1 Adapting to Network and Client Variability via On-Demand Dynamic Distillation
强化学习中的长期依赖与信用分配问题

强化学习中长期依赖和信用分配问题是一个重要而复杂的问题,涉及到强化学习算法的设计和实施。
以下是对这两个问题的简要解释和可能的解决方案:
1. 长期依赖:在强化学习中,长期依赖是指算法对过去行为的依赖,即过去的决策和环境反馈对未来的决策产生影响。
这可能导致学习过程中的循环依赖和模式适应,即算法可能会对特定的历史行为产生过度依赖,无法适应新的、无先例的环境。
解决方案:为了解决长期依赖问题,研究者们提出了许多策略,如时间差分强化学习(TD-RL)、策略梯度方法(PG)等。
这些方法通过引入时间差分进行更新,以减少对过去行为的过度依赖。
此外,模型化记忆结构如神经网络,也被用于记忆重要的历史行为以降低长期依赖的影响。
2. 信用分配:信用分配问题是强化学习中另一个重要问题。
当不同的环境状态有不同的奖励权重时,如果所有状态被视为等价或不可区分的,可能会导致某些状态得到过度奖励,而其他状态则被忽视。
这可能导致算法在某些状态下过度探索或过度利用,从而影响学习效果。
解决方案:为了解决信用分配问题,研究者们提出了许多策略,如基于策略的算法(如PPO)和价值导向的算法(如V-trace)。
这些方法通过将状态分类为不同类别并使用不同的奖励权重来分配信用,以解决信用分配问题。
此外,还可以使用探索和利用的平衡机制来避免过度探索或过度利用,并引入可解释性强的信任机制来调整信用分配。
综上所述,解决强化学习中的长期依赖和信用分配问题需要采用多种策略和技术。
通过不断探索和创新,研究者们正在努力提高强化学习的性能和可解释性,以适应各种复杂和动态的环境。
人工智能各国战略解读汇报系列《联合国人工智能政策》

人工智能各国战略解读系列《联合国人工智能政策》中国信息通信研究院与腾讯研究院AI联合课题组作者:Danit Gal 腾讯研究院科技政策分析师译者:孙那腾讯研究院研究员、博士后李金磊腾讯研究院助理研究员人工智能是人类进入信息产业革命时代,达到的认识和改造客观世界能力的高峰。
人工智能的大规模应用与机器人技术发展的日新月异,将在未来带给人类社会前所未有的巨大冲击。
联合国作为全球最重要的国际组织,在2016年最新发布的人工智能报告中,表达了其对于人工智能的关注;同时为应对人工智能及机器人技术的发展带来的各种问题,提出了全新的思考方式与解决路径,这对世界各国的人工智能监管具有重要的参考意义。
华为云服务器爆款3折秒杀广告近年来,自动化和智能化的机器人在现代社会的应用越来越广泛。
先进机器人的全球研发、部署安装与使用,在引发的公众讨论的同时,也鼓励着政府监管的创新。
例如,无人机不仅成为大众消遣的工具,同时也在反恐战争发挥着重要作用。
自动化机器正在取代工厂中体力劳动者,同时带来了劳动力市场的革命。
人形机器人不但被引进了学校,还用来在日托机构中照顾老年人;辅助机器人技术还广泛应用在医疗方案中,不管是在对自闭症患者的心理治疗还是在复杂重要的外科手术中,都能发现智能机器人的身影。
机器人在家庭、工作、社会公共层面的广泛存在,不仅带给人类新的机会与挑战,同时还改变着人类的行为方式。
展开剩余87% 在联合国内,虽然大部分关于自动化系统与人工智能的讨论主要围绕在自动化武器系统,但是,我们看到联合国正在对大众化的人工智能系统应用产生浓厚的兴许。
联合国关于人工智能的若干附属报告,呼吁世界各国采用全新的视角看待人工智能系统的未来监管以及它们在机器人和机器人技术上的应用。
联合国提供了一种考察基于机器人物理形态下的人工智能系统全新路径,作为世界各国“国家中心”视角的有效补充。
世界科学知识与技术伦理委员会(COMEST)关于机器人伦理的初步草案报告联合国教科文组织(The United Nations Education, Scientificand Cultural Organization)与世界科学知识与技术伦理委员会(World Commission on the Ethics ofScientific Knowledge and Technology)最新联合发布的报告(2016)主要讨论了机器人的制造和使用促进了人工智能的进步,以及这些进步所带来的社会与伦理道德问题。
投资组合优化与资产配置考试

投资组合优化与资产配置考试(答案见尾页)一、选择题1. 在投资组合优化中,马科维茨投资组合理论主要基于哪种假设?A. 投资者是风险偏好者B. 投资者是风险厌恶者C. 所有投资者都有相同的预期收益率D. 市场是有效的2. 根据现代投资组合理论,以下哪项不是决定资产风险的因素?A. 资产的预期收益率B. 资产之间的相关性C. 资产的标准差D. 资产的β系数3. 在资产配置中,以下哪种策略旨在最大化夏普比率?A. 最大化收益B. 最小化风险C. 平衡风险和收益D. 随机配置4. 使用资本资产定价模型(CAPM)计算证券的期望收益率时,需要知道的信息不包括:A. 无风险利率B. 市场组合的期望收益率C. 证券的β系数D. 证券的发行数量5. 在有效市场中,以下哪个因素不会影响证券的价格?A. 基本面信息B. 技术分析C. 投资者情绪D. 公司的内部消息6. 根据哈里·马科维茨的投资组合理论,以下哪项是构建有效投资组合的关键步骤?A. 评估单个证券的收益率B. 估计证券之间的相关性C. 确定投资组合的期望收益率D. 计算投资组合的预期波动率7. 在资产配置中,如果一种资产的风险增加而预期收益不变,那么这种资产在投资组合中的权重应该:A. 增加B. 减少C. 保持不变D. 无法确定8. 使用蒙特卡洛模拟法进行投资组合优化时,以下哪项不是模拟过程的一部分?A. 确定投资组合的期望收益率和风险B. 生成随机数来模拟资产价格的变动C. 计算模拟投资组合的预期收益率和标准差D. 选择一个固定的市场基准进行比较9. 在考虑税收影响的情况下,以下哪种投资策略可能会降低投资者的税负?A. 长期持有股票以享受较低的资本利得税率B. 通过分散投资来降低单一资产的风险C. 利用税收抵免和扣除项D. 定期调整投资组合以适应市场变化10. 以下哪种方法不是用于评估投资组合绩效的工具?A. 夏普比率B. 信息比率C. 最大回撤D. 波动率11. 投资组合优化的主要目标是什么?A. 提高投资收益B. 降低投资风险C. 实现资产保值D. 以上都是12. 在投资组合优化中,以下哪个因素通常不被考虑?A. 资产的预期收益率B. 资产的风险水平C. 投资者的时间偏好D. 市场的短期波动13. 资产配置的主要目的是什么?A. 实现投资组合的多元化B. 最大化投资组合的预期收益C. 最小化投资组合的风险D. 提高投资组合的流动性14. 在进行资产配置时,投资者通常不会考虑以下哪种资产类别?A. 