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Three-degree-of-freedom motion posture stabilization control of platform based on DTW-LSTM-MATD3 under high and low frequency disturbances of ships 认领 引用
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作者 Qin ZHANG Jingyi ZHOU +1 位作者 Bangping GU Xiong HU 《Journal of Zhejiang University-SCIENCE A》 SCIE EI CAS CSCD 2026年第3期246-261,共16页
In the complex and variable deep-sea environment,the compensation control of ship motion ensures the safety and efficiency of equipment installation and transportation in offshore wind farms.However,the ship motion po... In the complex and variable deep-sea environment,the compensation control of ship motion ensures the safety and efficiency of equipment installation and transportation in offshore wind farms.However,the ship motion posture compensation control system is severely affected by uncertainties,which significantly impact the accuracy of compensation control.In this paper,we propose a ship three-degree-of-freedom(3-DoF)motion posture stabilization control method based on the DTW-LSTM-MATD3 algorithm.We use the multi-agent twin delayed deep deterministic policy gradient(MATD3)to control a platform with six electric cylinders to achieve stable control.However,owing to random noise affecting the ship’s motion posture,we use a dynamic time warping(DTW)algorithm to distinguish between high-frequency noise and low-frequency tracking signals.Further,we embed a long short-term memory(LSTM)network into the MATD3 network to better align the Critic network’s training with the true Q-value.We use a combined reward function to enhance the agent’s exploration capability in complex dynamic environments.Finally,verification was conducted under sixth-level,abrupt sea conditions with high-frequency noise,as well as under real abrupt sea conditions,and a generalization test was also carried out.Simulation results show that the proposed DTW-LSTM-MATD3 method has great compensation control ability. 展开更多
关键词 Compensation control Multi-agent twin delayed deep deterministic policy gradient(MATD3)algorithm Dynamic time warping(DTW)algorithm Long short-term memory(LSTM)network
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Genetic Algorithm Optimization Design of Gradient Conformal Chiral Metamaterials and 3D Printing Verifiction for Morphing Wings 认领 引用 被引量：1
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作者 Qian Zheng Weijun Zhu +3 位作者 Quan Zhi Henglun Sun Dongsheng Li Xilun Ding 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2024年第6期346-364,共19页
This paper proposes a gradient conformal design technique to modify the multi-directional stiffness characteristics of 3D printed chiral metamaterials,using various airfoil shapes.The method ensures the integrity of c... This paper proposes a gradient conformal design technique to modify the multi-directional stiffness characteristics of 3D printed chiral metamaterials,using various airfoil shapes.The method ensures the integrity of chiral cell nodal circles while improving load transmission efficiency and enhancing manufacturing precision for 3D printing applications.A parametric design framework,integrating finite element analysis and optimization modules,is developed to enhance the wing’s multidirectional stiffness.The optimization process demonstrates that the distribution of chiral structural ligaments and nodal circles significantly affects wing deformation.The stiffness gradient optimization results reveal a variation of over 78%in tail stiffness performance between the best and worst parameter combinations.Experimental outcomes suggest that this strategy can develop metamaterials with enhanced deformability,offering a promising approach for designing morphing wings. 展开更多
关键词 Morphing wings Chiral metamaterials Gradient conformal design Genetic algorithm optimization 3D printing
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引入经验加权回放机制的MATD3改进算法 认领 引用
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作者 蒙贤哲 张国 王华川 《指挥信息系统与技术》 2025年第3期21-27,共7页
在多智能体强化学习领域,多智能体系统样本利用效率低,多智能体双延迟深度确定性策略梯度(MATD3)算法收敛慢且鲁棒性差。针对上述问题,创新地将经验加权回放(EWR)机制融入MATD3算法。通过剖析相关原理,阐释了该机制提升算法性能的逻辑,... 在多智能体强化学习领域,多智能体系统样本利用效率低,多智能体双延迟深度确定性策略梯度(MATD3)算法收敛慢且鲁棒性差。针对上述问题,创新地将经验加权回放(EWR)机制融入MATD3算法。通过剖析相关原理,阐释了该机制提升算法性能的逻辑,并设计出融合后的算法MATD3-EWR。案例分析表明,与经典的MATD3算法相比,改进后的MATD3-EWR算法在多机器人协作场景中训练迭代次数减少了50%,决策准确率从70%提升至85%,且环境扰动下的性能波动标准差从0.08降至0.03,从而提高了稳定性。该算法为多智能体系统在复杂环境中的应用提供有力支持。 展开更多
关键词 多智能体系统 多智能体双延迟深度确定性策略梯度(MATD3)算法 经验加权回放(EWR)机制 训练效率 稳定性
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A novel approach to identify the spatial characteristics of ozone-precursor sensitivity based on interpretable machine learning 认领 引用
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作者 Huiling He Kaihui Zhao +6 位作者 Zibing Yuan Jin Shen Yujun Lin Shu Zhang Menglei Wang Anqi Wang Puyu Lian 《Journal of Environmental Sciences》 SCIE EI CAS CSCD 2026年第1期54-63,共10页
