Rich semantic information in natural language increases team efficiency in human collaboration, reduces dependence on high precision data information, and improves adaptability to dynamic environment. We propose a sem...Rich semantic information in natural language increases team efficiency in human collaboration, reduces dependence on high precision data information, and improves adaptability to dynamic environment. We propose a semantic centered cloud control framework for cooperative multi-unmanned ground vehicle(UGV) system. Firstly, semantic modeling of task and environment is implemented by ontology to build a unified conceptual architecture, and secondly, a scene semantic information extraction method combining deep learning and semantic web rule language(SWRL) rules is used to realize the scene understanding and task-level cloud task cooperation. Finally, simulation results show that the framework is a feasible way to enable autonomous unmanned systems to conduct cooperative tasks.展开更多
Aiming at a class of systems under parameter perturbations and unknown external disturbances, a method of fuzzy robust sliding mode control was proposed. Firstly, an integral sliding mode surface containing state feed...Aiming at a class of systems under parameter perturbations and unknown external disturbances, a method of fuzzy robust sliding mode control was proposed. Firstly, an integral sliding mode surface containing state feedback item was designed based on robust H∞ control theory. The robust state feedback control was utilized to substitute for the equivalent control of the traditional sliding mode control. Thus the robustness of systems sliding mode motion was improved even the initial states were unknown. Furthermore, when the upper bound of disturbance was unknown, the switching control logic was difficult to design, and the drawbacks of chattering in sliding mode control should also be considered simultaneously. To solve the above-mentioned problems, the fuzzy nonlinear method was applied to approximate the switching control term. Based on the Lyapunov stability theory, the parameter adaptive law which could guarantee the system stability was devised. The proposed control strategy could reduce the system chattering effectively. And the control input would not switch sharply, which improved the practicality of the sliding mode controller. Finally, simulation was conducted on system with parameter perturbations and unknown external disturbances. The result shows that the proposed method could enhance the approaching motion performance effectively. The chattering phenomenon is weakened, and the system possesses stronger robustness against parameter perturbations and external disturbances.展开更多
In the process of performing a task,autonomous unmanned systems face the problem of scene changing,which requires the ability of real-time decision-making under dynamically changing scenes.Therefore,taking the unmanne...In the process of performing a task,autonomous unmanned systems face the problem of scene changing,which requires the ability of real-time decision-making under dynamically changing scenes.Therefore,taking the unmanned system coordinative region control operation as an example,this paper combines knowledge representation with probabilistic decisionmaking and proposes a role-based Bayesian decision model for autonomous unmanned systems that integrates scene cognition and individual preferences.Firstly,according to utility value decision theory,the role-based utility value decision model is proposed to realize task coordination according to the preference of the role that individual is assigned.Then,multi-entity Bayesian network is introduced for situation assessment,by which scenes and their uncertainty related to the operation are semantically described,so that the unmanned systems can conduct situation awareness in a set of scenes with uncertainty.Finally,the effectiveness of the proposed method is verified in a virtual task scenario.This research has important reference value for realizing scene cognition,improving cooperative decision-making ability under dynamic scenes,and achieving swarm level autonomy of unmanned systems.展开更多
Smooth and three types of U-shape single-edge notched plate specimens adopted to experimentally investigate stress rupture behavior of Ni-based Directionally Solidified(DS)superalloy at 850℃ exhibit notch weakening e...Smooth and three types of U-shape single-edge notched plate specimens adopted to experimentally investigate stress rupture behavior of Ni-based Directionally Solidified(DS)superalloy at 850℃ exhibit notch weakening effect and multi-source cracking initiation near the notch root.However,stress rupture behavior of smooth and V-shape notched round bars at 1040℃ revealed by Li et al indicates notch strengthening effect and creep micro-holes originating mostly from the central portion.A combined creep-viscoplastic constitutive model is employed to analyze the distribution of stress,strain and stress Triaxial Factor(TF)near the notch root.The different stress distribution and creep restraint between asymmetric notched plate specimens and symmetric notched round bars are the main reasons for the corresponding failure mechanism.Meanwhile,a good qualitative relationship exists between TF value and stress rupture life of notched specimen.Especially,the area with maximum TF value(TF_(max))is highly consistent with creep damage initiation region.Hence,based on the distribution characteristics of the initial tensile loading,a representative stress method independent of time-changing creep load at the location of TF_(max) is conducted for life prediction.The predicted results of both smooth and notched plate specimens and round bars agrees well with the experimental results.展开更多