股票B. 债券C. 房地产D. 贵金属15. 风险价值(VaR)是什么?A. 一种衡量投资组合整体风险的指标B. 一种衡量单个资产风险的指标C. 一种衡量投资组合超额收益的指标D. 一种衡量市场风险的指标16. 在投资组合优化模型中,哪种方法通常用于处理非线性关系?A. 线性规划B. 遗传算法C. 蒙特卡洛模拟D. 均值-方差模型17. 在资产配置决策中,以下哪个因素通常具有最大的影响?A. 投资者的风险承受能力B. 资产的预期收益率C. 投资者的投资期限D. 市场的波动性18. 在投资组合优化过程中,通常使用哪种方法来确定资产的权重?A. 历史回报率B. 市场模型C. 优化算法D. 主成分分析19. 以下哪种策略旨在通过调整投资组合中不同资产的比例来实现特定的风险-收益目标?A. 被动投资策略B. 主动投资策略C. 混合投资策略D. 分散投资策略20. 在投资组合优化的背景下,以下哪个术语指的是投资者愿意承担的风险水平?A. 风险厌恶B. 风险偏好C. 风险容忍度D. 风险规避21. 在投资组合优化中,哪种模型旨在最大化夏普比率?A. 马科维茨投资组合理论B. 资本资产定价模型C. 有效市场假说D. 套利定价理论22. 根据现代投资组合理论,以下哪项不是决定投资组合风险的因素?A. 系统风险B. 非系统风险C. 市场风险D. 特定公司的风险23. 在资产配置中,以下哪项不是常用的风险缓解策略?A. 分散投资B. 多元化C. 杠杆投资D. 风险平价24. 资本资产定价模型(CAPM)主要用于估计:A. 资产的预期收益率B. 资产的风险溢价C. 资产的市场风险D. 资产的非系统风险25. 在投资组合优化中,最大化夏普比率意味着:A. 最大化投资组合的预期收益率B. 最小化投资组合的风险C. 在给定风险水平下最大化预期收益率D. 在给定预期收益率下最小化风险26. 以下哪种投资工具通常用于对冲特定风险?A. 期货合约B. 股票C. 债券D. 商品27. 在资产配置中,以下哪项原则强调了不同资产类别之间的相关性?A. 风险平价B. 最小方差组合C. 最大化夏普比率D. 分散投资28. 以下哪种方法用于衡量投资组合的业绩?A. 夏普比率B. 信息比率C. 詹森αD. 所有以上选项29. 在投资组合优化中,哪种方法考虑了资产的预期收益率、方差和协方差?A. 资本资产定价模型B. 马科维茨投资组合理论C. 有效市场假说D. 套利定价理论30. 在资产配置决策中,以下哪项不是决定资产类别的关键因素?A. 资产的风险特征B. 资产的预期收益率C. 投资者的风险承受能力D. 投资者的投资期限31. 在投资组合优化中,哪种方法旨在最大化夏普比率?A. 资本资产定价模型(CAPM)B. 资本配置线(CAL)C. 最优投资组合D. 有效边界32. 根据现代投资组合理论,投资者应该采取哪种策略来降低风险?A. 增加投资组合的贝塔值B. 减少投资组合的波动率C. 增加投资组合的多样性D. 降低投资组合的期望收益率33. 在资产配置中,哪种模型考虑了不同资产之间的相关性?A. 资本资产定价模型(CAPM)B. 资本配置线(CAL)C. 马科维茨投资组合理论D. 有效边界34. 根据马科维茨投资组合理论,以下哪个因素不影响投资组合的预期收益率?A. 资产的期望收益率B. 资产的方差C. 资产之间的协方差D. 资产的流动性35. 在构建投资组合时,以下哪个步骤不是必须的?A. 确定投资目标B. 评估资产的风险和收益C. 选择具体的投资产品D. 计算投资组合的预期收益率36. 以下哪个指标用于衡量投资组合的风险?A. 夏普比率B. 信息比率C. 贝塔值D. 最大回撤37. 在资产配置中,以下哪个原则强调了分散投资的重要性?A. 风险平价原则B. 最大化投资组合的夏普比率C. 最小化投资组合的波动率D. 分散投资以降低非系统性风险38. 根据资本资产定价模型(CAPM),以下哪个因素决定了资产的期望收益率?A. 资产的系统风险B. 资产的市值C. 资产的流动性D. 宏观经济环境39. 在投资组合优化过程中,以下哪个目标是在给定风险水平下最大化收益?A. 最小化投资组合的波动率B. 最大化投资组合的夏普比率C. 最小化投资组合的最大回撤D. 最大化投资组合的期望收益率40. 在资产配置中,以下哪种方法用于确定投资组合中各类资产的比例?A. 资本资产定价模型(CAPM)B. 资本配置线(CAL)C. 马科维茨投资组合理论D. 有效边界二、问答题1. 什么是投资组合优化?2. 什么是夏普比率?3. 什么是资本资产定价模型(CAPM)?4. 什么是有效边界?5. 什么是资产配置?6. 如何确定最优的资产配置比例?7. 什么是风险平价策略?8. 如何评估投资组合的绩效?参考答案选择题:1. B2. A3. C4. D5. D6. B7. B8. D9. C 10. D11. D 12. D 13. C 14. D 15. A 16. C 17. A 18. C 19. B 20. C21. A 22. D 23. C 24. B 25. C 26. A 27. D 28. D 29. B 30. C31. C 32. C 33. C 34. D 35. D 36. D 37. D 38. A 39. B 40. C问答题:1. 什么是投资组合优化?投资组合优化是指通过选择不同的资产组合以达到在给定风险水平下最大化收益或在给定收益水平下最小化风险的过程。
SAE J1773电动汽车耦合充电系统连接

SAE Technical Standards Board Rules provide that: “This report is published by SAE to advance the state of technical and engineering sciences. The use of this report is entirely voluntary, and its applicability and suitability for any particular use, including any patent infringement arising therefrom, is the sole responsibility of the user.”SAE reviews each technical report at least every five years at which time it may be reaffirmed, revised, or cancelled. SAE invites your written comments and suggestions.TO PLACE A DOCUMENT ORDER: (724) 776-4970 FAX: (724) 776-0790SAE WEB