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R-SIEL: a physics-informed learning algorithm for discovering dynamics of serial manipulators

Expert systems with Applications 2025年 287卷

作者： Omar, Mohamed Li, Ruifeng Wang, Ke Asker, Ahmed State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Production and Mechanical Design Engineering Department Faculty of Engineering Mansoura University Mansoura35516 Egypt Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China School of Engineering and Applied Sciences Nile University Giza12573 Egypt

Dynamic modeling is essential for serial manipulators’ design and control. Multi-body dynamics simulators, such as SIMULINK and Adams, can precisely replicate a robot's dynamic behavior but are incapable of determining its nonlinear dynamic model. This work aims to identify serial manipulators’ dynamics from simulation data, which extends the capability of using an algorithm that combines the Euler-Lagrange method and sparse identification of nonlinear dynamics (SINDy) with physics-based constraints and Akaike Information Criterion (AICc). The algorithm is called Recursive SINDy Euler-Lagrange (R-SIEL). The Euler-Lagrange method is used to construct a preliminary library of symbolic functions. The physics-informed constraints, which utilize the similarities between the symbolic coefficients of the dynamic equations, are employed to decrease the number of functions in the library to get a constrained library. SINDy is equipped with three kinds of constraints: the constrained library, the dataset, and similarities between links’ dynamic equations. The generation of the three distinct datasets—training, constraints, and testing data—uses simulated data from the MATLAB® SIMULINK environment. The algorithms of sequential threshold least-squares and L0-minimization are coded with the convex optimization package CVX to determine the best dynamic model. The resulting models are tested with the testing dataset, and based on the lowest AICc, the best model is chosen. The proposed algorithm is applied to different serial manipulators: 2DOF robot, Stanford, PRR robot, ABB SCARA, UR5, and KUKA KR4 AGILUS robots. The resulting model is validated with the dynamic model derived using the conventional Euler-Lagrange method. For the considered manipulators, the R-SIEL algorithm shows a high capability to identify the dynamic model compared to the one identified compared to the previous algorithm. © 2025 Elsevier Ltd

关键词： Lagrange multipliers

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MECaaS: Mobile Edge Computing as a Services Based on Blockchain 17th

MECaaS: Mobile Edge Computing as a Services Based on Blockch...

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17th Annual Conference of China Electrotechnical Society, CES 2022

作者： Li, Bo Lu, Jiangang Zhao, Ruifeng Hu, Rong Zhou, Huafeng Pang, Xueyue Xu, Yihang Electric Power Dispatching and Control Center of Guangdong Power Grid Co. Ltd. Guangzhou China China Southern Power Grid Power Dispatching and Control Center Guangzhou China China Energy Engineering Group Guangdong Electric Power Design Institute Co. Ltd. Guangzhou China State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing University Chongqing China

ISBN: (纸本)9789819904501

As a new generation of computing paradigm for Internet of things (IoT), edge computing has been proved to be promising in solving the problems of insufficient centralized computing power, bandwidth congestion and transmission delay by distributing traditional cloud resources down to edges. While so, massive of computing resources have not been utilized due to the physical heterogeneity and allocation issues. Addressing on the two major challenges, in this paper, we propose a blockchain-based edge computing solution (MECaaS), which integrates smart contract, component interface, distributed allocation algorithm and other elements as a service. Comparing with the existing blockchain-edge computing solutions, we focus more on technical implementation than just the theoretical framework, by distributing this service to inspire devices’ self-potential in interaction, perception and decision, in further forms a distributed intelligent system. The service is deployed in a heterogeneous IoT scenario, and proved to be efficient for edge computing. Also, experimental results show that distributed resource allocation strategies perform better than centralized ways to some extent. © 2023, Beijing Paike Culture Commu. Co., Ltd.

关键词： Blockchain

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Correction to:Study on the resource utilization of high fluorine-containing organic waste through fluidized incineration

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Waste Disposal and Sustainable Energy 2023年第2期5卷 245-245页

作者： Wenhan Li Zengyi Ma Jianhua Yan Qianming Huang Xingjian Wen Zian Zhai Bochen Huang Shuang Wang Yongqiang Chen Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of ChinaChengdu610213China State Key Laboratory of Clean Energy Utilization Institute for Thermal Power EngineeringZhejiang UniversityHangzhou310027China Zhejiang Xianchuang Energy&Technology Co.Ltd Jinhua321000China

Correction to:Waste Disposal&Sustainable Energy(2022)4:117-129 https://***/10.1007/s42768-022-00101-7 The section Confict of interest'has been amended:'Jian-hua Yan is the Editor in-Chief of Waste Disposal&Sustain-able Energy.'The revised'Confict of interest'is as follows:Jianhua Yan is the Editor-in-Chief of Waste Disposal&Sustainable *** behalf of all authors,the corresponding author states that there is no conflict of interest.

