In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),...In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),a control architecture designed specifically for distributed aerial robot systems.By integrating an explicit model predictive controller(MPC)with a tube MPC,our approach significantly reduces online computational demands while enhancing robustness against disturbances such as wind and measurement noise,as well as uncertainties in inertia parameters.Further,we incorporate a cascade controller to minimize steady-state errors and improve system performance dynamically.The results of this assessment provide valuable insights into the effectiveness and reliability of the CET-MPC approach under realistic operating conditions.The simulation results of flight scenarios for multi-agent quadrotors demonstrate the controller’s stability and accurate tracking of the desired path.By addressing the complexities of quadrotors’six degrees of freedom,this controller serves as a versatile solution applicable to a wide range of multi-robot systems with varying degrees of freedom,demonstrating its adaptability and scalability beyond the quadrotor domain.展开更多
Although currently,a large part of the existing buildings is considered inefficient in terms of energy,the ability to save energy consumption up to 80%has been proven in residential and commercial buildings.Also,carbo...Although currently,a large part of the existing buildings is considered inefficient in terms of energy,the ability to save energy consumption up to 80%has been proven in residential and commercial buildings.Also,carbon dioxide is one of the most important greenhouse gases contributing to climate change and is responsible for 60%of global warming.The facade of the building,as the main intermediary between the interior and exterior spaces,plays a significant role in adjusting the weather conditions and providing thermal comfort to the residents.In this research,715 different scenarios were defined with the combination of various types of construction materials,and the effect of each of these scenarios on the process of energy loss from the surface of the external walls of the building during the operation period was determined.In the end,these scenarios were compared during a one-year operation period,and the amount of energy consumption in each of these scenarios was calculated.Also,bymeasuring the amount of carbon emissions in buildings during the operation period and before that,let’s look at practical methods to reduce the effects of the construction industry on the environment.By comparing the research findings,it can be seen that the ranking of each scenario in terms of total energy consumption is not necessarily the same as the ranking of energy consumption for gas consumption or electricity consumption for the same scenario.That is,choosing the optimal scenario depends on the type of energy consumed in the building.Finally,we determined the scenarios with the lowest and highest amounts of embodied and operational carbon.In the end,we obtained the latent carbon compensation period for each scenario.This article can help designers and construction engineers optimize the energy consumption of buildings by deciding on the right materials.展开更多
This year summarizes the experience of industrialization of vacuum glazing in the past twenty years.A series of technical difficulties have been solved to start the first global mass production of high-quality vacuum ...This year summarizes the experience of industrialization of vacuum glazing in the past twenty years.A series of technical difficulties have been solved to start the first global mass production of high-quality vacuum glass.High quality means high performance and long life which are interrelated.A mass production line must be able to achieve these two requirements if it is to produce vacuum glazing products that can be accepted by the society.With a U-value of 0.4 W/m²·K based on Low-E(low emissivity)with an emissivity of 0.03 the door is wide open for further solutions.Time,gradually to improve costs,maximizes output and develops innovative solutions of advanced window and façade systems combining complete new features like smart glasses,intelligent lamella systems in hybrid VG-IG solutions changing the building world towards“Energy plus Houses”.Market demand will rapidly increase with completely new options.Cost saving means to balance additional advantages for savings against system costs of window or façade elements.Due to promotion of energy saving and emission reduction,both,subjective and objective conditions for industrialization of vacuum glasses are perfect;the building world is waiting for it,since long.There is a lot to investigate and to gain for business success.展开更多
Implicit and explicit analyses were examined with experimental work done by Razaqpur et al. In the experiment work, two 1000 × 1000 × 70 mm reinforced concrete slabs were constructed. The slabs were subjecte...Implicit and explicit analyses were examined with experimental work done by Razaqpur et al. In the experiment work, two 1000 × 1000 × 70 mm reinforced concrete slabs were constructed. The slabs were subjected to blast loads generated by the detonation of either 22.4 kg or 33.4 kg of ANFO located at a 3.0 m standoff. Blast wave characteristics, including incident and reflected pressures and reflected impulses were measured. The slabs were modeled by implicit and explicit analysis to study their behavior under blast load to compare their predicted and observed behavior. The post-blast damage and mode of failure of each slab were observed. It was concluded that explicit analysis provides better modeling than implicit analysis.展开更多