ADDRESS Copyright 1999 Society of Automotive Engineers, Inc.4.4.1.2Orientation (10)4.4.1.3Connection Present Magnet Location (10)4.4.1.4Connection Present Magnet Strength (10)4.4.1.5Tactile Feel Indents (10)4.4.1.6EMI Shield Contact Zone Location (10)4.4.1.7EMI Shield Contact Zone Impedance (10)4.4.1.8IR Transceiver Interface Location (10)4.4.1.9Stop Receptacle Locations (12)4.4.2Inductive Vehicle Inlet (12)4.4.2.1Critical Dimensions (12)4.4.2.2Alignment (12)4.4.2.3EMI Shield Contact Zone Location (12)4.4.2.4Grounding of EMI Shield Contact Zone (13)4.4.2.5IR Transceiver Alignment (13)4.5Electromagnetic Emissions (13)4.5.1SAE Charging System Requirements (13)4.5.2FCC Charging System Requirements (13)5.Application Requirements (14)5.1Environment (14)5.1.1Performance Requirements (14)5.1.1.1External Touch Temperature (14)5.1.1.2Operational and Storage Temperature (14)5.1.1.3External Contaminants (14)5.1.1.4Vibration (14)5.1.1.5Pass Criteria (14)5.1.1.6Material (14)5.1.1.7Fluid Egress (14)5.2Charger Requirements (14)5.2.1Power Level Compatibility (14)5.3Vehicle Requirements (14)5.3.1Power Level Compatibility (14)6Notes (14)6.1Marginal Indicia (14)Appendix A Software Interface (15)A.1Scope (15)A.2Software States (15)A.3Message Structure (18)A.4Message Definitions (20)A.4.1Vehicle-to-Charger Messages (20)A.4.2Charger-to-Vehicle Messages (23)A.5Fault Detection and Handling (25)A.6Message Summary (26)A.7Glossary (26)Appendix B Level 3 Compatibility (27)B.1Scope (27)B.2Level 3 Power Compatibility System Design (27)B.2.1Hardware Power Level Comparison Requirements (28)B.2.2Software Power Level Comparison Requirements (28)B.3Charger Controller Requirements (28)B.4Vehicle Charge Controller Requirements (28)Appendix C Compatibility With Existing Systems (29)C.1Scope (29)C.2Communications Metrics (29)C.3RF Antenna Location (30)C.4FCC Charging System Requirements for RF Systems (30)C.5Inductive Connector Physical Compatibility (30)Appendix D138 mm Coupler (31)D.1Scope (31)D.2Coupler Dimensions (31)D.3Inlet Core Dimensions (34)1.Scope—This SAE Recommended Practice establishes the minimum interface compatibility requirements forelectric vehicle (EV) inductively coupled charging for North America.This part of the specification is applicable to manually connected inductive charging for Levels 1 and 2 power transfer. Requirements for Level 3 compatibility are contained in Appendix B. Recommended software interface messaging requirements are contained in Appendix A.This type of inductively coupled charging is generally intended for transferring power at frequencies significantly higher than power line frequencies. This part of the specification is not applicable to inductive coupling schemes that employ automatic connection methods or that are intended for transferring power at power line frequencies.1.1General Inductive Charging System Description—The basic principle behind