This paper studied a supervisory control system for a hybrid off-highway electric vehicle under the chargesustaining(CS)condition.A new predictive double Q-learning with backup models(PDQL)scheme is proposed to optimi...This paper studied a supervisory control system for a hybrid off-highway electric vehicle under the chargesustaining(CS)condition.A new predictive double Q-learning with backup models(PDQL)scheme is proposed to optimize the engine fuel in real-world driving and improve energy efficiency with a faster and more robust learning process.Unlike the existing“model-free”methods,which solely follow on-policy and off-policy to update knowledge bases(Q-tables),the PDQL is developed with the capability to merge both on-policy and off-policy learning by introducing a backup model(Q-table).Experimental evaluations are conducted based on software-in-the-loop(SiL)and hardware-in-the-loop(HiL)test platforms based on real-time modelling of the studied vehicle.Compared to the standard double Q-learning(SDQL),the PDQL only needs half of the learning iterations to achieve better energy efficiency than the SDQL at the end learning process.In the SiL under 35 rounds of learning,the results show that the PDQL can improve the vehicle energy efficiency by 1.75%higher than SDQL.By implementing the PDQL in HiL under four predefined real-world conditions,the PDQL can robustly save more than 5.03%energy than the SDQL scheme.展开更多
The supervisory system and the examination system are two indigenous political systems of China,and the former has a longer history than the latter when it comes to the origin.Having inherited the essence of the super...The supervisory system and the examination system are two indigenous political systems of China,and the former has a longer history than the latter when it comes to the origin.Having inherited the essence of the supervisory system since the Qin Dynasty,the supervisory rules in the Ming Dynasty opened a new chapter of legal thoughts of monitoring.This paper started with the design of the supervisory institutions in the Ming Dynasty recorded in the historical materials such as the Memoir of Ming Dynasty and The Interpretive Supplements to"The Great Learning",to get a glimpse of the main content of the legal thoughts of supervisory at that time,and tried to"take history as a mirror"to provide insights and lessons of the legal thoughts of supervisory in the Ming Dynasty for the later generations.展开更多
The increasingly complex battlefield environment requests much closer connection in a team having both manned and unmanned aerial vehicles(MAVs and UAVs). This special heterogeneous team structure causes demands for e...The increasingly complex battlefield environment requests much closer connection in a team having both manned and unmanned aerial vehicles(MAVs and UAVs). This special heterogeneous team structure causes demands for effective organizational structure design solutions. Implementing adjustable autonomy in the organizational structure, the expected evaluation function is established based on the physical resource, intelligent resource, network efficiency, network vulnerability and task execution reliability. According to the above constraints, together with interaction latency, decision-making information processing capacity, and decision-making latency, we aim to find a preferential organizational structure. The proposed organizational structure includes cooperative relationships, supervisory control relationships, and decision-making authorization relationships. In addition,by considering the influence on the intelligent support capabilities and the task execution reliability created by adjustable autonomy, it helps to build the proposed organizational structure designed with certain degree of flexibility to deal with the potential changes in the unpredictable battlefield environment. Simulation is conducted to confirm our design to be valid. And the method is still valid under different battlefield environments and interventions.展开更多
基金Project(KF2029)supported by the State Key Laboratory of Automotive Safety and Energy(Tsinghua University),ChinaProject(102253)supported partially by the Innovate UK。
文摘This paper studied a supervisory control system for a hybrid off-highway electric vehicle under the chargesustaining(CS)condition.A new predictive double Q-learning with backup models(PDQL)scheme is proposed to optimize the engine fuel in real-world driving and improve energy efficiency with a faster and more robust learning process.Unlike the existing“model-free”methods,which solely follow on-policy and off-policy to update knowledge bases(Q-tables),the PDQL is developed with the capability to merge both on-policy and off-policy learning by introducing a backup model(Q-table).Experimental evaluations are conducted based on software-in-the-loop(SiL)and hardware-in-the-loop(HiL)test platforms based on real-time modelling of the studied vehicle.Compared to the standard double Q-learning(SDQL),the PDQL only needs half of the learning iterations to achieve better energy efficiency than the SDQL at the end learning process.In the SiL under 35 rounds of learning,the results show that the PDQL can improve the vehicle energy efficiency by 1.75%higher than SDQL.By implementing the PDQL in HiL under four predefined real-world conditions,the PDQL can robustly save more than 5.03%energy than the SDQL scheme.
基金Scientific Planning Project of Tianjin Philosophy and Social Science Monitoring the legal system and political trend-Research on the relationship between the Duchayuan during Tianqi period and the political situation of the late Ming DynastyProject No.TJFX19-002。
文摘The supervisory system and the examination system are two indigenous political systems of China,and the former has a longer history than the latter when it comes to the origin.Having inherited the essence of the supervisory system since the Qin Dynasty,the supervisory rules in the Ming Dynasty opened a new chapter of legal thoughts of monitoring.This paper started with the design of the supervisory institutions in the Ming Dynasty recorded in the historical materials such as the Memoir of Ming Dynasty and The Interpretive Supplements to"The Great Learning",to get a glimpse of the main content of the legal thoughts of supervisory at that time,and tried to"take history as a mirror"to provide insights and lessons of the legal thoughts of supervisory in the Ming Dynasty for the later generations.
基金supported by the National Natural Science Foundation of China(61305133)the Aeronautical Science Foundation of China(2016ZC53020)the Fundamental Research Funds for the Central Universities(3102017jg02015)
文摘The increasingly complex battlefield environment requests much closer connection in a team having both manned and unmanned aerial vehicles(MAVs and UAVs). This special heterogeneous team structure causes demands for effective organizational structure design solutions. Implementing adjustable autonomy in the organizational structure, the expected evaluation function is established based on the physical resource, intelligent resource, network efficiency, network vulnerability and task execution reliability. According to the above constraints, together with interaction latency, decision-making information processing capacity, and decision-making latency, we aim to find a preferential organizational structure. The proposed organizational structure includes cooperative relationships, supervisory control relationships, and decision-making authorization relationships. In addition,by considering the influence on the intelligent support capabilities and the task execution reliability created by adjustable autonomy, it helps to build the proposed organizational structure designed with certain degree of flexibility to deal with the potential changes in the unpredictable battlefield environment. Simulation is conducted to confirm our design to be valid. And the method is still valid under different battlefield environments and interventions.