关键词： Sustainable fluorine behalf

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Semi-Federated Learning: An Integrated Framework for Pervasive Intelligence in 6G Networks

Semi-Federated Learning: An Integrated Framework for Pervasi...

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IEEE Conference on Computer Communications Workshops, INFOCOM Wksps

作者： Jingheng Zheng Wanli Ni Hui Tian Deniz Gü ndü z Tony Q. S. Quek State Key Laboratory of Networking and Switching Technology Beijing University of Posts and Telecommunications Beijing China Department of Electrical and Electronic Engineering Imperial College London UK Information System Technology and Design Pillar Singapore University of Technology and Design Singapore

In cellular-based federated learning (FL), the base station (BS) is only used to aggregate parameters, which incurs a waste of computing resources at the BS. In this paper, a novel semi-federated learning (SemiFL) framework is proposed to break this bottleneck, where local devices simultaneously send their gradient updates and training samples to the BS for global model computation. To capture the performance of SemiFL over wireless networks, a closed-form convergence upper bound of SemiFL is derived. Then, a non-convex problem is formulated to improve the convergence behavior of SemiFL, subject to the transmit power, communication latency, and computation distortion. To solve this intractable problem, a two-stage algorithm is proposed by controlling the transmit power and receive beamformers. Numerical experiments validate that the proposed SemiFL framework can effectively improve accuracy and accelerate convergence as compared to conventional FL.

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Analysis of Thermal-Hydraulic Best-Estimate Program Against the Downcomer Countercurrent Flow Limitation

SSRN

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SSRN 2022年

作者： Li, Xiang Sun, Wan Ding, Shuhua Huang, Tao Ma, Zaiyong Zhang, Luteng Zhu, Longxiang Pan, Liangming Key Laboratory of Low-Grade Energy Utilization Technologies & Systems Chongqing University Ministry of Education Chongqing400044 China Department of Nuclear Engineering and Technology Chongqing University Chongqing400044 China Key laboratory of nuclear reactor system design technology Nuclear Power Institute of China Chengdu610044 China

The relevance of the countercurrent flow limitation phenomenon is known in nuclear (emergency core cooling and accident situations) industries, such as a Loss of Coolant Accident (LOCA). The occurrence of countercurrent flow limitation (CCFL), which can exist in a host of places around the nuclear reactor system, will prevent the emergency cooling water, which is necessary to cool the core of successfully flowing into the core from the downcomer of Pressurized Water reactor (PWR) in the LOCA. Accurate prediction of the downcomer CCFL phenomenon is significant for the design and analysis of reactor safety. Among the experiments at Upper Plenum Test Facility (UPTF), various tests, test 6 and test 7 are studied in this research. The conservatively evaluated using the best-estimate program RELAP5/MOD3.3 to predict the CCFL phenomenon at the downcomer. Above all, the methodology of node partition for the channels with cross-connections to represent the circumferential downcomer annulus was also studied. In particular, the nodes along circumferential direction had a vital effect on the prediction of the steam velocity profile of downcomers. The influence of the CCFL model, including the most widely used Wallis-type and Kutateladze-type correlations, and the cooling limited liquid-downflow behavior were analyzed. In addition, the pressure on the downcomer and steam flow rate of the break were monitored, and the predicted results were also analyzed. © 2022, The Authors. All rights reserved.

关键词： Loss of coolant accidents

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Numerical Trajectory Planning of Panel Installation with Optimal Energy Consumption for Redundant Articulating Crane

SSRN

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SSRN 2024年

作者： Li, Penghao Zhang, Bangji Zhang, Zheshuo Hu, Wen Zhang, Jie Dai, Di State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle Hunan University Changsha China Intelligent Transportation System Research Center Hangzhou City University Hangzhou China School of Vehicle and Mobility Tsinghua University Beijing China College of Automotive and Mechanical Engineering Changsha University of Science and Technology Changsha China

The automatic installation of panels has become crucial in numerous industries scenarios. This paper proposed a trajectory planning method to addresses the position and posture adjustment of panel installation using redundant articulating cranes. Configuration space of the crane and rotation matrix are combined to investigate the strong coupling of the panel's position and posture. Moreover, the study combines the motion modes of the crane with the sequential analysis of redundant motion to assess energy consumption, incorporating energy efficiency as one of the planning objectives. Simultaneously, an intrinsic connection between the motion sequences within the C-space and safety considerations is analyzed. The installation experiment is performed with a real crane. The experimental results indicate that the proposed method achieves the function of installation of panels, which can make both the panel’s position and posture safely reach the predetermined state with less energy consume. © 2024, The Authors. All rights reserved.

