With sufficient practice, humans can grab objects they have never seen before through brain decision-making. However, the manipulators, which has a wide range of applications in industrial production, can still only grab specific objects. Because most of the grasp algorithms rely on prior knowledge such as hand-eye calibration results, object model features, and can only target specific types of objects. When the task scenario and the operation target change, it cannot perform effective redeployment. In order to solve the above problems, academia often uses reinforcement learning to train grasping algorithms. However, the method of reinforcement learning in the field of manipulators grasping mainly encounters these main problems: insufficient sample utilization, poor algorithm stability, and limited exploration. This article uses LfD, BC, and DDPG to improve sample utilization. Use multiple critics to integrate and evaluate input actions to solve the problem of algorithm instability. Finally, inspired by Thompson's sampling idea, the input action is evaluated from different angles, which increases the algorithm's exploration of the environment and reduces the number of interactions with the environment. EDDPG and EBDDPG algorithm is designed in the article. In order to further improve the generalization ability of the algorithm, this article does not use extra information that is difficult to obtain directly on the physical platform, such as the real coordinates of the target object and the continuous motion space at the end of the manipulator in the Cartesian coordinate system is used as the output of the decision. The simulation results show that, under the same number of interactions, the manipulators' success rate in grabbing 1000 random objects has increased more than double and reached state-of-the-art(SOTA) performance.
Firstly, this article explains the characteristics and advantages of military large-scale UAVs, and points out the three basic problems currently encountered by military large-scale UAVs; secondly, this article is based on the current design, manufacturing and application reality of large-scale military UAVs, analyzed the urgent need to build a cloud computing-based digital twin framework for military large-scale UAVs, and discussed in detail from the aspects of test cost, integrated perception, centralized control, business prediction, and mission planning; again, this article proposed cloud-based computing The digital twin framework for military large-scale UAVs discusses the composition and functions of each layer; finally, it points out the five directions and work priorities that need to be paid attention to in the construction of the digital twin system of military large-scale UAVs, including UAV model, flight status measurement, reliable propagation channel, intelligent command and control, and capability evaluation analysis.
For building self-healing, interactive and collaborative intelligent distribution network and meeting the needs on energy management of intelligent distribution network with high penetration of Distribution Generations (DGs), smart integration has become very important. Multi-agent System and Serviceoriented architecture (MAS-SOA) will provide new ways and means for the establishment of the distributed, open and flexible system. This paper briefly analyzes advantages of the MAS-SOA architecture and design consideration of the MAS-SOA in integration for intelligent distribution network. In this architecture, the specific service is realized by encapsulating agent, which is interacted with other agent services through the Enterprize Service Bus(ESB). Web Service-Agent Adapter is designed as the standard interface between agent and the other services. It advocates a smarter approach to infrastructure upgrades where we would architect and integrate business processes in a flexible manner so that they can be agile and can dynamically adapt to changes. Finally, Cooperative control of the microgrids in wide area based on MAS-SOA architecture is presented as an example. Index Terms-intelligent distribution network, Microgrid, MAS, SOA
Mining the mobile pattern of the urban population plays an important role in city construction, and visual analysis is a powerful technique in studying mobile patterns. In this paper, based on the taxi trajectory data in Hangzhou, we share our design for an interactive visual analytic system, which helps analyzers leverage their domain knowledge to gain insight into travel patterns, including travel time rules of tourists and the distribution rules of pick-up and drop-off locations. Besides, our system can present the dynamic travel process and the Point of Interest (POIs) information of the origin and the destination. A case study has been conducted, which verifies that our system can provide tools for urban managers or urban experts on the design of scenic spot open entrances and exits and travel route planning.Smart Cities 2019, 2 346(2) Dynamic presentation of OD travel process. OD travel process means the spatiotemporal trajectory evolution. The co-evolution demonstrates the travel patterns of the crowd. Therefore, our system demonstrates the entire process of a trip and uses the clustering algorithm to group the tourists. For these tourists, our system can offer both time-consuming comparisons and changes in spatial distance.Next, we give related work in Section 2, while Section 3 introduces our dataset and high-level architecture of visual system. Section 4 introduces the interface design in detail, Section 5 is a smart tourism case analysis, and in Section 6, we summarize our work and introduce the next plan. Related Works Visualization of Selection and QueryIn the visualization of data, visual selection is the fundamental action of visual analysis. Ahlberg et al. firstly proposed a dynamic query concept, and the query was generated by graphical components [1]. Heer et al. proposed an interactive relaxation query strategy [2]. Liu et al. contributed methods for interactive querying (e.g., brushing and linking) among binned plots through a combination of multivariate data tiles and parallel query processing [3]. Another noteworthy element is a system named Tableau mentioned by Polaris et al. [4]. The authors provided a visual mode for the user and, by dragging and dropping the column of the data table and putting it in the side bar, visualization results were displayed in the area to achieve interactive exploration of the data. Modoni et al. introduced the Knowledge Graph Semantic Framework, an interactive and explorative visual environment for the semantic search of information leveraging the knowledge Graph proposed by Google [5]. Modoni et al.introduced a dedicated software dedicated to the Factory telemetry visualization. This software comprises x-y charts, as well as scattered and waveform plotting, which permit to show, under various different views, the data telemetry acquired from the sensors [6]. In this paper, our system was designed with rectangular and circular frame selectors which are different from the aforementioned systems, as tourists are our visual selection target. Based on the frame se...
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