inductive charging is that thetwo halves of the inductive coupling interface are the primary and secondary of a two-part transformer. When the charge coupler (i.e., the primary) is inserted in the vehicle inlet (i.e., the secondary), power can be transferred magnetically with complete electrical isolation just as it occurs in a standard transformer. The number of turns (windings) on the secondary is “matched” to the vehicle’s battery pack voltage so that the same charger can charge any vehicle.The charger converts utility power to high frequency AC (HFAC) power (130 kHz to 360 kHz). The high frequency operation is utilized to reduce the size and mass of the on-vehicle portion of the transformer. The vehicle inlet is the power inlet on the vehicle which receives the HFAC from the charger. The HFAC is converted into DC to charge the batteries. An on-vehicle charge controller continuously monitors the state of the batteries during charging and controls the charger output power level via an IR communications link between the vehicle inlet and the charger (the charger’s communications interface is physically imbedded in the charge coupler). The charge controller signals the charger to stop charging when it determines that the batteries are completely charged or a fault is detected during the charging process.The following steps correspond with the diagram in Figure 1, and describe the closed-loop charging system.a.Vehicle charge controller determines desired current into batteries. **b.Vehicle charge controller transmits charger output power request to charger via an IR communicationsinterface. **c.Charger controls input current from utility based on charger output power request from vehicle chargecontroller. **d.Charger converts 60 Hz utility power to HFAC power.e.HFAC power is magnetically coupled from the coupler (primary) to the vehicle inlet (secondary).f.HFAC power is rectified/filtered to DC to charge the vehicle batteries.g.Process repeats until the vehicle charge controller determines the batteries are fully charged. **NOTE—Items with ** indicate control loop.FIGURE 1—TYPICAL CLOSED-LOOP CHARGING SYSTEM.2.References2.1Applicable Publications—The following publications form a part of this document to the extent specifiedherein. Unless otherwise indicated, the latest issue of SAE publications shall apply.2.1.1SAE P UBLICATIONS—Available from SAE, 400 Commonwealth Drive, Warrendale, PA 15096-0001.SAE J551-2—Test Limits and Methods of Measurement of Radio Disturbance Characteristics of Vehicles, Motorboats, and Spark-Ignited Engine-Driven DevicesSAE J551-5—Performance levels and Methods of Measurement of Magnetic and Electric Field Strength from Electric Vehicles, Broadband, 9 kHz to 30 MHzSAE 1211—Recommended Environmental Practices for Electronic Equipment DesignSAE J1850—Class B Data Communications Network InterfaceSAE J2178—Class B Data Communication Network MessagesSAE J2293—Energy Transfer System for Electric Vehicles2.1.2F EDERAL C OMMUNICATIONS C OMMISSION (FCC)—Available from U.S. Government Printing Office,Superintendent of Documents, P.O. Box 371954, Pittsburgh, PA 15250-7954.CFR 47—Code of Federal Regulations, Title 47, Parts 15B, 18CCFR 40—Code of Federal Regulations, Title 40, Part 600, Subchapter Q2.1.3U NDERWRITERS L ABORATORIES, I NC.