Using Euler’s first-order explicit(EE)method and the peridynamic differential operator(PDDO)to discretize the time and internal crystal-size derivatives,respectively,the Euler’s first-order explicit method–peridyna...Using Euler’s first-order explicit(EE)method and the peridynamic differential operator(PDDO)to discretize the time and internal crystal-size derivatives,respectively,the Euler’s first-order explicit method–peridynamic differential operator(EE–PDDO)was obtained for solving the one-dimensional population balance equation in crystallization.Four different conditions during crystallization were studied:size-independent growth,sizedependent growth in a batch process,nucleation and size-independent growth,and nucleation and size-dependent growth in a continuous process.The high accuracy of the EE–PDDO method was confirmed by comparing it with the numerical results obtained using the second-order upwind and HR-van methods.The method is characterized by non-oscillation and high accuracy,especially in the discontinuous and sharp crystal size distribution.The stability of the EE–PDDO method,choice of weight function in the PDDO method,and optimal time step are also discussed.展开更多
Fujian cuisine is a distinctive Chinese cuisine.Today,there are many faults and mistakes in the translation of the dish names,which leads to the failure and inconvenience of cross-cultural communication.The paper is a...Fujian cuisine is a distinctive Chinese cuisine.Today,there are many faults and mistakes in the translation of the dish names,which leads to the failure and inconvenience of cross-cultural communication.The paper is an attempt to probe into the appropriate translation of Fujian dish names by the employment of explicitation.展开更多
Based on corpus-related software and strategic framework of explicitation translation in applied texts,this paper uses Report on the Work of the Government as an example and explore the explicitation in political text...Based on corpus-related software and strategic framework of explicitation translation in applied texts,this paper uses Report on the Work of the Government as an example and explore the explicitation in political texts.According to the research results,political texts have shown explicitation in four sectors of the framework,especially the sector of first person plural pronouns,with quantity,language,culture,and others as influential factors.展开更多
阿尔茨海默病(Alzheimer’s Disease,AD)是一种慢性神经系统退行性疾病,其准确分类有助于实现AD的早期诊断,从而及时采取针对性的治疗和干预措施.本文提出了一种最近邻域聚合图神经网络(Graph neural network with nearest Neighborhood...阿尔茨海默病(Alzheimer’s Disease,AD)是一种慢性神经系统退行性疾病,其准确分类有助于实现AD的早期诊断,从而及时采取针对性的治疗和干预措施.本文提出了一种最近邻域聚合图神经网络(Graph neural network with nearest Neighborhood AgGrEgation,GraphNAGE)的AD分类新方法.首先进行图数据建模,将AD数据样本表示为图数据.采用基于互信息(Mutual Information,MI)的特征选择方法,从样本的114维大脑皮层与皮层下感兴趣区域(Cerebral Cortex and Subcortical Regions Of Interest,CCS-ROI)的体积特征中选取重要性高的体积特征,并将其用于节点建模.提出基于相似性度量的关系建模方法,利用重要性高的体积特征、遗传基因、人口统计信息和认知评分对样本之间的关系进行建模.进而构建GraphNAGE,针对每个节点,基于与该节点相关的边的权重进行最近邻域采样,然后使用均值聚合方法对采样得到的邻居节点和中心节点的数据进行聚合,最后通过一个全连接层和一个Softmax层实现AD分类.在TADPOLE(The Alzheimer’s Disease Prediction Of Longitudinal Evolution)数据集上进行实验,结果表明:本文提出的AD分类方法的准确率(ACCuracy,ACC)为98.20%,F_(1)分数为97.34%,曲线下面积(Area Under Curve,AUC)为97.80%.实验结果表明:本文提出的AD分类方法充分利用了AD数据样本之间的相关性,其性能优于传统的基于机器学习、深度学习和图神经网络(Graph Neural Network,GNN)的AD分类方法.展开更多
文摘In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),a control architecture designed specifically for distributed aerial robot systems.By integrating an explicit model predictive controller(MPC)with a tube MPC,our approach significantly reduces online computational demands while enhancing robustness against disturbances such as wind and measurement noise,as well as uncertainties in inertia parameters.Further,we incorporate a cascade controller to minimize steady-state errors and improve system performance dynamically.The results of this assessment provide valuable insights into the effectiveness and reliability of the CET-MPC approach under realistic operating conditions.The simulation results of flight scenarios for multi-agent quadrotors demonstrate the controller’s stability and accurate tracking of the desired path.By addressing the complexities of quadrotors’six degrees of freedom,this controller serves as a versatile solution applicable to a wide range of multi-robot systems with varying degrees of freedom,demonstrating its adaptability and scalability beyond the quadrotor domain.
文摘Although currently,a large part of the existing buildings is considered inefficient in terms of energy,the ability to save energy consumption up to 80%has been proven in residential and commercial buildings.Also,carbon dioxide is one of the most important greenhouse gases contributing to climate change and is responsible for 60%of global warming.The facade of the building,as the main intermediary between the interior and exterior spaces,plays a significant role in adjusting the weather conditions and providing thermal comfort to the residents.In this research,715 different scenarios were defined with the combination of various types of construction materials,and the effect of each of these scenarios on the process of energy loss from the surface of the external walls of the building during the operation period was determined.In the end,these scenarios were compared during a one-year operation period,and the amount of energy consumption in each of these scenarios was calculated.Also,bymeasuring the amount of carbon emissions in buildings during the operation period and before that,let’s look at practical methods to reduce the effects of the construction industry on the environment.By comparing the research findings,it can be seen that the ranking of each scenario in terms of total energy consumption is not necessarily the same as the ranking of energy consumption for gas consumption or electricity consumption for the same scenario.That is,choosing the optimal scenario depends on the type of energy consumed in the building.Finally,we determined the scenarios with the lowest and highest amounts of embodied and operational carbon.In the end,we obtained the latent carbon compensation period for each scenario.This article can help designers and construction engineers optimize the energy consumption of buildings by deciding on the right materials.