关键词： Cranes

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Experimental Study on the Characteristics of Annular Fluid Film in a Locally Deformed Narrow Rectangular Channel

SSRN

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SSRN 2024年

作者： Wang, Fenze Ren, Quanyao Liu, Haidong Xiao, Yi Chen, Deqi Key Laboratory of Low-grade Energy Utilization Technologies and Systems Chongqing University Ministry of Education Chongqing400044 China Department of Nuclear Engineering and Technology School of Energy and Power Engineering Chongqing University Chongqing400044 China Science and Technology on Reactor System Design Technology Laboratory Chengdu610041 China Liangjiang International College Chongqing University of Technology Chongqing401135 China Chongqing Research Institute of HIT Chongqing401151 China School of Flight Technology Civil Aviation Flight University of China Sichuan618307 China China

The study of the characteristics of the annular flow film in the narrow rectangular channel under the localized deformation can provide a research basis for the heat and mass transfer and the hydrodynamic characteristics of the locally deformed narrow flow channel. In this study, the annular flow liquid film characterization experiments are carried out in a narrow rectangular channel without local deformation, ellipsoidal deformation and pillow-shaped deformation, and different annular flow liquid film parameters liquid film thickness, disturbance wave height, and disturbance wave wavelength are obtained by high-speed camera acquisition system and intelligent image processing technology. Analyze the effects of flow conditions and local deformation on the liquid film parameters of each annular flow. Local deformation impact factor functions for liquid film thickness, disturbance wave height, and disturbance wave wavelength are obtained. The error of the impact factor function is within ±30%. © 2024, The Authors. All rights reserved.

关键词： Liquid films

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Experimental Study on Droplet Behavior and Mechanisms During Reflooding in a Single-Rod Channel

SSRN

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SSRN 2022年

作者： Chen, Mingjing Liu, Hanzhou Chen, Deqi Zhong, Lei Liu, Haidong Yu, Hongxing Yu, Ruan Feng, Peng Key Laboratory of Low-grade Energy Utilization Technologies and Systems Chongqing University Ministry of Education Chongqing 400044 China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu610041 China Key Laboratory of Aerospace Thermophysics Ministry of Industry and Information Technology School of Energy Science and Engineering Harbin Institute of Technology Harbin150001 China

Discrete droplets have received extensive attention in reflooding processes under Loss Of Coolant Accident (LOCA) conditions due to their large vapor-liquid interface area, droplet collision, droplet evaporation, and other behaviors that have a significant impact on the heat transfer of Dispersed Flow Film Boiling (DFFB). Unfortunately, the accurate prediction of the characteristics of droplet velocity and distribution under DFFB cannot be achieved at present, due to the lack of sufficient visual data support. For this reason, a visualization experiment of high-temperature surface reflooding in a single-rod channel was carried out. In this paper, the effect of the thermal parameter, such as input heat flux on the transient droplet behavior, which include the droplet size and velocity, has been analaysed in detail. Furthermore, to provide physical support for building droplet distribution models containing more physical mechanisms in the future, several droplet formation and breakup mechanisms, which include the Helmholtz instability, capillary breakage and rewetting area sputter, has been discussed in this paper. © 2022, The Authors. All rights reserved.

关键词： Drop breakup

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Experimental Study on the Characteristics of Annular Fluid Film in a Locally Deformed Narrow Rectangular Channel

SSRN

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SSRN 2024年

The local deformation of plate fuel assembly due to neutron irradiation will lead to the deterioration of heat transfer in the flow channel. Studying the characteristics of annular flow films in narrow rectangular channels under localized deformation provides a foundation for understanding the heat and mass transfer and the hydrodynamic characteristics of the locally deformed narrow flow channel. In this study, the annular flow liquid film characterization experiments were conducted in a narrow rectangular channel under three conditions: no local deformation, ellipsoidal deformation, and pillow-shaped deformation. Various parameters of the annular flow liquid films, including liquid film thickness, disturbance wave height, and disturbance wave wavelength, were obtained using a high-speed camera acquisition system and advanced image processing techniques. The effects of flow conditions and local deformation on the liquid film parameters of each annular flow were analyzed. As the radial size of the local deformation increases relative to the liquid film thickness, the viscous bottom layer of the liquid film disintegrates, resulting in a reduction of the total liquid film thickness. When the gas-phase velocity is low, the local deformation exerts a greater shear force on the disturbance wave, prolonging the action time and increasing the likelihood of wave disintegration. Under conditions of no channel deformation, the disturbance wave wavelength is negatively correlated with the gas-phase velocity;conversely, under localized channel deformation, the wavelength is positively correlated with the gas-phase velocity. Thus, the effect of localized deformation on wavelength is bidirectional. Local deformation impact factor functions for liquid film thickness, disturbance wave height, and disturbance wave wavelength have been derived, with the error of these impact factor functions maintained within ±30%. © 2024, The Authors. All rights reserved.

关键词： Neutron irradiation

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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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