针对工业装配任务,尤其是不规则轴孔工件装配中,基于学习的前期样本质量低、训练过程不稳定等问题,提出一种融合引斥力模型(Attraction-Repulsion Model,ARM)引导机制和长短期记忆网络(Long Short Term Memory,LSTM)的柔性演员-评论家(S...针对工业装配任务,尤其是不规则轴孔工件装配中,基于学习的前期样本质量低、训练过程不稳定等问题,提出一种融合引斥力模型(Attraction-Repulsion Model,ARM)引导机制和长短期记忆网络(Long Short Term Memory,LSTM)的柔性演员-评论家(Soft Actor-Critic,SAC)算法。首先,为解决训练初期探索效率低的问题,提出一种基于引斥力模型的策略引导机制,通过目标位置信息引导机械臂运动,加速收敛过程;其次,基于长短期记忆网络对算法的策略网络和价值网络进行改进,有效利用历史信息,增强策略学习能力,提高算法的收敛速度和稳定性。仿真结果表明,所提出的算法在行星减速器中心轴装配任务中取得显著的效果,装配成功率高达99.4%,与普通SAC算法相比,平均最大接触力和力矩分别降低了68.8%和79.2%。在物理环境中装配成功率达95%以上,最大接触力和力矩分别小于10 N和1.5 N·m,验证了算法的有效性。展开更多
为了准确判断电池可用容量,采用长短期记忆神经网络对电池容量进行估算。首先分析电池各参数全生命周期变化曲线,计算其与电池容量之间的皮尔逊相关系数,选择电池电压、内阻、等压降时间等参数作为健康因子构建电池容量估计模型。使用...为了准确判断电池可用容量,采用长短期记忆神经网络对电池容量进行估算。首先分析电池各参数全生命周期变化曲线,计算其与电池容量之间的皮尔逊相关系数,选择电池电压、内阻、等压降时间等参数作为健康因子构建电池容量估计模型。使用美国先进寿命周期工程中心CALCE(Center for Advanced Life Cycle Engineering)电池数据集进行模型训练并估算电池容量,估计模型的平均百分误差为1.19%。分析估算误差产生的原因,通过电池初始容量参数修正和电池老化参数修正进行模型优化。优化结果表明,使用电池电压、内阻、恒流充电时间和4.0~3.4 V等压降时间构建模型估计误差在0.55%左右。展开更多
Complicated loads encountered by floating offshore wind turbines(FOWTs)in real sea conditions are crucial for future optimization of design,but obtaining data on them directly poses a challenge.To address this issue,w...Complicated loads encountered by floating offshore wind turbines(FOWTs)in real sea conditions are crucial for future optimization of design,but obtaining data on them directly poses a challenge.To address this issue,we applied machine learning techniques to obtain hydrodynamic and aerodynamic loads of FOWTs by measuring platform motion responses and wave-elevation sequences.First,a computational fluid dynamics(CFD)simulation model of the floating platform was established based on the dynamic fluid body interaction technique and overset grid technology.Then,a long short-term memory(LSTM)neural network model was constructed and trained to learn the nonlinear relationship between the waves,platform-motion inputs,and hydrodynamic-load outputs.The optimal model was determined after analyzing the sensitivity of parameters such as sample characteristics,network layers,and neuron numbers.Subsequently,the effectiveness of the hydrodynamic load model was validated under different simulation conditions,and the aerodynamic load calculation was completed based on the D'Alembert principle.Finally,we built a hybrid-scale FOWT model,based on the software in the loop strategy,in which the wind turbine was replaced by an actuation system.Model tests were carried out in a wave basin and the results demonstrated that the root mean square errors of the hydrodynamic and aerodynamic load measurements were 4.20%and 10.68%,respectively.展开更多
文摘针对工业装配任务,尤其是不规则轴孔工件装配中,基于学习的前期样本质量低、训练过程不稳定等问题,提出一种融合引斥力模型(Attraction-Repulsion Model,ARM)引导机制和长短期记忆网络(Long Short Term Memory,LSTM)的柔性演员-评论家(Soft Actor-Critic,SAC)算法。首先,为解决训练初期探索效率低的问题,提出一种基于引斥力模型的策略引导机制,通过目标位置信息引导机械臂运动,加速收敛过程;其次,基于长短期记忆网络对算法的策略网络和价值网络进行改进,有效利用历史信息,增强策略学习能力,提高算法的收敛速度和稳定性。仿真结果表明,所提出的算法在行星减速器中心轴装配任务中取得显著的效果,装配成功率高达99.4%,与普通SAC算法相比,平均最大接触力和力矩分别降低了68.8%和79.2%。在物理环境中装配成功率达95%以上,最大接触力和力矩分别小于10 N和1.5 N·m,验证了算法的有效性。
文摘为了准确判断电池可用容量,采用长短期记忆神经网络对电池容量进行估算。首先分析电池各参数全生命周期变化曲线,计算其与电池容量之间的皮尔逊相关系数,选择电池电压、内阻、等压降时间等参数作为健康因子构建电池容量估计模型。使用美国先进寿命周期工程中心CALCE(Center for Advanced Life Cycle Engineering)电池数据集进行模型训练并估算电池容量,估计模型的平均百分误差为1.19%。分析估算误差产生的原因,通过电池初始容量参数修正和电池老化参数修正进行模型优化。优化结果表明,使用电池电压、内阻、恒流充电时间和4.0~3.4 V等压降时间构建模型估计误差在0.55%左右。
基金This work is supported by the National Key Research and Development Program of China(No.2023YFB4203000)the National Natural Science Foundation of China(No.U22A20178)
文摘Complicated loads encountered by floating offshore wind turbines(FOWTs)in real sea conditions are crucial for future optimization of design,but obtaining data on them directly poses a challenge.To address this issue,we applied machine learning techniques to obtain hydrodynamic and aerodynamic loads of FOWTs by measuring platform motion responses and wave-elevation sequences.First,a computational fluid dynamics(CFD)simulation model of the floating platform was established based on the dynamic fluid body interaction technique and overset grid technology.Then,a long short-term memory(LSTM)neural network model was constructed and trained to learn the nonlinear relationship between the waves,platform-motion inputs,and hydrodynamic-load outputs.The optimal model was determined after analyzing the sensitivity of parameters such as sample characteristics,network layers,and neuron numbers.Subsequently,the effectiveness of the hydrodynamic load model was validated under different simulation conditions,and the aerodynamic load calculation was completed based on the D'Alembert principle.Finally,we built a hybrid-scale FOWT model,based on the software in the loop strategy,in which the wind turbine was replaced by an actuation system.Model tests were carried out in a wave basin and the results demonstrated that the root mean square errors of the hydrodynamic and aerodynamic load measurements were 4.20%and 10.68%,respectively.
