Reinforcement learning control of a flexible two-link manipulator: an experimental investigation

This article discusses the control design and experiment validation of a flexible two-link manipulator (FTLM) system represented by ordinary differential equations (ODEs). A reinforcement learning (RL) control strategy is developed that is based on actor-critic structure to enable vibration suppression while retaining trajectory tracking. Subsequently, the closed-loop system with the proposed RL control algorithm is proved to be semi-global uniform ultimate bounded (SGUUB) by Lyapunov's direct method. In the simulations, the control approach presented has been tested on the discretized ODE dynamic model and the analytical claims have been justified under the existence of uncertainty. Eventually, a series of experiments in a Quanser laboratory platform are investigated to demonstrate the effectiveness of the presented control and its application effect is compared with PD control

Phase-sensitive Manipulations of Squeezed Vacuum Field in an Optical Parametric Amplifier inside an Optical Cavity

Squeezed vacuum field can be amplified or deamplified when it is injected, as the signal beam, into a phase-sensitive optical parametric amplifier (OPA) inside an optical cavity. The spectral features of the reflected quantized signal field are controlled by the relative phase between the injected squeezed vacuum field and the pump field for the OPA. The experimental results demonstrate coherent phenomena of OPA in the quantum regime, and show phase-sensitive manipulations of quantum fluctuations for quantum information processing.Comment: 4 pages, 3 figures, appear in Phys. Rev. Let

Unknown dynamics estimator-based output-feedback control for nonlinear pure-feedback systems

Most existing adaptive control designs for nonlinear pure-feedback systems have been derived based on backstepping or dynamic surface control (DSC) methods, requiring full system states to be measurable. The neural networks (NNs) or fuzzy logic systems (FLSs) used to accommodate uncertainties also impose demanding computational cost and sluggish convergence. To address these issues, this paper proposes a new output-feedback control for uncertain pure-feedback systems without using backstepping and function approximator. A coordinate transform is first used to represent the pure-feedback system in a canonical form to evade using the backstepping or DSC scheme. Then the Levant's differentiator is used to reconstruct the unknown states of the derived canonical system. Finally, a new unknown system dynamics estimator with only one tuning parameter is developed to compensate for the lumped unknown dynamics in the feedback control. This leads to an alternative, simple approximation-free control method for pure-feedback systems, where only the system output needs to be measured. The stability of the closed-loop control system, including the unknown dynamics estimator and the feedback control is proved. Comparative simulations and experiments based on a PMSM test-rig are carried out to test and validate the effectiveness of the proposed method

Load Planning of Transport Aircraft Based on Hybrid Genetic Algorithm

Loading of transport aircraft attracts much attention as the airlift is developing rapidly. It refers to the process that various cargoes are loaded, in an appropriate manner, into kinds of transport aircrafts with constraints of volume, weight and gravity center. Based on two-dimensional bin packing with genetic algorithm (GA), a new hybrid algorithm is proposed to solve the multi-constraint loading problem of transport aircraft for seeking the minimum of fuel consumption. Heuristic algorithm is applied to optimize single-aircraft loading in GA decoding, and the procedure of hybrid GA is summarized for the multi-aircraft loading issues. In the case study, eight kinds of cargos are distributed in three different aircrafts. The optimal result indicates that this algorithm can rapidly generate the best plan for the loading problem regarding lower transport costs

Diffuse malignant peritoneal mesothelioma: A review

Diffuse malignant peritoneal mesothelioma (DMPM) is an unusual and life-threatening locally invasive tumor. The morbidity and mortality of the disease are associated with progressive local effects in the abdominal cavity, such as abdominal distention, painful sensations, and early saturation with reduced oral intake, which eventually lead to intestinal obstruction and cachexia. Computed tomography (CT) has been widely used as a first-line diagnostic tool for DMPM. In addition, the most sensitive immunohistochemical markers of DMPM include WT 1, D2-40, and calmodulin. This paradigm has altered with the advancements in the immunohistochemical analysis of BRCA1-Associated Protein 1 (BAP1) the lack of BAP1 expression shows the diagnosis of malignancy. DMPM is resistant to conventional chemotherapies. Therefore, the gold standard for the treatment of DMPM is the combination of cytoreductive surgery (CRS) and hyperthermic intraperitoneal chemotherapy (HIPEC). The overexpression of the phosphatidylinositol 3-kinase (PI3K)/AKT serine/threonine kinase 1 (AKT)/mammalian target of rapamycin (mTOR) signaling pathway drives the malignant phenotype of DMPM, thereby showing promising potential for the treatment of DMPM. The coordinated activities among multiple RTKs are directly involved in the biological processes of DMPM, suggesting that the combined inhibition of the PI3K and mTOR signaling pathways might be an effective measure. This treatment strategy can be easily implemented in clinical practice. However, the combined inhibition of ERBB1(HER1)/ERBB2 (HER2) and ERBB3 (HER3) requires further investigations. Thus, based on these, the discovery of novel targeted therapies might be crucial to improving the prognosis of DMPM patients

Dynamic Responses of Continuous Girder Bridges with Uniform Cross-Section under Moving Vehicular Loads

To address the drawback of traditional method of investigating dynamic responses of the continuous girder bridge with uniform cross-section under moving vehicular loads, the orthogonal experimental design method is proposed in this paper. Firstly, some empirical formulas of natural frequencies are obtained by theoretical derivation and numerical simulation. The effects of different parameters on dynamic responses of the vehicle-bridge coupled vibration system are discussed using our own program. Finally, the orthogonal experimental design method is proposed for the dynamic responses analysis. The results show that the effects of factors on dynamic responses are dependent on both the selected position and the type of the responses. In addition, the interaction effects between different factors cannot be ignored. To efficiently reduce experimental runs, the conventional orthogonal design is divided into two phases. It has been proved that the proposed method of the orthogonal experimental design greatly reduces calculation cost, and it is efficient and rational enough to study multifactor problems. Furthermore, it provides a good way to obtain more rational empirical formulas of the DLA and other dynamic responses, which may be adopted in the codes of design and evaluation