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27th International Conference on Nuclear Engineering: Nuclear Power Saves the World!, ICONE 2019

作者： Peiying, Li Hongxing, Yu Sijia, Du Yaou, Shen Mingyu, Yan Hongsheng, Yuan Yu, Liu Xiaoli, Wu Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu China

ISBN: (纸本)9784888983051

With the proposal of liquid metals as coolant of the reactors, the use of accurate heat transfer correlation and reliable turbulent prandtl number（Prt）model of these low prandtl number fluids in turbulent flow is essential. The heat transfer of Liquid metals differ from traditional coolants for their good molecular heat conductivity and this property leads to a separation of the spatial extension of thermal and viscous boundary layers. A constant turbulent prandtl number is proved to be inappropriate for complex conditions for it depends on the Reynolds and molecular Prandtl number. This paper proposes a new turbulent prandtl number model Prt=C+B/Pet, which can be used for accurately predicting the heat transfer for liquid metal flows. The constants C and B of the expression are obtained from the analytic solution of renormalization group procedure. B is further corrected with the physical properties for different liquid metals. The results are in a good agreement with experimental data over the range of experimentally accessible Prandtl numbers. The Nusselt numbers calculated using the proposed model with the Lyon integral are found to be well consistent with the experimental data for forced fully-developed pipe flows with constant heat flow boundary conditions. Computational fluid dynamics(CFD) analysis is also carried out for pipe geometries. With the proposed model for turbulent prandtl number, CFD codes using RANS approach give similar results for local Nusselt numbers measured in the experiments. Copyright © 2018-2019 by JSME

关键词： Liquid metals

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Research on Robot Optimal Working Space Based on Spiral Theory

Research on Robot Optimal Working Space Based on Spiral Theo...

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2022 International Symposium on Robotics, Artificial Intelligence, and Information Engineering, RAIIE 2022

作者： Li, Yu-Fei Ge, Wei-Min Zhang, Zhi-Li Zhao, Xiang-Bin College of Mechanical Engineering TianJin University of Technology TianJin province TianJin300074 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Intelligent Manufacturing College Tianjin Sino-German University of Applied Science Tianjin300350 China

ISBN: (纸本)9781510660137

Because industrial robots have uneven positioning accuracy in the overall working space, they have greatly limited their applications in the fields of high-precision production and *** this status quo, this article focuses on analyzing the optimal working space of industrial robots, and screening and limiting the optimal working scope of the selected industrial robots to ensure that the robot end is at a relatively high position with high positioning *** article selects the collaborative robot AUBO E3 for modeling, analysis and simulation. Calculate the robot based on the Jacques matrix and the number of conditions under the spiral theory, quantitatively depict the exercise performance of the *** excellent working space is visually simulated, and finally uses the API laser tracker to measure the end error of the robot. As a result, the accuracy of the end point in the optimal working space is higher than the endpoint accuracy of the overall work space. © 2022 SPIE.

关键词： Industrial robots

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Research on the vibration reduction and sound radiation index properties of the cabin with internal equipment 26

Research on the vibration reduction and sound radiation inde...

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26th International Congress on Sound and Vibration, ICSV 2019

作者： Wenzheng, Zhang Bihao, Wang Xiaozhou, Jiang Bin, Lan Haiyang, Song Fengchun, Cai Xianhui, Ye Jiabin, Feng Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu China

ISBN: (纸本)9781999181000

Suitable vibration and noise indices which provide technical direction for vibration and noise reduction, play a very important role in structure analysis and validated test. The contribution of foundation impedance is studied by analyzing the vibration reduction index of a single degree of freedom system. The finite element method (FEM) and boundary element method (BEM) are applied to simulate the vibration and noise indices of a cabin along with internal equipment. The vibration reduction and sound radiation indices of the internal isolator have been calculated to analyze the variation trend with frequency. The results indicate that the difference between vibration level difference and insert loss is very small in most frequency band. Interestingly, the power flow difference and radiated sound power are opposite in phase in middle and high frequency band, which have been proved to be appropriate elements to evaluate the vibration and noise indices of the cabin. The analysis method and procedure can be used to objectively evaluate the vibration reduction property of similar vibration isolators © Proceedings of the 26th International Congress on Sound and Vibration, ICSV 2019. All rights reserved.

关键词： Finite element method

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A Modular End Effector with Active Rolling Fingertip for Picking Cloth-Like Objects

A Modular End Effector with Active Rolling Fingertip for Pic...