To curb the worsening tropospheric ozone(O3)pollution problem in China,a rapid and accurate identification of O3-precursor sensitivity(OPS)is a crucial prerequisite for formulating effective contingency O3 po... To curb the worsening tropospheric ozone(O3)pollution problem in China,a rapid and accurate identification of O3-precursor sensitivity(OPS)is a crucial prerequisite for formulating effective contingency O3 pollution control strategies.However,currently widely-used methods,such as statistical models and numerical models,exhibit inherent limitations in identifying OPS in a timely and accurate manner.In this study,we developed a novel approach to identify OPS based on eXtreme Gradient Boosting model,Shapley additive explanation(SHAP)al-gorithm,and volatile organic compound(VOC)photochemical decay adjustment,using the meteorology and speciated pollutant monitoring data as the input.By comparing the difference in SHAP values between base sce-nario and precursor reduction scenario for nitrogen oxides(NOx)and VOCs,OPS was divided into NOx-limited,VOCs-limited and transition regime.Using the long-lasting O3 pollution episode in the autumn of 2022 at the Guangdong-Hong Kong-Macao Greater Bay Area(GBA)as an example,we demonstrated large spatiotemporal heterogeneities of OPS over the GBA,which were generally shifted from NOx-limited to VOCs-limited from September to October and more inclined to be VOCs-limited at the central and NOx-limited in the peripheral areas.This study developed an innovative OPS identification method by comparing the difference in SHAP value before and after precursor emission reduction.Our method enables the accurate identification of OPS in the time scale of seconds,thereby providing a state-of-the-art tool for the rapid guidance of spatial-specific O3 control strategies. 展开更多
关键词 O3-precursor sensitivity Machine learning Extreme gradient boosting model Shapley algorithm Greater bay area
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Fast 3D forward modeling of the magnetic field and gradient tensor on an undulated surface 认领 引用 被引量：1
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作者 Li Kun Chen Long-Wei +4 位作者 Chen Qing-Rui Dai Shi-Kun Zhang Qian-Jiang Zhao Dong-Dong Ling Jia-Xuan 《Applied Geophysics》 SCIE CSCD 2018年第3期500-512,共13页
Magnetic field gradient tensor technique provides abundant data for delicate inversion of subsurface magnetic susceptibility distribution. Large scale magnetic data inversion imaging requires high speed and accuracy f... Magnetic field gradient tensor technique provides abundant data for delicate inversion of subsurface magnetic susceptibility distribution. Large scale magnetic data inversion imaging requires high speed and accuracy for forward modeling. For arbitrarily distributed susceptibility data on an undulated surface, we propose a fast 3D forward modeling method in the wavenumber domain based on(1) the wavenumber-domain expression of the prism combination model and the Gauss–FFT algorithm and(2) cubic spline interpolation. We apply the proposed 3D forward modeling method to synthetic data and use weighting coefficients in the wavenumber domain to improve the modeling for multiple observation surfaces, and also demonstrate the accuracy and efficiency of the proposed method. 展开更多
关键词 Undulated surface magnetic fi eld gradient tensor 3D forward modeling Gauss– FFT algorithm wavenumber domain
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An improved 3D shape haptic rendering algorithm for finger mounted vibrotactile device 认领 引用 被引量：1
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作者 Wu Juan Han Xiao Yang Huaining 《Journal of Southeast University(English Edition)》 EI CAS 2018年第3期317-322,共6页
To improve the sense of reality on perception, an improved algorithm of 3D shape haptic rendering is put forward based on a finger mounted vibrotactile device. The principle is that the interactive information and the... To improve the sense of reality on perception, an improved algorithm of 3D shape haptic rendering is put forward based on a finger mounted vibrotactile device. The principle is that the interactive information and the shape information are conveyed to users when they touch virtual objects at mobile terminals by attaching the vibrotactile feedback on a fingertip. The extraction of shape characteristics, the interactive information and the mapping of shape in formation of vibration stimulation are key parts of the proposed algorithm to realize the real tactile rendering. The contact status of the interaction process, the height information and local gradient of the touch point are regarded as shape information and used to control the vibration intension, rhythm and distribution of the vibrators. With different contact status and shape information, the vibration pattern can be adjusted in time to imitate the outlines of virtual objects. Finally, the effectiveness of the algorithm is verified by shape perception experiments. The results show that the improved algorithm is effective for 3D shape haptic rendering. 展开更多
