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31.
模仿学习是机器人仿生机制研究的主要内容之一,即通过观察、理解、学习、模仿示教行为实现机器人的仿生特性。基于高斯过程分别表达采集离散示教信号所构成的示教轨迹和含有未知参数策略的模仿轨迹,构建模仿学习方法框架,将概率模型匹配引入到模仿学习中,以KL散度为代价函数比较两种轨迹的概率分布,运用梯度下降法寻求使KL散度最小的最优模仿控制策略,将策略应用于模仿机器人以完成与示教相同的模仿任务。以关节型机器人的机械臂摆动行为模仿为学习任务进行仿真,结果表明基于概率轨迹匹配的模仿学习方法能够实现机械臂摆动行为模仿,学习过程较传统方法简易且学习效果较好。 相似文献
32.
Lu Jun Ruan Qiuqi 《电子科学学刊(英文版)》2006,23(6):882-887
This paper focuses on the quantitative analysis issue of the routing metrics tradeoff problem, and presents a Quantified Cost-Balanced overlay multicast routing scheme (QCost-Balanced) to the metric tradeoff problem between overlay path delay and access bandwidth at Multicast Server Nodes (MSN) for real-time applications over Internet. Besides implementing a dynamic priority to MSNs by weighing the size of its service clients for better efficiency, QCost-Balanced tradeoffs these two metrics by a unified tradeoff metric based on quantitative analysis. Simulation experiments demonstrate that the scheme achieves a better tradeoff gain in both two metrics, and effective performance in metric quantitative control. 相似文献
33.
It is well known that for a Brownian motion, if we change the medium to be inhomogeneous by a measure μ, then the new motion(the time-changed process) will diffuse according to a different metric D(·, ·).In 2009, Kigami initiated a general scheme to construct such metrics through some self-similar weight functions g on the symbolic space. In order to provide concrete models to Kigami’s theoretical construction, in this paper,we give a thorough study of his metric on two classes of fractals of pr... 相似文献
34.
The thermal properties of a nanostructured semiconductor are affected by multi-physical fields,such as stress and electromagnetic fields,causing changes in temperature and strain distributions.In this work,the influence of stress-dependent thermal conductivity on the heat transfer behavior of a GaN-based nanofilm is investigated.The finite element method is adopted to simulate the temperature distribution in a prestressed nanofilm under heat pulses.Numerical results demonstrate the effect of stress field on the thermal conductivity of GaN-based nanofilm,namely,the prestress and the thermal stress lead to a change in the heat transfer behavior in the nanofilm.Under the same heat source,the peak temperature of the film with stress-dependent thermal conductivity is significantly lower than that of the film with a constant thermal conductivity and the maximum temperature difference can reach 8.2 K.These results could be useful for designing GaN-based semiconductor devices with higher reliability under multi-physical fields. 相似文献
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Enhanced transmission through periodic arrays of subwavelength holes: the role of localized waveguide resonances 总被引:1,自引:0,他引:1
By using the rigid full-vectorial three-dimensional finite-difference time-domain method, we show that the enhanced transmission through a metallic film with a periodic array of subwavelength holes results from two different resonances: (i) localized waveguide resonances where each air hole can be considered as a section of metallic waveguide with both ends open to free space, forming a low-quality-factor resonator, and (ii) well-recognized surface plasmon resonances due to the periodicity. These two different resonances can be characterized from electromagnetic band structures in the structured metal film. In addition, we show that the shape effect in the enhanced transmission through the Au film with subwavelength holes is attributed to the localized waveguide resonance. 相似文献
38.
H. Qi D.L. Wang L.M. Ruan 《Journal of Quantitative Spectroscopy & Radiative Transfer》2011,112(15):2507-2519
Particle Swarm Optimization (PSO) algorithms, including standard PSO, Stochastic PSO, and Multi-Phase PSO, are applied to solve the time-domain inverse transient radiation problems in the present research. Time-resolved transmittance and reflectance signals of four different measuring models serve as the measurement data, which estimate absorption, scattering coefficients, and geometric position within one-dimensional non-homogeneous media by inverse simulation. To check retrieval performances and accuracies of PSO-based approaches, four different inverse transient radiation cases are investigated to deal with one homogeneous layer, two-layer, three-layer, and continuous non-homogenous media. The influences of different searching ranges, swarm sizes, and maximum fly velocities on the fitness function of PSO are discussed. Meanwhile, the effects of measurement errors on the reconstruction accuracy are also investigated. All the results confirm that radiative parameters could be estimated accurately with measurement noise using PSO-based approaches. 相似文献
39.
微波电真空器件随着频率的升高,不但聚焦系统难以实现,而且其输出增益和带宽都受到很大的限制,要解决该问题,建议采用扩展互作用速调管,采用分布作用谐振腔技术来扩展其工作带宽和提高增益。利用CST和粒子模拟(PIC)3维软件对其工作在Ku波段扩展互作用速调管进行了设计和仿真,在工作电压30 kV、束流8.5 A的条件下,聚焦系统采用幅值为0.48 T的周期反转永磁聚焦,在输入功率为5.1 W时,得到效率为23%,3 dB带宽为306 MHz,频带内最大增益为39 dB,其峰值功率为58 kW的微波输出。 相似文献
40.
~(252)Cf同位素源具有标准的自发裂变中子能谱,但由于其半衰期较短,应用中常需要对源强进行标定修正.随着源年龄增加,来自源中~(250)Cf和~(248)Cm自发裂变的影响愈加凸显,不能简单按~(252)Cf的衰变规律计算源中子发射率,而通过锰浴活化的间接测量方法周期较长,且在源强低于10~4 n/s时误差较大.最近,基于中子多重性计数的源强绝对测量算法已得到验证.本文进一步从点模型假设的测量方程出发,在将符合计数率与总中子计数率关联的基础上,分别对符合计数率随源位置、符合门宽的变化关系进行回归分析,提取变化过程的特征系数,建立了两种避规效率变化的~(252)Cf中子发射率测量方法,并基于JCC-51型中子符合测量装置开展实验验证.结果表明:两种回归分析方法的测量值均与标称值的修正结果在2%的偏差范围内一致;反推求得装置中轴线上的探测效率也与基于MCNPX程序的蒙特卡罗模拟计算值相符.研究结果可为活度信息不明的~(252)Cf源强标定及符合测量装置的效率刻度提供便携准确的实验方法. 相似文献