随着无人机的广泛应用,无人机控制器的设计成为近年来广泛研究的热点。当前无人机中广泛使用的PID,MPC等控制算法受到参数难调节、模型构建复杂、计算量大等一系列因素的制约。针对上述问题,提出了一种基于深度强化学习的无人机自主控...随着无人机的广泛应用,无人机控制器的设计成为近年来广泛研究的热点。当前无人机中广泛使用的PID,MPC等控制算法受到参数难调节、模型构建复杂、计算量大等一系列因素的制约。针对上述问题,提出了一种基于深度强化学习的无人机自主控制方法。该方法通过神经网络拟合无人机控制器,直接将无人机的状态映射到舵机的输出以控制无人机运动,在不断与环境进行交互训练中即可得到一个通用的无人机控制器,有效地避免了参数调节、模型构建等复杂操作。同时,为进一步提高模型的收敛速度和准确性,在传统强化学习算法Soft Actor Critic(SAC)的基础之上引入专家信息,提出了ESAC算法,指导无人机对环境进行探索,以增强控制策略的易用性和扩展性。最后在无人机的位置控制以及轨迹跟踪任务中,通过与传统PID控制器和SAC,DDPG等强化学习算法构建的模型控制器进行对比,实验结果表明,通过ESAC算法构建的控制器能够达到与PID控制器同样甚至更优的控制效果,同时在稳定性和准确性上优于SAC和DDPG构建的控制器。展开更多
The FAIR Guidelines were conceptualised and coined as guidelines for Findable, Accessible, Interoperable and Reusable(FAIR) data at a conference held at the Lorentz Centre in Leiden in 2014. A relatively short period ...The FAIR Guidelines were conceptualised and coined as guidelines for Findable, Accessible, Interoperable and Reusable(FAIR) data at a conference held at the Lorentz Centre in Leiden in 2014. A relatively short period of time after this conference, the FAIR Guidelines made it onto the public policy agenda of the European Union. Following the concept of Kingdon, policy entrepreneurs played a critical role in creating a policy window for this idea to reach the agenda by linking it to the policy of establishing a European Open Science Cloud(EOSC). Tracing the development from idea to policy, this study highlights the critical role that expert committees play in the European Union. The permeability of the complex governance structure is increased by these committees, which allow experts to link up with the institutions and use the committees to launch new ideas. The High Level Expert Groups on the EOSC provided the platform from which the FAIR Guidelines were launched, and this culminated in the adoption of the FAIR Guidelines as a requirement for all European-funded science. As a result, the FAIR Guidelines have become an obligatory part of data management in European-funded research in 2020 and are now followed by other funders worldwide.展开更多
Malaysia has a long way before achieving the 20%renewable-energy penetration by 2025.Currently,merely 2%of the country’s electricity is generated by renewable energy sources including solar power.Unlike the abundant ...Malaysia has a long way before achieving the 20%renewable-energy penetration by 2025.Currently,merely 2%of the country’s electricity is generated by renewable energy sources including solar power.Unlike the abundant literature about solar energy,qualitative studies that focus on experts’opinions on the weaknesses of residential solar-energy policies have received less attention,particularly in the context of Malaysia.Understanding the flaws in the existing policies would lead to creating a better policy framework for solar-energy development.Thus,this study aims to identify the shortcomings of the current government initiatives and policies that deter solar photovoltaic adoption among households from experts’perspectives.Experts also provide recommendations for better future policy design and implementation.This study employs a qualitative research approach(via semi-structured interviews)in collecting experts’viewpoints.Key concerns emerging from the interviews include insufficient financial support,lack of awareness programmes and subsidized electricity tariffs.Also,interviewed experts suggest sufficient financial incentives,increased public awareness programmes and comprehensive legislation aimed at safeguarding consumer interests as a means to raising solar-energy adoption in the country.This underlines the need for policymakers to create public awareness,provide financial support and develop regulatory measures aimed at managing solar companies for the sake of solar development in Malaysia.展开更多
文摘随着无人机的广泛应用,无人机控制器的设计成为近年来广泛研究的热点。当前无人机中广泛使用的PID,MPC等控制算法受到参数难调节、模型构建复杂、计算量大等一系列因素的制约。针对上述问题,提出了一种基于深度强化学习的无人机自主控制方法。该方法通过神经网络拟合无人机控制器,直接将无人机的状态映射到舵机的输出以控制无人机运动,在不断与环境进行交互训练中即可得到一个通用的无人机控制器,有效地避免了参数调节、模型构建等复杂操作。同时,为进一步提高模型的收敛速度和准确性,在传统强化学习算法Soft Actor Critic(SAC)的基础之上引入专家信息,提出了ESAC算法,指导无人机对环境进行探索,以增强控制策略的易用性和扩展性。最后在无人机的位置控制以及轨迹跟踪任务中,通过与传统PID控制器和SAC,DDPG等强化学习算法构建的模型控制器进行对比,实验结果表明,通过ESAC算法构建的控制器能够达到与PID控制器同样甚至更优的控制效果,同时在稳定性和准确性上优于SAC和DDPG构建的控制器。
基金VODAN-Africathe Philips Foundation+2 种基金the Dutch Development Bank FMOCORDAIDthe GO FAIR Foundation for supporting this research
文摘The FAIR Guidelines were conceptualised and coined as guidelines for Findable, Accessible, Interoperable and Reusable(FAIR) data at a conference held at the Lorentz Centre in Leiden in 2014. A relatively short period of time after this conference, the FAIR Guidelines made it onto the public policy agenda of the European Union. Following the concept of Kingdon, policy entrepreneurs played a critical role in creating a policy window for this idea to reach the agenda by linking it to the policy of establishing a European Open Science Cloud(EOSC). Tracing the development from idea to policy, this study highlights the critical role that expert committees play in the European Union. The permeability of the complex governance structure is increased by these committees, which allow experts to link up with the institutions and use the committees to launch new ideas. The High Level Expert Groups on the EOSC provided the platform from which the FAIR Guidelines were launched, and this culminated in the adoption of the FAIR Guidelines as a requirement for all European-funded science. As a result, the FAIR Guidelines have become an obligatory part of data management in European-funded research in 2020 and are now followed by other funders worldwide.
基金We acknowledge the funding support from the Ministry of Higher Education(MOHE)Malaysia under the Fundamental Research Grant Scheme(FRGS)(Reference No.:FRGS/2018/SS08/UTAR/02/1).
文摘Malaysia has a long way before achieving the 20%renewable-energy penetration by 2025.Currently,merely 2%of the country’s electricity is generated by renewable energy sources including solar power.Unlike the abundant literature about solar energy,qualitative studies that focus on experts’opinions on the weaknesses of residential solar-energy policies have received less attention,particularly in the context of Malaysia.Understanding the flaws in the existing policies would lead to creating a better policy framework for solar-energy development.Thus,this study aims to identify the shortcomings of the current government initiatives and policies that deter solar photovoltaic adoption among households from experts’perspectives.Experts also provide recommendations for better future policy design and implementation.This study employs a qualitative research approach(via semi-structured interviews)in collecting experts’viewpoints.Key concerns emerging from the interviews include insufficient financial support,lack of awareness programmes and subsidized electricity tariffs.Also,interviewed experts suggest sufficient financial incentives,increased public awareness programmes and comprehensive legislation aimed at safeguarding consumer interests as a means to raising solar-energy adoption in the country.This underlines the need for policymakers to create public awareness,provide financial support and develop regulatory measures aimed at managing solar companies for the sake of solar development in Malaysia.
