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Mobile Robot Path Planning Based on Improved Q Learning Algorithm
Jiansheng Peng 보안공학연구지원센터 2015 International Journal of Multimedia and Ubiquitous Vol.10 No.7
For path planning of mobile robot, the traditional Q learning algorithm easy to fall into local optimum, slow convergence etc. issues, this paper proposes a new greedy strategy, multi-target searching of Q learning algorithm. Don't need to create the environment model, the mobile robot from a single-target searching transform into multi-target searching an unknown environment, firstly, by the dynamic greedy strategy exploring interim to use unknown environment, improve learning ability that mobile robot learn the environment, improve the convergence of the mobile robot speed. And a large number of improved Q-learning algorithms are applied to mobile robot optimization simulation in unknown environment, by comparing with traditional Q algorithm, theory and experiment proved that improved Q-learning algorithm speed up the convergence rate of the robot, improve collision avoidance capability and learning efficiency.
Jiansheng Zhang,Linlin Cao,Jian Cui,Haikui Ren,Yun Wang,Dazhuan Wu 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.10
The effect of non-uniform inflow on the spatial and temporal distribution of impeller excitation is investigated. The experiments are first conducted to verify the hydraulic performance of the axial flow pump and to provide a reference for the accuracy of the numerical simulations. Subsequently, the effect of non-uniform inflow on the spatial and temporal distribution of the flow field and impeller load is investigated. The results indicate that the non-uniform inflow modifies the velocity distribution at the impeller inlet, resulting in alterations in the attack angle and subsequently affecting the radial and circumferential distribution of the impeller load. The extreme difference in the head between the different blades can reach up to 36 % of the total head. Furthermore, velocity pulsation and attack pulsation exhibit more pronounced fluctuations in the low-speed region, and there exists a strong correlation between the amplitude of unsteady forces and the magnitude of the impeller load.
Jiansheng Wei,Liangyan Liu,Xiaolong Yuan,Dong Wang,Xinyue Wang,Wei Bi,Yan Yang,Yi Wang 한국균학회 2023 Mycobiology Vol.51 No.5
Hispidin is an important styrylpyrone produced by Sanghuangporus sanghuang. To analyzehispidin biosynthesis in S. sanghuang, the transcriptomes of hispidin-producing and non-producingS. sanghuang were determined by Illumina sequencing. Five PKSs were identifiedusing genome annotation. Comparative analysis with the reference transcriptome showedthat two PKSs (ShPKS3 and ShPKS4) had low expression levels in four types of media. Thegene expression pattern of only ShPKS1 was consistent with the yield variation of hispidin. The combined analyses of gene expression with qPCR and hispidin detection by liquid chromatography-mass spectrometry coupled with ion-trap and time-of-flight technologies(LCMS-IT-TOF) showed that ShPKS1 was involved in hispidin biosynthesis in S. sanghuang. ShPKS1 is a partially reducing PKS gene with extra AMP and ACP domains before the KSdomain. The domain architecture of ShPKS1 was AMP-ACP-KS-AT-DH-KR-ACP-ACP. Phylogenetic analysis shows that ShPKS1 and other PKS genes from Hymenochaetaceaeform a unique monophyletic clade closely related to the clade containing Agaricales hispidinsynthase. Taken together, our data indicate that ShPKS1 is a novel PKS of S. sanghuanginvolved in hispidin biosynthesis.
Jiansheng Shen,Junzhe Liu,Yidong Xu,Kanghao Jia,Fangyu Wu,Wei Chen,Dayong Zhu 대한토목학회 2021 KSCE JOURNAL OF CIVIL ENGINEERING Vol.25 No.9
To study the corrosion cracking process of reinforced concrete under the combined effects of chloride and fatigue loading, the constan-current and dry-wet cycle accelerated corrosion method was used to corrosion the specimens under different stress levels for different time. The quality loss of reinforcement, the composition of corrosion products and the cracking of concrete are analyzed from the macro, micro and micro scales, and to obtain the spatial distribution as well as microscopic characteristics of corrosion products of the reinforcement bar under coupling conditions. Additionally, a model of steel rust cracking under the coupled action of chloride and fatigue loading is established. The results show that: under the same corrosion time, the concrete cracking and steel corrosion degree become more serious with the increase of stress level. The greater the stress level, the earlier corrosion occurs and the more corrosion products are, Moreover, due to the fatigue load, the concrete on the upper side of the steel bar has rust expansion cracks earlier than the lower side.
