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关键词： 深度学习   自适应控制   工业机器人   卷积神经网络   强化学习  

摘要： 随着工业自动化技术的迅速发展,人们对工业机器人控制系统的需求日益增加。传统控制系统存在环境适应性和灵活性不足等问题。基于此,文章提出了一种基于深度学习的自适应控制算法,并在工业机器人上进行了应用。该算法通过结合卷积神经网络(CNN)和强化学习(RL),使得机器人能够实时学习并适应动态变化的操作环境。实验结果显示,相较于传统算法,该算法在任务执行效率和适应性方面有显著提升。

关键词： 组合导航   自适应滤波   量测噪声   滑动窗口   多重渐消因子  

摘要： 在复杂环境中,无人机(UAW)组合导航系统可能会因量测噪声过大导致定位精度下降。为解决这一问题,提出了一种改进的Sage-Husa自适应滤波算法。首先,采用一种含权重因子的滑动窗口残差卡方检验方法识别故障信号,将系统区分为有/无故障两种状态;然后,在检测出系统故障时,引入可动态调节的遗忘因子估计量测噪声,提高系统的自适应能力;最后,在系统无故障时,引入多重渐消因子修正预测均方误差矩阵,减小陈旧信息对当前滤波的影响。仿真结果表明:改进后的滤波算法可以有效提高故障信号识别准确性以及定位精度。相较于传统Sage-Husa自适应滤波,改进后的算法在东、北、天向定位精度分别提高了46.54%、18.59%及46.24%。

关键词： 息肉检测   深度学习   计算机辅助诊断   解耦头   注意力机制  

摘要： 计算机辅助诊断对提高息肉诊断准确率和降低结直肠癌死亡率至关重要,但息肉形态各异,息肉类似物和肠内的复杂环境导致目前的方法存在较多的误诊和漏诊。因此提出了一种改进的YOLOv7结直肠息肉检测算法(YOLOv7-IDH),使用含隐式知识的高效解耦头,充分利用隐含信息并防止分类和回归任务之间相互干扰;引入全局注意力机制,增强模型对浅层特征的提取能力;对SPPCSPC模块进行优化,减少模型参数和提高收敛速度。实验结果表明,改进模型在组合数据集上的F1分数和mAP@0.5分别达到了94.8%和97.1%,可以满足息肉自动检测的要求。

关键词： Damping  

摘要： This paper introduces an enhanced coding method that refines the relevant processes of the basic genetic algorithm,leveraging the positional coding of the rods within the truss structure. A mechanical model of the isolator and a dynamic model of the space truss structure with the installed damping rod are established. Subsequently,based on the principle of maximizing the vibration reduction effect of the damping rods for two distinct space truss models,the dynamic model solution and damping rod configuration optimization are conducted using an improved coding genetic algorithm within a simulation model. The results indicate that the amplitude at the optimized target position is reduced by over 80%, surpassing the pre-optimization results. Furthermore,in comparison to the basic genetic algorithm utilizing binary coding, the proposed algorithm exhibits improved convergence speed and stability. © 2025 Chinese Society of Astronautics. All rights reserved.

关键词： Fast satellite selection   Positioning accuracy contribution degree   Pseudo-range observed mass   Weighted geometric dilution precision(WGDOP)  

摘要： A traditional fast satellite selection algorithm，which relies solely on minimizing the geometric dilution of precision（GDOP）and neglects the influence of observation quality on positioning accuracy，may result in suboptimal positioning performance of the selected satellite subset. To address this issue，a backward iterative satellite elimination algorithm is proposed，considering the weighted GDOP（WGDOP）based on positioning accuracy contribution. This algorithm constructs the WGDOP contribution degree as an evaluation metric to assess each satellite′s contribution to positioning accuracy. By calculating the WGDOP contribution degree of each satellite within the current satellite set，it iteratively eliminates those with low contributions，thereby ensuring rapid satellite selection while maintaining a favorable geometric configuration and high precision level. Experimental results demonstrate that，compared to the conventional fast satellite selection algorithm based on GDOP contribution degree，the proposed method significantly reduces the positioning accuracy loss due to satellite reduction. This is attributed to its comprehensive consideration of both satellite geometry and observation data quality on positioning accuracy，resulting in superior positioning performance. © 2025 Chinese Society of Astronautics. All rights reserved.