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IEEE International Conference on Automation science and Engineering (CASE)

作者： Kun Zhang Yuanhang Yang Zhiming Chen Hua Chen Michael Yu Wang Wei Zhang Robotics Institute Hong Kong University of Science and Technology Clear Water Bay Hong Kong School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute Futian Shenzhen China Department of Mechanical & Aerospace Engineering Monash University Clayton Australia

Cloth-like items are ubiquitous in both daily life and industrial production, but their softness makes them difficult to manipulate. This paper focuses on solving the problem of automatic manipulation especially in the scenario of flat surface by introducing a novel end-effector mechanism. The gripper utilizes a modular design concept, enabling it to be reconstructed with a varying number of fingers based on specific requirements. One of the fingers has an active rolling fingertip that rolls up the object from the table to create wrinkles, for easier grasping. Additionally, there are fingertips with revolute joints that enable fine-tuning of the grasp configuration to fix the objects. To test the effectiveness of the mechanism, we manufactured a real gripper device and mounted it on a collaborative robotic arm for grasping tests. Experiments were conducted on six kinds of cloth-like objects with different materials, grasping them from above. The experimental results show that the gripper with this mechanism configuration performs well in this scenario.

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Learning Pre-Grasp Manipulation of Flat Objects in Cluttered Environments using Sliding Primitives

Learning Pre-Grasp Manipulation of Flat Objects in Cluttered...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jiaxi Wu Haoran Wu Shanlin Zhong Quqin Sun Yinlin Li State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China Department of Automation University of Science and Technology of China Heifei China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Science Beijing China Science and Technology on Thermal Energy and Power Laboratory Wuhan China

Flat objects with negligible thicknesses like books and disks are challenging to be grasped by the robot because of the width limit of the robot's gripper, especially when they are in cluttered environments. Pre-grasp manipulation is conducive to rearranging objects on the table and moving the flat objects to the table edge, making them graspable. In this paper, we formulate this task as Parameterized Action Markov Decision Process, and a novel method based on deep reinforcement learning is proposed to address this problem by introducing sliding primitives as actions. A weight-sharing policy network is utilized to predict the sliding primitive's parameters for each object, and a Q-network is adopted to select the acted object among all the candidates on the table. Meanwhile, via integrating a curriculum learning scheme, our method can be scaled to cluttered environments with more objects. In both simulation and real-world experiments, our method surpasses the existing methods and achieves pre-grasp manipulation with higher task success rates and fewer action steps. Without fine-tuning, it can be generalized to novel shapes and household objects with more than 85% success rates in the real world. Videos and supplementary materials are available at https://***/view/pre-grasp-sliding.

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Mixture of Experts for Network Optimization: A Large Language Model-enabled Approach

arXiv

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arXiv 2024年

作者： Du, Hongyang Liu, Guangyuan Lin, Yijing Niyato, Dusit Kang, Jiawen Xiong, Zehui Kim, Dong In The School of Computer Science and Engineering Nanyang Technological University Singapore639798 Singapore The State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications Beijing100876 China The School of Automation Guangdong University of Technology Key Laboratory of Intelligent Information Processing and System Integration of IoT Ministry of Education Guangzhou510006 China Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing Guangzhou510006 China The Pillar of Information Systems Technology and Design Singapore University of Technology and Design Singapore487372 Singapore The Department of Electrical and Computer Engineering Sungkyunkwan University Suwon16419 Korea Republic of

Optimizing various wireless user tasks poses a significant challenge for networking systems because of the expanding range of user requirements. Despite advancements in Deep Reinforcement Learning (DRL), the need for customized optimization tasks for individual users complicates developing and applying numerous DRL models, leading to substantial computation resource and energy consumption and can lead to inconsistent outcomes. To address this issue, we propose a novel approach utilizing a Mixture of Experts (MoE) framework, augmented with Large Language Models (LLMs), to analyze user objectives and constraints effectively, select specialized DRL experts, and weigh each decision from the participating experts. Specifically, we develop a gate network to oversee the expert models, allowing a collective of experts to tackle a wide array of new tasks. Furthermore, we innovatively substitute the traditional gate network with an LLM, leveraging its advanced reasoning capabilities to manage expert model selection for joint decisions. Our proposed method reduces the need to train new DRL models for each unique optimization problem, decreasing energy consumption and AI model implementation costs. The LLM-enabled MoE approach is validated through a general maze navigation task and a specific network service provider utility maximization task, demonstrating its effectiveness and practical applicability in optimizing complex networking systems. © 2024, CC BY.