—Available from Underwriters Laboratories, Inc., 333 Pfingsten Road,Northbrook, IL 60062-2096.UL 94—Tests for Flammability of Plastic Materials for Parts in Devices and AppliancesUL 2202—Electric Vehicle (EV) Charging System Equipment2.2Related Publications2.2.1NFPA P UBLICATION—Available from the National Fire Protective Association, Batterymarch Park, Quincy,MA 02269.NFPA-70-1999—National Electric Code (NEC)‚ - Article 6252.2.2C ANADIAN E LECTRIC S TANDARDS—Available from: Canadian Standards Association, 170 Rexdale Blvd.,Rexdale, Ontario, Canada M9W 1R3Canadian Electric Code*CEC Part 1, Section 863.Definitions3.1Electric Vehicle (EV)—An automotive type vehicle, intended for highway use, powered by an electric motorthat draws current from an on-vehicle energy storage device, such as a battery, which is rechargeable from an off-vehicle source, such as residential or public electric service. For the purpose of this document the definition of automobile in the United States Code of Federal Regulations Title 40, Part 600 Subchapter Q is used.Specifically, an automobile means:a.Any four-wheeled vehicle propelled by a combustion engine using onboard fuel or by an electric motordrawing current from a rechargeable storage battery or other portable energy devices (rechargeableusing energy from a source off the vehicle such as residential electric service),b.Which is manufactured primarily for use on public streets, roads, or highways,c.Which is rated at not more than 3855.6 kg (8500 lb) gross vehicle weight, which has a curb weight ofnot more than 2721.6 kg (6000 lb), and which has a basic vehicle frontal area of not more than 4.18 m2(45 ft2).3.2Inductive Coupling—A mating inductive vehicle inlet and inductive connector set. See Figure 2.FIGURE 2—TYPICAL INDUCTIVE COUPLING.3.3Inductive Connector—The male part of the inductive coupling. The inductive connector is that part of aninductive charger, which is manually inserted into a mating inductive vehicle inlet. The inductive connector contains the primary windings, ferrite to complete the magnetic path, and a communications interface to the vehicle.3.4Inductive Vehicle Inlet—The female part of the inductive coupling. The inductive vehicle inlet is that part of the electric vehicle, which mates with the inductive connector. The inductive vehicle inlet contains the secondary windings, ferrite to complete the magnetic path, and a communications interface to the charger.3.5Two-Part Transformer—A transformer whose primary