Abstract NoSQL databases are famed for the characteristics of high scalability, high availability, and high faulttolerance. So NoSQL databases are used in a lot of applications. The data partitioning strategy and frag...Abstract NoSQL databases are famed for the characteristics of high scalability, high availability, and high faulttolerance. So NoSQL databases are used in a lot of applications. The data partitioning strategy and fragment allocation strategy directly affect NoSQL database systems＇ performance. The data partition strategy of large, global databases is performed by horizontally, vertically partitioning or combination of both. In the general way the system scatters the related fragments as possible to improve operations＇ parallel degree. But the operations are usually not very complicated in some applications, and an operation may access to more than one fragment. At the same time, those fragments which have to be accessed by an operation may interact with each other. The general allocation strategies will increase system＇s communication cost during operations execution over sites. In order to improve those applications＇ performance and enable NoSQL database systems to work efficiently, these applications＇ fragments have to be allocated in a reasonable way that can reduce the communication cost i.e., to minimize the total volume of data transmitted during operations execution over sites. A strategy of clustering fragments based onhypergraph is proposed, which can cluster fragments which were accessed together in most operations to the same cluster. The method uses a weighted hypergraph to represent the fragments＇ access pattem of operations. A hypergraph partitioning algorithm is used to cluster fragments in our strategy. This method can reduce the amount of sites that an operation has to span. So it can reduce the communication cost over sites. Experimental results confirm that the proposed technique will effectively contribute in solving fragments re-allocation problem in a specific application environment of NoSQL database system.展开更多
基金supported by the National Defense Science and Technology Innovation Zone of China (193-A13-203-01-01)the Military Science Postgraduate Project of PLA (JY2020B006)。
文摘Rich semantic information in natural language increases team efficiency in human collaboration, reduces dependence on high precision data information, and improves adaptability to dynamic environment. We propose a semantic centered cloud control framework for cooperative multi-unmanned ground vehicle(UGV) system. Firstly, semantic modeling of task and environment is implemented by ontology to build a unified conceptual architecture, and secondly, a scene semantic information extraction method combining deep learning and semantic web rule language(SWRL) rules is used to realize the scene understanding and task-level cloud task cooperation. Finally, simulation results show that the framework is a feasible way to enable autonomous unmanned systems to conduct cooperative tasks.
基金Project(51476187)supported by the National Natural Science Foundation of China
文摘Aiming at a class of systems under parameter perturbations and unknown external disturbances, a method of fuzzy robust sliding mode control was proposed. Firstly, an integral sliding mode surface containing state feedback item was designed based on robust H∞ control theory. The robust state feedback control was utilized to substitute for the equivalent control of the traditional sliding mode control. Thus the robustness of systems sliding mode motion was improved even the initial states were unknown. Furthermore, when the upper bound of disturbance was unknown, the switching control logic was difficult to design, and the drawbacks of chattering in sliding mode control should also be considered simultaneously. To solve the above-mentioned problems, the fuzzy nonlinear method was applied to approximate the switching control term. Based on the Lyapunov stability theory, the parameter adaptive law which could guarantee the system stability was devised. The proposed control strategy could reduce the system chattering effectively. And the control input would not switch sharply, which improved the practicality of the sliding mode controller. Finally, simulation was conducted on system with parameter perturbations and unknown external disturbances. The result shows that the proposed method could enhance the approaching motion performance effectively. The chattering phenomenon is weakened, and the system possesses stronger robustness against parameter perturbations and external disturbances.
基金the Military Science Postgraduate Project of PLA(JY2020B006).