Flow and heat transfer characteristics in a channel having furrowed wall based on sinusoidal wave
Jiansheng Wang,Xiaoming Gao,Weiyi Li 한국화학공학회 2015 Korean Journal of Chemical Engineering Vol.32 No.11
The effect of wall geometry on the flow and heat transfer in a channel with one lower furrowed and an upper flat wall kept at a uniform temperature is investigated by large eddy simulation. Three channels, one with sinusoidal wavy surface having the ratio (amplitude to wavelength) α/λ=0.05 and the other two with furrowed surface derived from the sinusoidal curve, are considered. The numerical results show that the streamwise vortices center is located near the lower wall and vary along the streamwise on various furrow surfaces. The furrow geometry increases the pressure drag and decreases the friction drag of the furrowed surface compared with that of the smooth surface; consequently, the total drag is increased for the augment of pressure drag. As expected, the heat transfer performance has been improved. Finally, a thermal performance factor is defined to evaluate the performance of the furrowed wall.
Guan Jiansheng,Kong Xiansong 보안공학연구지원센터 2015 International Journal of Signal Processing, Image Vol.8 No.4
Control performance is critical to a control system. To improve the performance of the steam generator level control system, the control system parameters need to be optimized. Traditional parameters tuning methods, such as trial and error and Design of Experiments etc., are usually experience-based, cumbersome and time-consuming. To address the above inefficiencies, in this paper, the simplex-search based Model-Free Optimization (MFO) has been proposed to search for the optimal control system parameters. The optimized parameters will be gained to maximize the system’s control performance. Rather than traditional controller parameter tuning method, this method optimizes the control system by directly using measurements of control performance. An example of the PID parameters tuning for the steam generator level control was illustrated. The efficiency and the effectiveness of the Simplex-search based Model-Free Optimization – based control parameters tuning methodology has been verified through simulation experiments.
BINDING NUMBER AND HAMILTONIAN (g, f)-FACTORS IN GRAPHS
Cai, Jiansheng,Liu, Guizhen 한국전산응용수학회 2007 Journal of applied mathematics & informatics Vol.25 No.1
A (g, f)-factor F of a graph G is Called a Hamiltonian (g, f)-factor if F contains a Hamiltonian cycle. The binding number of G is defined by $bind(G)\;=\;{min}\;\{\;{\frac{{\mid}N_GX{\mid}}{{\mid}X{\mid}}}\;{\mid}\;{\emptyset}\;{\neq}\;X\;{\subset}\;V(G)},\;{N_G(X)\;{\neq}\;V(G)}\;\}$. Let G be a connected graph, and let a and b be integers such that $4\;{\leq}\;a\;<\;b$. Let g, f be positive integer-valued functions defined on V(G) such that $a\;{\leq}\;g(x)\;<\;f(x)\;{\leq}\;b$ for every $x\;{\in}\;V(G)$. In this paper, it is proved that if $bind(G)\;{\geq}\;{\frac{(a+b-5)(n-1)}{(a-2)n-3(a+b-5)},}\;{\nu}(G)\;{\geq}\;{\frac{(a+b-5)^2}{a-2}}$ and for any nonempty independent subset X of V(G), ${\mid}\;N_{G}(X)\;{\mid}\;{\geq}\;{\frac{(b-3)n+(2a+2b-9){\mid}X{\mid}}{a+b-5}}$, then G has a Hamiltonian (g, f)-factor.