文摘This year summarizes the experience of industrialization of vacuum glazing in the past twenty years.A series of technical difficulties have been solved to start the first global mass production of high-quality vacuum glass.High quality means high performance and long life which are interrelated.A mass production line must be able to achieve these two requirements if it is to produce vacuum glazing products that can be accepted by the society.With a U-value of 0.4 W/m²·K based on Low-E(low emissivity)with an emissivity of 0.03 the door is wide open for further solutions.Time,gradually to improve costs,maximizes output and develops innovative solutions of advanced window and façade systems combining complete new features like smart glasses,intelligent lamella systems in hybrid VG-IG solutions changing the building world towards“Energy plus Houses”.Market demand will rapidly increase with completely new options.Cost saving means to balance additional advantages for savings against system costs of window or façade elements.Due to promotion of energy saving and emission reduction,both,subjective and objective conditions for industrialization of vacuum glasses are perfect;the building world is waiting for it,since long.There is a lot to investigate and to gain for business success.
文摘Implicit and explicit analyses were examined with experimental work done by Razaqpur et al. In the experiment work, two 1000 × 1000 × 70 mm reinforced concrete slabs were constructed. The slabs were subjected to blast loads generated by the detonation of either 22.4 kg or 33.4 kg of ANFO located at a 3.0 m standoff. Blast wave characteristics, including incident and reflected pressures and reflected impulses were measured. The slabs were modeled by implicit and explicit analysis to study their behavior under blast load to compare their predicted and observed behavior. The post-blast damage and mode of failure of each slab were observed. It was concluded that explicit analysis provides better modeling than implicit analysis.
文摘Using Euler’s first-order explicit(EE)method and the peridynamic differential operator(PDDO)to discretize the time and internal crystal-size derivatives,respectively,the Euler’s first-order explicit method–peridynamic differential operator(EE–PDDO)was obtained for solving the one-dimensional population balance equation in crystallization.Four different conditions during crystallization were studied:size-independent growth,sizedependent growth in a batch process,nucleation and size-independent growth,and nucleation and size-dependent growth in a continuous process.The high accuracy of the EE–PDDO method was confirmed by comparing it with the numerical results obtained using the second-order upwind and HR-van methods.The method is characterized by non-oscillation and high accuracy,especially in the discontinuous and sharp crystal size distribution.The stability of the EE–PDDO method,choice of weight function in the PDDO method,and optimal time step are also discussed.
文摘Fujian cuisine is a distinctive Chinese cuisine.Today,there are many faults and mistakes in the translation of the dish names,which leads to the failure and inconvenience of cross-cultural communication.The paper is an attempt to probe into the appropriate translation of Fujian dish names by the employment of explicitation.
文摘Based on corpus-related software and strategic framework of explicitation translation in applied texts,this paper uses Report on the Work of the Government as an example and explore the explicitation in political texts.According to the research results,political texts have shown explicitation in four sectors of the framework,especially the sector of first person plural pronouns,with quantity,language,culture,and others as influential factors.
文摘阿尔茨海默病(Alzheimer’s Disease,AD)是一种慢性神经系统退行性疾病,其准确分类有助于实现AD的早期诊断,从而及时采取针对性的治疗和干预措施.本文提出了一种最近邻域聚合图神经网络(Graph neural network with nearest Neighborhood AgGrEgation,GraphNAGE)的AD分类新方法.首先进行图数据建模,将AD数据样本表示为图数据.采用基于互信息(Mutual Information,MI)的特征选择方法,从样本的114维大脑皮层与皮层下感兴趣区域(Cerebral Cortex and Subcortical Regions Of Interest,CCS-ROI)的体积特征中选取重要性高的体积特征,并将其用于节点建模.提出基于相似性度量的关系建模方法,利用重要性高的体积特征、遗传基因、人口统计信息和认知评分对样本之间的关系进行建模.进而构建GraphNAGE,针对每个节点,基于与该节点相关的边的权重进行最近邻域采样,然后使用均值聚合方法对采样得到的邻居节点和中心节点的数据进行聚合,最后通过一个全连接层和一个Softmax层实现AD分类.在TADPOLE(The Alzheimer’s Disease Prediction Of Longitudinal Evolution)数据集上进行实验,结果表明:本文提出的AD分类方法的准确率(ACCuracy,ACC)为98.20%,F_(1)分数为97.34%,曲线下面积(Area Under Curve,AUC)为97.80%.实验结果表明:本文提出的AD分类方法充分利用了AD数据样本之间的相关性,其性能优于传统的基于机器学习、深度学习和图神经网络(Graph Neural Network,GNN)的AD分类方法.
