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中国科学:技术科学（英文版）
中国科学:技术科学（英文版）

周光召

月刊

1674-7321

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010-64019820

100717

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中国科学:技术科学（英文版）/Journal Science China Technological SciencesCSCDCSTPCDEISCI
查看更多>>《中国科学》是中国科学院主办、中国科学杂志社出版的自然科学专业性学术刊物。《中国科学》任务是反映中国自然科学各学科中的最新科研成果，以促进国内外的学术交流。《中国科学》以论文形式报道中国基础研究和应用研究方面具有创造性的、高水平的和有重要意义的科研成果。在国际学术界，《中国科学》作为代表中国最高水平的学术刊物也受到高度重视。国际上最具有权威的检索刊物SCI，多年来一直收录《中国科学》的论文。1999年《中国科学》夺得国家期刊奖的第一名。
正式出版
收录年代

    Data-driven discovery of linear dynamical systems from noisy data

    WANG YaSenYUAN YeFANG HuaZhenDING Han...
    121-129页
    查看更多>>摘要：In modem science and engineering disciplines,data-driven discovery methods play a fundamental role in system modeling,as data serve as the external representations of the intrinsic mechanisms within systems.However,empirical data contaminated by process and measurement noise remain a significant obstacle for this type of modeling.In this study,we have developed a data-driven method capable of directly uncovering linear dynamical systems from noisy data.This method combines the Kalman smoothing and sparse Bayesian learning to decouple process and measurement noise under the expectation-maximization frame-work,presenting an analytical method for alternate state estimation and system identification.Furthermore,the discovered model explicitly characterizes the probability distribution of process and measurement noise,as they are essential for filtering,smooth-ing,and stochastic control.We have successfully applied the proposed algorithm to several simulation systems.Experimental results demonstrate its potential to enable linear dynamical system discovery in practical applications where noise-free data are intractable to capture.
      原文链接:
    • 万方数据
    • 维普

    Investigation of mechanical and electrical characteristics of self-sensing pneumatic torsional actuators

    XIAO WeiHU DeAnHU GuoLiangXIAO YiHua...
    130-142页
    查看更多>>摘要：Soft pneumatic actuators are one of the most promising actuation for soft robots,and great achievements have been obtained.But it remains challenging to endow sensing capabilities to pneumatic actuators,especially for the sensing ability originating directly from the actuator architecture.Herein,a self-sensing pneumatic torsional actuator(SPTA)is designed based on the electro-magnetic induction effect and magnetically responsive materials.The SPTA can generate feedback voltage and current with the deformation,in which the sensing function comes from its inherent structure.To investigate the mechanical and electrical characteristics,an experimental platform and a finite element model are established,respectively.We find that the torsion angle and output torque increase in nonlinear with the actuating pressure.The maximum torsion angle is 66.35°,which is 84.34％of that for the actuator fabricated by pure rubber.The maximum output torque(24.9 N mm)improves by 23.19％compared with the actuator made by pure rubber.As regards the electrical characteristics,the maximum feedback voltage and current are 2.90 pV and 29.50 nA when the SPTA is actuated by a pressure of-40 kPa.We also demonstrate that the relationship between the torsion angle and the magnetic flux change is approximately linear.Finally,the number of turns of wires,magnetic powders contents,and magnetic direction on the feedback voltage and current are studied.Results show that the feedback voltage and current can be enhanced by increasing the number of turns and magnetic powders contents.We envision that the SPTA would be promising for soft robots to realize their accuracy control and intelligentization.
      原文链接:
    • 万方数据

    The joint knowledge reasoning model based on knowledge representation learning for aviation assembly domain

    LIU PeiFengQIAN LuLU HuXUE Lei...
    143-156页
    查看更多>>摘要：Knowledge graph technology is widely applied in the domain of general knowledge reasoning with an excellent performance.For fine-grained professional fields,professional knowledge graphs can provide more accurate information in practical industrial scenarios.Based on an aviation assembly domain-specific knowledge graph,the article constructs a joint knowledge reason-ing model,which combines a named entity recognition model and a subgraph embedding learning model.When performing knowledge reasoning tasks,the two models vectorize entities,relationships and entity attributes in the same space,so as to share parameters and optimize learning efficiency.The knowledge reasoning model,which provides intelligent question answering services,is able to reduce the assembly error rate and improve the assembly efficiency.The system can accurately solve gen-eral knowledge reasoning problems in the assembly process in actual industrial scenarios of general assembly and component assembly under interference-free conditions.Finally,this paper compares the proposed knowledge reasoning model based on knowledge representation learning and the question-answering system based on large-scale pre-trained models.In the application scenario of system functional testing in general assembly,the joint model attains an accuracy rate of 95％,outperforming GPT with 78％accuracy and enhanced representation through knowledge integration with 71％accuracy.
      原文链接:
    • 万方数据
    • 维普