and secondary windings are located in separate devices designed to be physically separable from one another and which are galvanically isolated as in a double-wound transformer. Efficient energy transfer can occur when the two halves of the transformer are properly aligned.3.6Level 1 Charging—A charging method that allows an electric vehicle to be charged by having its charger connected to the most common grounded receptacle (NEMA-5-15R). The maximum power supplied for Level 1 charging shall conform to the values shown in Table 1.3.7Level 2 Charging—A charging method that utilizes dedicated electric vehicle supply equipment in either private or public locations. The maximum power supplied for Level 2 charging shall conform to the values shown in Table 1.3.8Level 3 Charging—A charging method that utilizes dedicated electric vehicle supply equipment in either private or public locations. The maximum power supplied for Level 3 charging shall conform to the values shown in Table 1.4.Inductive Charging Interface Requirements—The following paragraphs describe the technical requirements for the inductive interface.4.1Power Transfer4.1.1A VERAGE O UTPUT V OLTAGE R ANGE —The allowable range for the average voltage at the output of the secondary-side rectifier, V O , of the vehicle inlet shall be from 10 V/turn to 107.5 V/turn.4.1.2M AXIMUM A VERAGE O UTPUT C URRENT AS A F UNCTION OF A VERAGE O UTPUT V OLTAGE —The maximum value for the average current output, I o , from the secondary-side rectifier shall be the lesser of (a) 100 A-turns, or (b) the current calculated by the division of 90% of the maximum Level 2 input power (7.68 kW) by the average output voltage, as shown in Figure 3, where 90% is the charger system efficiency.4.1.3P OWER T RANSFER F REQUENCY R ANGE —The fundamental operating frequency for power transfer shall range from 130 kHz to 360 kHz for maximum continuous input power levels up to 7.68 kW.4.1.4M AXIMUM A LLOWABLE A VERAGE O UTPUT C URRENT VERSUS F REQUENCY —The maximum average output current shall be 100 A-turns (e.g., 25 A for a four turn secondary) at the minimum frequency of 130 kHz. The allowable limit for the average output current, I O , for an average output voltage range of 69.1 V/turn to 107.5V/turn, is plotted as a function of the power transfer fundamental operating frequency in Figure 4(lower curve).TABLE 1—CHARGE LEVEL SPECIFICATIONS (NORTH AMERICA)Charge Method Nominal Supply Voltage Max Current (Amps-continuous)Branch Circuit BreakerRating (Amps)Continuous Input Power(reference)Level 1120 VAC, 1-phase 12 A 15 A 1.44 kW Level 2208 to 240 VAC, 1-phase 32 A 40 A 6.66 to 7.68 kW Level 3208 to 600 VAC, 3-phase400 AAs required> 7.68 kWOF AVERAGE OUPUT VOLTAGE, V OFIGURE 4—MAXIMUM ALLOWABLE INLET CURRENTS4.1.5M AXIMUM A LLOWABLE RMS I NPUT C URRENT VERSUS F REQUENCY —The maximum allowable RMS primary current shall be 120 A-turns (e.g., 