堆叠覆盖环境下的机械臂避障抓取是一个重要且有挑战性的任务。针对机械臂在堆叠环境下的避障抓取任务,本文提出了一种基于图像编码器和深度强化学习(deep reinforcement learning,DRL)的机械臂避障抓取方法Ec-DSAC(encoder and crop fo...堆叠覆盖环境下的机械臂避障抓取是一个重要且有挑战性的任务。针对机械臂在堆叠环境下的避障抓取任务,本文提出了一种基于图像编码器和深度强化学习(deep reinforcement learning,DRL)的机械臂避障抓取方法Ec-DSAC(encoder and crop for discrete SAC)。首先设计结合YOLO(you only look once)v5和对比学习网络编码的图像编码器,能够编码关键特征和全局特征,实现像素信息至向量信息的降维。其次结合图像编码器和离散软演员-评价家(soft actor-critic,SAC)算法,设计离散动作空间和密集奖励函数约束并引导策略输出的学习方向,同时使用随机图像裁剪增加强化学习的样本效率。最后,提出了一种应用于深度强化学习预训练的二次行为克隆方法,增强了强化学习网络的学习能力并提高了控制策略的成功率。仿真实验中Ec-DSAC的避障抓取成功率稳定高于80.0%,验证其具有比现有方法更好的避障抓取性能。现实实验中避障抓取成功率为73.3%,验证其在现实堆叠覆盖环境下避障抓取的有效性。展开更多
The aim of this study is to investigate microbial structures and diversities in five active hydrothermal fields＇ sediments along the Eastern Lau Spreading Centre （ELSC） in the Lau Basin （southwest Pacific）. Micro...The aim of this study is to investigate microbial structures and diversities in five active hydrothermal fields＇ sediments along the Eastern Lau Spreading Centre （ELSC） in the Lau Basin （southwest Pacific）. Microbial communities were surveyed by denatured gradient gel electrophoresis （DGGE） and clone library analysis of 16S rRNA genes. The differences in microbial community structures among sediment samples from the five deep-sea hydrothermal sites were revealed by DGGE profiles. Cluster analysis of DGGE profiles sepa- rated the five hydrothermal samples into two groups. Four different 16S rRNA gene clone libraries, repre- senting two selected hydrothermal samples （19-4TVG8 and 19-4TVG11）, were constructed. Twenty-three and 32 phylotypes were identified from 166 and 160 bacterial clones respectively, including Proteobacteria, Bacteroidetes, Firmicutes, Nitrospirae and Planctomycetes. The phylum Proteobacteria is dominant in both bacterial libraries with a predominance of Gamma-Proteobacteria. A total of 31 and 25 phylotypes were obtained from 160 and 130 archaeal clones respectively, including Miscellaneous Crenarchaeotic Group, Marine Group Ⅰ and Ⅲ, Marine Benthic Group E, Terrestrial Hot Spring Crenarchaeota and Deep-sea Hy- drothermal Vent Euryarchaeota. These results show a variety of clones related to those involved in sulfur cycling, suggesting that the cycling and utilization of sulfur compounds may extensively occur in the Lau Basin deep-sea hydrothermal ecosystem.展开更多
文摘堆叠覆盖环境下的机械臂避障抓取是一个重要且有挑战性的任务。针对机械臂在堆叠环境下的避障抓取任务,本文提出了一种基于图像编码器和深度强化学习(deep reinforcement learning,DRL)的机械臂避障抓取方法Ec-DSAC(encoder and crop for discrete SAC)。首先设计结合YOLO(you only look once)v5和对比学习网络编码的图像编码器,能够编码关键特征和全局特征,实现像素信息至向量信息的降维。其次结合图像编码器和离散软演员-评价家(soft actor-critic,SAC)算法,设计离散动作空间和密集奖励函数约束并引导策略输出的学习方向,同时使用随机图像裁剪增加强化学习的样本效率。最后,提出了一种应用于深度强化学习预训练的二次行为克隆方法,增强了强化学习网络的学习能力并提高了控制策略的成功率。仿真实验中Ec-DSAC的避障抓取成功率稳定高于80.0%,验证其具有比现有方法更好的避障抓取性能。现实实验中避障抓取成功率为73.3%,验证其在现实堆叠覆盖环境下避障抓取的有效性。
基金Foundation item: The China Ocean Mineral Resources Research and Development Association under contract No. DYXM-115-02-2-07the State Oceanic Administration of People’s Republic of China under contract No. 200805032the National Natural Science Foundation of China under contract Nos 50621063 and 40646029
文摘The aim of this study is to investigate microbial structures and diversities in five active hydrothermal fields＇ sediments along the Eastern Lau Spreading Centre （ELSC） in the Lau Basin （southwest Pacific）. Microbial communities were surveyed by denatured gradient gel electrophoresis （DGGE） and clone library analysis of 16S rRNA genes. The differences in microbial community structures among sediment samples from the five deep-sea hydrothermal sites were revealed by DGGE profiles. Cluster analysis of DGGE profiles sepa- rated the five hydrothermal samples into two groups. Four different 16S rRNA gene clone libraries, repre- senting two selected hydrothermal samples （19-4TVG8 and 19-4TVG11）, were constructed. Twenty-three and 32 phylotypes were identified from 166 and 160 bacterial clones respectively, including Proteobacteria, Bacteroidetes, Firmicutes, Nitrospirae and Planctomycetes. The phylum Proteobacteria is dominant in both bacterial libraries with a predominance of Gamma-Proteobacteria. A total of 31 and 25 phylotypes were obtained from 160 and 130 archaeal clones respectively, including Miscellaneous Crenarchaeotic Group, Marine Group Ⅰ and Ⅲ, Marine Benthic Group E, Terrestrial Hot Spring Crenarchaeota and Deep-sea Hy- drothermal Vent Euryarchaeota. These results show a variety of clones related to those involved in sulfur cycling, suggesting that the cycling and utilization of sulfur compounds may extensively occur in the Lau Basin deep-sea hydrothermal ecosystem.