文摘In the process of performing a task,autonomous unmanned systems face the problem of scene changing,which requires the ability of real-time decision-making under dynamically changing scenes.Therefore,taking the unmanned system coordinative region control operation as an example,this paper combines knowledge representation with probabilistic decisionmaking and proposes a role-based Bayesian decision model for autonomous unmanned systems that integrates scene cognition and individual preferences.Firstly,according to utility value decision theory,the role-based utility value decision model is proposed to realize task coordination according to the preference of the role that individual is assigned.Then,multi-entity Bayesian network is introduced for situation assessment,by which scenes and their uncertainty related to the operation are semantically described,so that the unmanned systems can conduct situation awareness in a set of scenes with uncertainty.Finally,the effectiveness of the proposed method is verified in a virtual task scenario.This research has important reference value for realizing scene cognition,improving cooperative decision-making ability under dynamic scenes,and achieving swarm level autonomy of unmanned systems.
基金the funding of Natural Science Foundation of Hunan Province, China (No. 2021JJ40741)Fundamental Research Funds for the Central Universities of Central South University (No. 2021zzts0911)National Science and Technology Major Project (No. J2019-IV-0017-0085)
文摘Smooth and three types of U-shape single-edge notched plate specimens adopted to experimentally investigate stress rupture behavior of Ni-based Directionally Solidified(DS)superalloy at 850℃ exhibit notch weakening effect and multi-source cracking initiation near the notch root.However,stress rupture behavior of smooth and V-shape notched round bars at 1040℃ revealed by Li et al indicates notch strengthening effect and creep micro-holes originating mostly from the central portion.A combined creep-viscoplastic constitutive model is employed to analyze the distribution of stress,strain and stress Triaxial Factor(TF)near the notch root.The different stress distribution and creep restraint between asymmetric notched plate specimens and symmetric notched round bars are the main reasons for the corresponding failure mechanism.Meanwhile,a good qualitative relationship exists between TF value and stress rupture life of notched specimen.Especially,the area with maximum TF value(TF_(max))is highly consistent with creep damage initiation region.Hence,based on the distribution characteristics of the initial tensile loading,a representative stress method independent of time-changing creep load at the location of TF_(max) is conducted for life prediction.The predicted results of both smooth and notched plate specimens and round bars agrees well with the experimental results.
基金Thanks to the anonymous reviewers for their insightful comments. This work was supported by National High Technology Research and Development Plan of China （＂863＂ plan）（2012AA012600, 2012AA01A402, 2012AA01A401, 2011AA010702 and 2010AA012505） the National Natural Science Foundation of China （Grant Nos. 60933005 and 91124002）+1 种基金 the National Key Technology Research and Development Program of China （2012BAH38B04 and 2012BAH38B06） National 242 Information Security Program of China （2011A010）.
文摘Abstract NoSQL databases are famed for the characteristics of high scalability, high availability, and high faulttolerance. So NoSQL databases are used in a lot of applications. The data partitioning strategy and fragment allocation strategy directly affect NoSQL database systems＇ performance. The data partition strategy of large, global databases is performed by horizontally, vertically partitioning or combination of both. In the general way the system scatters the related fragments as possible to improve operations＇ parallel degree. But the operations are usually not very complicated in some applications, and an operation may access to more than one fragment. At the same time, those fragments which have to be accessed by an operation may interact with each other. The general allocation strategies will increase system＇s communication cost during operations execution over sites. In order to improve those applications＇ performance and enable NoSQL database systems to work efficiently, these applications＇ fragments have to be allocated in a reasonable way that can reduce the communication cost i.e., to minimize the total volume of data transmitted during operations execution over sites. A strategy of clustering fragments based onhypergraph is proposed, which can cluster fragments which were accessed together in most operations to the same cluster. The method uses a weighted hypergraph to represent the fragments＇ access pattem of operations. A hypergraph partitioning algorithm is used to cluster fragments in our strategy. This method can reduce the amount of sites that an operation has to span. So it can reduce the communication cost over sites. Experimental results confirm that the proposed technique will effectively contribute in solving fragments re-allocation problem in a specific application environment of NoSQL database system.