文摘目的探讨自回归移动平均模型-长短期记忆(autoregressive integrated moving average-long short-term memory,ARIMA-LSTM)组合模型在肾综合征出血热(hemorrhagic fever with renal syndrome,HFRS)不同流行模式发病率预测中应用的可行性。方法收集1961—2020年全国HFRS年发病率、2004年1月至2020年12月全国、黑龙江省、吉林省、辽宁省、陕西省、山东省、河北省、广东省HFRS逐月发病率数据;全国及黑龙江省作为冬峰较春峰高代表,吉林省、辽宁省作为春峰与冬峰相当代表,陕西省、山东省作为仅存在冬峰代表,河北省、广东省作为仅存在春峰代表。1961—2014年逐年发病率、2004年1月至2020年6月逐月发病率数据作为训练集,2015—2020年逐年发病率、2020年7-12月逐月发病率数据作为测试集。分别建立ARIMA模型、ARIMA-LSTM组合模型,采用平均绝对百分比误差下降率(decline rate of mean absolute percentage error,DR_(MAPE))、均方根误差下降率(decline rate of root mean squared error,DRRMSE)评价模型拟合及预测精度优化程度。结果全国逐年、全国及黑龙江省、吉林省、辽宁省、陕西省、山东省、河北省、广东省逐月HFRS发病率拟合最佳ARIMA模型分别为ARIMA(2,0,0)、ARIMA(3,1,0)(2,1,1)_(12)、ARIMA(2,0,1)(2,1,1)_(12)、ARIMA(3,0,0)(2,1,1)_(12)含常数项、ARIMA(2,1,1)(2,1,1)_(12)、ARIMA(1,0,3)(1,1,0)_(12)、ARIMA(0,1,3)(2,1,1)_(12)、ARIMA(1,1,3)(2,0,0)_(12)、ARIMA(3,1,1)(1,1,1)_(12)。全国逐年、全国及黑龙江省、吉林省、辽宁省、陕西省、山东省、河北省、广东省逐月数据建立ARIMA-LSTM组合模型较ARIMA模型拟合的DR_(MAPE)依次为-19.57%、-46.38%、-43.27%、-46.37%、-49.70%、-48.36%、-58.23%、-35.52%、-48.74%;DRRMSE依次为-11.21%、-36.17%、-64.89%、-55.68%、-54.81%、-31.76%、-39.69%、-55.64%、-30.06%。全国逐年、全国及黑龙江省、吉林省、辽宁省、陕西省、山东省、河北省、广东省逐月数据建立ARIMA-LSTM组合模型较ARIMA模型预测的DR_(MAPE)依次为-11.10%、-8.69%、-19.68%、-36.17%、-55.57%、-9.44%、-14.60%、-14.22%、-9.26%;DRRMSE依次为-14.43%、-7.42%、-12.66%、-13.83%、-36.56%、10.37%、81.14%、-19.68%、-1.18%。结论ARIMA-LSTM组合模型总体在各类HFRS数据中拟合及预测效果均优于ARIMA模型,LSTM适于我国HFRS预测模型优化,但陕西省和山东省不适于ARIMA-LSTM预测。
文摘针对不同磁密幅值、频率、谐波组合等复杂激励工况下磁致伸缩建模面临的精准性问题,该文利用空间注意力机制(spatial attention mechanism,SAM)对传统的卷积神经网络(convolutional neural network,CNN)进行改进,将SAM嵌套入CNN网络中,建立SAMCNN改进型网络。再结合双向长短期记忆(bidirectional long short-term memory,BiLSTM)网络,提出电工钢片SAMCNN-BiLSTM磁致伸缩模型。首先,利用灰狼优化算法(grey wolf optimization,GWO)寻优神经网络结构的参数,实现复杂工况下磁致伸缩效应的准确表征;然后,建立中低频范围单频与叠加谐波激励等复杂工况下的磁致伸缩应变数据库,开展数据预处理与特征分析;最后,对SAMCNN-BiLSTM模型开展对比验证。对比叠加3次谐波激励下的磁致伸缩应变频谱主要分量,SAMCNN-BiLSTM模型计算值最大相对误差为3.70%,其比Jiles-Atherton-Sablik(J-A-S)、二次畴转等模型能更精确地表征电工钢片的磁致伸缩效应。