关键词： Magnetic actuators  

摘要： The dry friction dampers can generate friction damping through the contact of the friction pair, which has a broad prospect in rotor vibration suppression. To realize the active control of friction damping, an active magnetic elastic ring dry friction damper (AMERDFD) with the flexible support is designed, realizing the variation of friction damping by controlling the active magnetic actuator. Then, the model of the AMERDFD-twin rotor system is established, and the sensitivity of the damper with different support positions to the rotor vibration is analyzed. As a result, it is determined that the rotor vibration could be suppressed using AMERDFDs at the front / rear journal of the low-pressure fan / turbine shaft. After that, the control structure of tracking filter, least mean square module and model-free adaptive algorithm in series is adopted to simulate the vibration suppression of the twin rotor system. Finally, vibration suppression tests under the rotor run up and constant speed conditions were carried out on the designed test rig. The results show that the designed controller and dry friction damper can greatly suppress the vibration of the twin rotor system passing the critical speeds, and the maximum reduction can be up to 87.5%. In addition, the designed controller can effectively reduce the vibration of the target point at constant speed without significantly influencing the remaining measurement points. © 2025 Chinese Mechanical Engineering Society. All rights reserved.

关键词： Ant colony optimization  

摘要： A segmented routing-based ant colony optimization load balancing routing algorithm is proposed to tackle the issues of link congestion and service interruption stemming from frequent switching of feeder links in LEO constellation backhaul scenarios. The mother-child constellation topology snapshot partitioning method is employed to address the challenge of frequent topology snapshot switching caused by satellite feeder links. Through the integration of segmented routing technology with ant colony optimization，the algorithm achieves autonomous satellite routing while significantly reducing protocol overhead. Building on this foundation，an ant colony optimization load balancing routing algorithm is devised to ensure service continuity. It calculates the optimal backhaul path set based on the switching time relationship of the feeder links，and actively transitions to the next effective path when switching between adjacent sub-constellation topology snapshots. This approach enables soft switching of backhaul traffic while maintaining network load balancing. Simulation results demonstrate that the algorithm effectively mitigates link congestion，ensuring higher throughput，lower packet loss rates，and continuous backhaul services. © 2025 Chinese Society of Astronautics. All rights reserved.

关键词： Landslides  

摘要： Aiming at the problem that the potential sliding body space of the middle end slope of the open pit mining operation is limited, and the traditional slope stability calculation method is no longer applicable, the potential landslide mechanism of the deep slope of the stope is studied by numerical simulation method, and the spatial morphological equation of the slope surface and the sliding surface in the potential sliding body is fitted. Based on the three-dimensional limit equilibrium strip division method, the bottom surface of the sliding body is divided into unit micro-strips along the transverse and longitudinal directions. The force situation of the micro-strips in different areas of the spatial position of the sliding body and the top line of the slope is analyzed. Using the equivalent idea, the mechanical effect of each row of micro-strips is superimposed, which is equivalent to the micro-strips on the main sliding line of the sliding body. The equivalent shear strength parameters on the bottom interface of the main sliding line column are obtained, so as to establish a three-dimensional stability equivalent algorithm for restricting Carry out engineering application and design to recover coal resources. The results show that the potential landslide mode of the slope with weak layer is the combination of shear layer and bedding slide. The spatial morphology of the potential sliding surface is the combination of approximately ellipsoid and inclined plane. The three-dimensional stability coefficient of slope decreases gradually with the increase of the potential sliding body's strike limited length, showing an approximate quadratic parabola relationship. In the limited space of potential sliding body, the slope stability of various landslide modes is calculated, and the three-dimensional stability coefficients corresponding to different slope angles are greater than the two-dimensional stability coefficients. In the actual design of deep coal mining step, the

关键词： 企业管理  

ISBN: (纸本)9787509699065

摘要： 本书以采取按订单生产模式的企业为研究对象，关注交货期(窗口)类型、运营环境细节(如订单退化、资源分配等)、随机订单加工时间、制造期期限等因素对该类型企业分析和优化生产调度策略带来的挑战，借助生产排序与调度理论、计算复杂性理论、组合优化理论、运筹学、实验设计等工具与理论对企业面临的多类存在交货期(窗口)问询的生产调度问题进行抽象、建模、分析和求解。

关键词： 计算机算法  

ISBN: (纸本)9787523609613

摘要： 本书通过对谷歌数据专家的采访, 以及对谷歌、脸书、剑桥分析等科技公司的算法模型拆解, 解码科技巨头的算法黑箱、直击数字时代智能产品背后的秘密。本书亦可帮助我们了解数据研究者通过何种途径收集与我们有关的数据, 比如买过哪些东西、对哪些话题感兴趣等。以及他们是如何借助这些数据, 窥视我们的日常并预测我们的行为。