关键词 finger mounted vibrotactile device 3D shapehaptic rendering algorithm contact status local gradient
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油气管道漏磁检测缺陷的三维成像技术 认领 引用 被引量：10
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作者 王长龙 纪凤珠 +1 位作者 王建斌 左宪章 《石油学报》 EI CAS 北大核心 2007年第5期146-148,152,共3页
漏磁检测是油气管道常用的无损检测方法,检测的重点是根据测量的漏磁信号重构缺陷的轮廓。提出了基于小波神经网络的三维成像方法,利用图像函数矩阵表达出管道缺陷的三维图像,矩阵元素值对应着缺陷的深度。利用小波神经网络,建立了由缺... 漏磁检测是油气管道常用的无损检测方法,检测的重点是根据测量的漏磁信号重构缺陷的轮廓。提出了基于小波神经网络的三维成像方法,利用图像函数矩阵表达出管道缺陷的三维图像,矩阵元素值对应着缺陷的深度。利用小波神经网络,建立了由缺陷漏磁信号到图像函数矩阵关系的映射。选用的小波函数是墨西哥草帽小波,采用随机梯度下降算法训练。训练样本为三维有限元仿真数据和测量数据。采用训练数据对小波神经网络进行逼近缺陷图像函数矩阵的训练,然后用训练好的小波神经网反演给定数据,重构缺陷图像。实验结果表明,该方法能够实现三维缺陷漏磁检测的成像化及可视化。 展开更多
关键词 油气管道 漏磁检测 缺陷重构 三维成像技术 小波神经网络 随机梯度下降算法
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3D reconstruction method based on contour features 认领 引用
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作者 HAN Bao-ling ZHU Ying +2 位作者 LUO Qing-sheng XU Bo ZHANG Tian 《Journal of Beijing Institute of Technology》 EI CAS 2016年第3期301-308,共8页
To guarantee the accuracy and real-time of the 3D reconstruction method for outdoor scene,an algorithm based on region segmentation and matching was proposed.Firstly,on the basis of morphological gradient information,... To guarantee the accuracy and real-time of the 3D reconstruction method for outdoor scene,an algorithm based on region segmentation and matching was proposed.Firstly,on the basis of morphological gradient information,obtained by comparing color weight gradient images and proposing a multi-threshold segmentation,scene contour features were extracted by a watershed algorithm and a fuzzy c-means clustering algorithm.Secondly,to reduce the search area,increase the correct matching ratio and accelerate the matching speed,the region constraint was established according to a region＇s local position,area and gray characteristics,the edge pixel constraint was established according to the epipolar constraint and the continuity constraint.Finally,by using the stereo matching edge pixel pairs,their 3D coordinates were estimated according to the binocular stereo vision imaging model.Experimental results show that the proposed method can yield a high stereo matching ratio and reconstruct a 3D scene quickly and efficiently. 展开更多
关键词 gradient map watershed algorithm fuzzy c-means clustering algorithm region con-straint contour matching 3D reconstruction
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Three-Dimensional Interferometric ISAR Sensors Imaging for the Ship Target with Two-Dimensional Sparsity 认领 引用
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作者 Yong Wang Xuefei Chen 《Journal of Harbin Institute of Technology(New Series)》 CAS 2019年第2期19-31,共13页
There are great challenges for traditional three-dimensional( 3-D) interferometric inverse synthetic aperture radar( In ISAR) imaging algorithms of ship targets w ith 2-D sparsity in actual radar imaging system. To de... There are great challenges for traditional three-dimensional( 3-D) interferometric inverse synthetic aperture radar( In ISAR) imaging algorithms of ship targets w ith 2-D sparsity in actual radar imaging system. To deal w ith this problem,a novel 3-D In ISAR imaging method is proposed in this paper.First,the high-precision gradient adaptive algorithm w as adopted to reconstruct the echoes in range dimension. Then the method of minimizing the entropy of the average range profile w as applied to estimate the parameters w hich are used to compensate translation components of the received echoes. Besides,the phase adjustment and image coregistration of the sparse echoes w ere achieved at the same time through the approach of the joint phase autofocus. Finally,the 3-D geometry coordinates of the ship target w ith 2-D sparsity w ere reconstructed by combining the range measurement and interferometric processing of the ISAR images. Simulation experiments w ere carried out to verify the practicability and effectiveness of the algorithm in the case that the received echoes are in 2-D sparsity. 展开更多
关键词 3-D InISAR 2-D sparsity gradient adaptive algorithm average range profile joint phase autofocus
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基于船舶兴波能量守恒的形状因子算法 认领 引用
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作者 王文华 顾溟宇 王言英 《船舶力学》 EI CSCD 北大核心 2015年第5期477-483,共7页
为了拓展传统的根据船模阻力试验数据确定形状因子计算方法的适用测量速度范围,文章提出了基于船舶兴波能量守恒的形状因子计算方法。该算法以兴波阻力系数的理论近似表达式取代ITTC(1978)方法的兴波阻力系数近似表达式,采用梯度下降最... 为了拓展传统的根据船模阻力试验数据确定形状因子计算方法的适用测量速度范围,文章提出了基于船舶兴波能量守恒的形状因子计算方法。该算法以兴波阻力系数的理论近似表达式取代ITTC(1978)方法的兴波阻力系数近似表达式,采用梯度下降最优算法对船模阻力试验数据进行数值拟合计算求得形状因子。以4250TEU集装箱船作为算例,将文中算法同传统的普鲁哈斯卡法和ITTC(1978)方法的计算结果进行了比较,验证了该算法的合理性和精确性。 展开更多
关键词 船舶阻力 三因次换算 形状因子 兴波能量守恒 梯度下降最优算法 集装箱船
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