关键词： Reinforcement learning

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Dynamic area coverage for Multi-USV with fully connected constraint based on game theory

Dynamic area coverage for Multi-USV with fully connected con...

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Chinese Automation Congress (CAC)

作者： Xiao Han Huan Chen Yufeng Gao Guangfu Ma Shuanghong Wu Wenxin Hao Department of Control Science and Engineering Harbin Institute of Technology Harbin China China Ship Development and Design Center Wuhan China The Beijing Institute of Spacecraft System Engineering China Academy of Space Technology Beijing China

This paper proposes a novel method to solve the problem of regional surveys on the ocean in a complex environment. In order to solve this challenging regional survey problem considering fully connected, a new method combined artificial potential field and game theory is designed to maximize the coverage ratio. This paper gives the mathematical model of information transfer between two unmanned surface vehicles(USVs), and then the motion strategy of USVs is given based on the idea of game theory. The area coverage task of the multi-USV system is realized by a control method similar to the artificial potential field method.

关键词： Sea surface Automation Heuristic algorithms Dynamics Control systems Mathematical models Game theory

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On the Parameter Setting of the Penalty-Based Boundary Intersection Method in MOEA/D 11th

On the Parameter Setting of the Penalty-Based Boundary Inter...

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11th International Conference on Evolutionary Multi-Criterion Optimization, EMO 2021

作者： Wang, Zhenkun Deng, Jingda Zhang, Qingfu Yang, Qite School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Department of Computer Science and Engineering Southern University of Science and Technology Shenzhen China School of Mathematics and Statistics Xi’an Jiaotong University Xi’an China Department of Computer Science City University of Hong Kong Hong Kong The City University of Hong Kong Shenzhen Research Institute Shenzhen China

ISBN: (纸本)9783030720612

Multiobjective optimization evolutionary algorithm based on decomposition (MOEA/D) decomposes an multiobjective optimization problem into a number of single-objective subproblems and solves them in a cooperative manner. The subproblems can be designed by various scalarization methods, e.g., the weighted sum (WS) method, the Tchebycheff (TCH) method, and the penalty-based boundary intersection (PBI) method. In this paper, we investigate the PBI method with different parameter settings, and propose a way to set the parameter appropriately. Experimental results suggest that the PBI method with our proposed parameter setting works very well. © 2021, Springer Nature Switzerland AG.

关键词： Multiobjective optimization

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Proposal of Assurance Case Description Method in design for Environment (DfE) Process 4

Proposal of Assurance Case Description Method in Design for ...

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4th Asia-Pacific conference on Complex systems design and Management, CSD and M Asia 2021 and of the 12th International Conference on Complex systems design and Management, CSD and M 2021

作者： Shibuya, Kenichi Kobayashi, Nobuyuki Shirasaka, Seiko Graduate School of Science and Technology Keio University 3-14-1 Hiyoshi Kohoku Kanagawa Yokohama223-8522 Japan The System Design and Management Research Institute Graduate School of System Design and Management Keio University 4-1-1 Hiyoshi Kohoku Kanagawa Yokohama223-8526 Japan Graduate School of System Design and Management Keio University 4-1-1 Hiyoshi Kohoku Kanagawa Yokohama223-8526 Japan

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Decentralized Control for Optimal Lq Problems in Stochastic systems with Unknown Uncertainties

SSRN

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SSRN 2023年

作者： Zhang, Zhaorong Xu, Juanjuan Fu, Minyue Li, Xun Department of Applied Mathematics The Hong Kong Polytechnic University Kowloon999077 Hong Kong School of Control Science and Engineering Shandong University Jinan250061 China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Guangdong Shenzhen518055 China

In this paper, we study the optimal control problem of a linear quadratic stochastic system where the randomness results from multiplicative noises. Especially, two controllers having access to different information are involved in the system. Different from most of the existing results which are based on the condition that the information of multiplicative noise is known during the design of optimal controllers, we focus on a more general case that the statistical information of the multiplicative noise is inaccessible. Under this setting, we propose a stochastic approximation algorithm to derive the solutions to algebraic Riccati equations and obtain the optimal and stabilizing decentralized controllers. © 2023, The Authors. All rights reserved.

关键词： Stochastic systems

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