    Planning method of droplet fusion scheduling based on mixed-integer programming

    XIONG JiaCongCHEN JianKuiWANG YiXinYIN ZhouPin...
    157-171页
    查看更多>>摘要：The emergence of new display devices,such as organic light-emitting diodes,has brought about numerous advantages,including high material utilization,low cost,and high adaptability.These devices are manufactured using inkjet printing and possess the potential to become a key technology for display transformations.However,a challenge in achieving this is the display effect that reveals uneven brightness and darkness,which can be avoided by controlling the volume of ink solution in a pixel to within 5％.Currently,the volume difference among the nozzles of commercial printheads does not meet the requirements for volume uniformity,thus challenging the printing process.Therefore,designing a suitable printing method that allows for the fusion of different volumes of ink droplets,ultimately reducing the error of the post fusion process,is necessary.In this study,we propose a print display droplet fusion scheduling method comprising two main steps.First,we use a dichotomous trust domain algorithm to obtain a feasible range of printhead docking point spacings for different nozzle and pixel panel resolutions.Second,we model the printing process as a droplet fusion scheduling model based on mixed integer programming,with the optimization objective of achieving intra pixel volume uniformity via ensuring the volume uniformity of ink droplets within all pixels.We verified this method through numerical simulations and printing experiments using 394 pixels per inch(ppi)pixel panels and successfully reduced the volume uniformity error among pixels to within 5％.
      原文链接:
    • 万方数据

    Robust reinforcement learning with UUB guarantee for safe motion control of autonomous robots

    ZHANG RuiXianHAN YiNingSU ManLIN ZeFeng...
    172-182页
    查看更多>>摘要：This paper addresses the issue of safety in reinforcement learning(RL)with disturbances and its application in the safety-constrained motion control of autonomous robots.To tackle this problem,a robust Lyapunov value function(rLVF)is proposed.The rLVF is obtained by introducing a data-based LVF under the worst-case disturbance of the observed state.Using the rLVF,a uniformly ultimate boundedness criterion is established.This criterion is desired to ensure that the cost function,which serves as a safety criterion,ultimately converges to a range via the policy to be designed.Moreover,to mitigate the drastic variation of the rLVF caused by differences in states,a smoothing regularization of the rLVF is introduced.To train policies with safety guarantees under the worst disturbances of the observed states,an off-policy robust RL algorithm is proposed.The proposed algorithm is applied to motion control tasks of an autonomous vehicle and a cartpole,which involve external disturbances and variations of the model parameters,respectively.The experimental results demonstrate the effectiveness of the theoretical findings and the advantages of the proposed algorithm in terms of robustness and safety.
      原文链接:
    • 万方数据
    • 维普

    D-scheduler:A scheduler in time-triggered distributed system through decoupling dependencies between tasks and messages

    YANG TingTingZHANG YuQiYUE FengLaiWUNIRI QiQiGe...
    183-196页
    查看更多>>摘要：Time-triggered architecture,as a mainstream design of the distributed real-time system,has been successfully applied in the aerospace,automotive and mechanical industries.However,time-triggered scheduling is a challenging NP-hard problem.There are few studies that could quickly solve the scheduling problem of large distributed time-triggered systems.To solve this problem,a communication affinity parameter is defined in this paper to describe the degree of bias of the shaper task towards sending or receiving messages.Based on this,an innovative task-message decoupling model named D-scheduler is built to reduce the computation complexity of the scheduling problem in large-scale systems.Additionally,we provide mathematical proof that our model is a convex optimization that is easy to solve with existing computational tools.Our experiments substantiate the efficacy of the D-scheduler.It dramatically reduces the scheduling complexity of large-scale real-time systems with a small loss of solving space compared to the federal scheduler.
      原文链接:
    • 万方数据
    • 维普

    Segment differential aggregation representation and supervised compensation learning of ConvNets for human action recognition

