-xi ZHANG Gao-feng QUAN Key Laboratory of Advanced Technologies of Materials Ministry of EducationSchool of Materials Science and EngineeringSouthwest Jiaotong UniversityChengdu 610031China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of ChinaChengdu 610213China

Two kinds of semi-solid samples of AZ80−0.2Y−0.15Ca(wt.%)(AZ80M)magnesium alloy were prepared by semi-solid isothermal heat treatment of materials with and without equal channel angular pressing(ECAP)*** microstructures of initial and semi-solid treated samples were compared and *** results showed a significant difference in the liquid phase distribution between three-pass ECAP processed(3P)and as-received samples during the isothermal heating *** semi-solid 3P sample showed a more uniform liquid distribution due to its smaller dihedral ***,the coarsening processes of solid grains of as-received and 3P samples were dominated by the coalescence and Ostwald ripening mechanism,*** difference of coarsening processes was mainly related to the proportion of the high-angle grain boundaries in materials,which further affected the evolution behavior of the liquid pools.

关键词： AZ80M equal channel angular pressing semi-solid microstructure liquid phase distribution coarsening mechanism

The Instability Marsh Phenomenon and Marginal Stability Boundary Distortion of Density Wave Oscillation in Parallel Channels

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SSRN 2024年

作者： Sun, Ducheng Ma, Zaiyong Lu, Q. Liu, C.W. Pan, L.M. School of Energy and Power Engineering Shandong University No. 17923 Jingshi Road Jinan250061 China Key Laboratory of Low-grade Energy Utilization Technologies and Systems Ministry of Education Chongqing400044 China Department of Nuclear Engineering and Technology Chongqing University Chongqing400044 China Science and Technology on Reactor System Design Technology Laboratory Chengdu610041 China

Density wave oscillation (DWO) in parallel channels is an important problem that has been widely studied. The marginal stability boundary (MSB) is often found to be "L " shaped on the N pch -N sub plane, but some very different shapes were also reported. In this paper, the instability marsh region which could occur in the traditional instable region but having both instability and stability sections was presented and discussed, which is found to be an explanation of the distortion of MSB. The analysis of the instability marsh region showed that the evolution of instability marsh should be due to the stability change when operation condition changes, which can be estimated with the analysis of the two-phase and single phase pressure drop variation, as well as Ma’s stability criterion for different heat flux profiles. Variation of instability marsh with different heat flux profile, inlet and outlet resistance coefficient, mass flow and pressure were obtained and analyzed, and the effects of these parameters on instability marsh variation were found to be well interpreted with stability change. The calculation and analysis of instability marsh showed a clear evolution figure of the distortion of MSB under different conditions, and related research could be helpful in better understanding the flow instability in parallel channels. © 2024, The Authors. All rights reserved.

关键词： Stability criteria

Improved Lbe Corrosion Resistance and Mechanical Properties of Reactive Gas Pulse Sputtered Alcrfemoti/(Alcrfemoti)N Composite Multilayered High-Entropy Alloy Coatings

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SSRN 2022年

作者： Yang, Jian Lv, Liangliang Zhou, Mingyang Chen, Qingsong Liu, Hao Zhong, Yilong Deng, Jiuguo Zhang, Wei Zhu, Changda Liu, Ning Yang, Jijun Key Laboratory of Radiation Physics and Technology of Ministry of Education Institute of Nuclear Science and Technology Sichuan University Chengdu610064 China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu610213 China

The (HEA/HEAN)-n multilayer coatings consisting of alternating (AlCrFeMoTi)N (top) and AlCrFeMoTi layers were specially designed and successfully deposited on F/M steel substrate by reactive magnetron sputtering technology. The dependence of microstructure, mechanical properties and LBE corrosion resistance on interlayer interface density was systematically investigated. The multilayer structure design improved the mechanical properties and high-temperature structural stability of the multilayer coatings. Furthermore, the LBE corrosion experiments displayed that the (HEA/HEAN)-12 multilayer coating with optimum interlayer interface density exhibited the most excellent LBE corrosion resistance. The oxidation corrosion mechanism of the (HEA/HEAN)-n multilayer coatings were also discussed intensively. © 2022, The Authors. All rights reserved.

关键词： Corrosion resistance

Experimental Study of Coherent Structures Downstream Mixing Vaned Spacer Grid of Different Inclination Angles in a 5×5 Rod Bundle by Tr-Piv

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SSRN 2022年

作者： Qu, Wenhai Xie, Hao Shen, Danhong Wang, Zefeng Xiong, Jinbiao School of Nuclear Science and Engineering Shanghai Jiao Tong University Shanghai China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu China

Experimental study of coherent structures downstream of a spacer grid with different inclination angles of mixing vanes in a 5×5 rod bundle was conducted by TR-PIV under four Reynolds *** coherent structures downstream of spacer grid change with several patterns. The developments of lateral time-averaged velocity, Reynolds stress, dominant frequency, integral spatial length scales and integral temporal length scales are determined by coherent structures. Smaller coherent structures are generated with Reynolds number increasing, and time-averaged velocity, Reynolds stress, St numbers, spatial and temporal length scales decrease. Larger inclination angle generates larger coherent structures, and spatial and temporal length scales increase with inclination angle increasing. The coherent structures indicate strong anisotropy of turbulent flow in rod *** experimental findings provide valuable information for understanding sub-channel mixing phenomena caused by mixing vaned spacer grids. The experimental data can be used for sub-channel mixing model developments and validations of turbulent models. © 2022, The Authors. All rights reserved.

关键词： Reynolds number

Influence of Si Addition on the Microstructure, Mechanical and Lbe Corrosion Properties of an Amorphous Alcrfemoti High-Entropy Alloy Coating

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SSRN 2022年

关键词： Corrosive effects