    REN ZiLiangZHANG QieShiCHENG QinXU ZhenYu...
    197-208页
    查看更多>>摘要：With more multi-modal data available for visual classification tasks,human action recognition has become an increasingly at-tractive topic.However,one of the main challenges is to effectively extract complementary features from different modalities for action recognition.In this work,a novel multimodal supervised learning framework based on convolution neural networks(ConvNets)is proposed to facilitate extracting the compensation features from different modalities for human action recogni-tion.Built on information aggregation mechanism and deep ConvNets,our recognition framework represents spatial-temporal information from the base modalities by a designed frame difference aggregation spatial-temporal module(FDA-STM),that the networks bridges information from skeleton data through a multimodal supervised compensation block(SCB)to supervise the extraction of compensation features.We evaluate the proposed recognition framework on three human action datasets,including NTU RGB+D 60,NTU RGB+D 120,and PKU-MMD.The results demonstrate that our model with FDA-STM and SCB achieves the state-of-the-art recognition performance on three benchmark datasets.
      原文链接:
    • 万方数据
    • 维普

    Neural-network-based fully distributed formation control for nonlinear multi-agent systems with event-triggered communication

    ZHU GuoLiangLIU KeXinGU HaiBoLü JinHu...
    209-220页
    查看更多>>摘要：This paper investigates the consensus-based formation control problem for multi-agent systems with unknown nonlinear dynam-ics.To achieve the desired formation,we propose two formation controllers to achieve the desired formation,one based on system states and the other on system outputs.The proposed controllers utilize adaptive gains to avoid global information and neural networks to estimate and compensate for nonlinearities.The proposed event-triggered schemes avoid continuous communica-tion among agents and exclude the Zeno behavior.Stability analysis reveals that formation errors are bounded,and numerical simulations are used to validate the effectiveness of the proposed approaches.
      原文链接:
    • 万方数据
    • 维普

    A dual-beam piezo-magneto-elastic wake-induced vibration energy harvesting system for high-performance wind energy harvesting

    MA XiaoQingZHANG HangMARGIELEWICZ JerzyG.?SKA Damian...
    221-239页
    查看更多>>摘要：Wind-induced vibration energy harvesting has a great potential for utilizing wind energy to supply power for low-powered devices.To improve the working performance of energy harvesters effectively,a suitable structural design is crucial.This paper proposes a dual-beam piezo-magneto-elastic wake-induced vibration energy harvesting system to enhance the functional per-formance of aeroelastic energy harvesters in environments with variable wind speeds.The system contains two piezoelectric beams coupled by magnets(forming upstream and downstream energy harvesters),and each beam is attached with a foam cylinder.A corresponding dynamic model is provided,and output characteristics are obtained at different wind speeds.Results and experimental verification indicate that both upstream and downstream energy harvesters can realize efficient energy harvesting.When the wind speed exceeds a certain critical value,the amplitudes of the system's displacement and voltage are high.The wind speed threshold value is approximately 1.25 m/s.When the wind speed and magnet spacing are 10.2 m/s and 20 mm,respectively,the output power of the system reaches 4.9×1 0-4 W.Moreover,the wind speed threshold value of the proposed system can be adjusted by an equivalent nonlinear restoring force.
      原文链接:
    • 万方数据
    • 维普

    Space advanced technology demonstration satellite

    ZHANG XiaoFengCHEN WenZHU XiaoChengMENG Na...
    240-258页
    查看更多>>摘要：The Space Advanced Technology demonstration satellite(SATech-01),a mission for low-cost space science and new technology experiments,organized by Chinese Academy of Sciences(CAS),was successfully launched into a Sun-synchronous orbit at an altitude of～500 km on July 27,2022,from the Jiuquan Satellite Launch Centre.Serving as an experimental platform for space science exploration and the demonstration of advanced common technologies in orbit,SATech-01 is equipped with 16 ex-perimental payloads,including the solar upper transition region imager(SUTRI),the lobster eye imager for astronomy(LEIA),the high energy burst searcher(HEBS),and a High Precision Magnetic Field Measurement System based on a CPT Magnet-ometer(CPT).It also incorporates an imager with freeform optics,an integrated thermal imaging sensor,and a multi-functional integrated imager,etc.This paper provides an overview of SATech-01,including a technical description of the satellite and its scientific payloads,along with their on-orbit performance.
      原文链接:
    • 万方数据
    • 维普