30 A for a four turn primary) at the minimum frequency of 130 kHz. The allowable limit for the RMS input current, I pri , as a function of the power transfer fundamental operating frequency is shown by the upper curve in Figure 4.4.1.6E QUIVALENT C IRCUIT P ARAMETERS AT C HARGE C OUPLING I NTERFACE —The inductive interface equivalent circuit diagram is shown in Figure 5. The interface parameters shall conform to the requirements of Table 2.FIGURE 5—INDUCTIVE INTERFACE EQUIVALENT CIRCUITTABLE 2—ALLOWABLE RANGE OF EQUIVALENT CIRCUIT PARAMETERSFOR A NORMALIZED TRANSFORMER(SINGLE TURN PRIMARY AND SINGLE TURN SECONDARY)Parameter L MS L LP + L LS +L CS C PS R WP P RWP R CP P RCP R CS V OI OR WS(unit)(µH/turn 2)(µH/turn 2)(nF turn 2)(m Ω/turn 2)(W)(k Ω/turn 2)(W)(k Ω/turn 2)(V/turn)(A-turn)(m Ω/turn 2)Minimum 2.37 60810Typical 2.630.031-0.2196400.6252.50.1250.938Maximum3.750.25704105107.51004.2Heat Transfer4.2.1E XCESS I NDUCTIVE C ONNECTOR P OWER D ISSIPATION—The inductive interface cooling system shall have thecapability to dissipate 15 W maximum added to the interface by the inductive connector during charging.4.2.2I NDUCTIVE C ONNECTOR T OUCH T EMPERATURE—The maximum surface temperatures shall comply with UL2202, Electric Vehicle (EV) Charging System Equipment.4.3Communications—The inductive charging interface shall contain an IR link between the vehicle and thecharger. The communications interface physical layer shall be compatible with SAE J2293. Conformance to this requirement shall be determined by demonstrating the ability of the physical layer to pass SAE J1850-compliant messages across the inductive interface.4.3.1IR C OMMUNICATIONS M ETRICS—See Table 3.TABLE 3—IR COMMUNICATIONS METRICSIR System ValueSAE J1850 ParametersDirection bi-directional, half duplexBaud Rate10. 4 kbits/sBit Encoding VPWCommunication protocol between inlet and charger encoded SAE J1850 (see Figure 6)Communication MetricsTransmit Frequency880 nmModulation Type on-off keyingOn/Off Power ratio≥30 dBmMax Duty Cycle80% “Active” @ 4 kHzMin Duty Cycle0%Max “Active” On Time500 µsSAE J1850 MetricsMax Node Voltage Offset0.25 VNetwork Time Constant 5.2 µsTransceiver loading 1 unit loadNoise Rejection≤8 µsSteady-State Performance MetricsIR Radiant intensity measured 2.3 mW/SrVoltage Output V ol and V oh per SAE J1850Voltage Input V il and V ih per SAE J1850Transient Performance MetricsTransmitter Turn On Delay 1.0 µs ± 0.5 µsReceiver Turn On Delay7.0 µs ± 2.0 µsTotal System Delay10.5 µs (max)NOTE 1—The IR transmit power level shall be measured at the surface, on both sides of the inductive connector, directly above the transceiver interface.NOTE 2—It is highly recommended that the communications interface be implemented as a dedicated link due to the potential for SAE J1850 bitwise arbitration problems when the interface is used in amulti-node communications system.FIGURE 6—SAE J1850 ENCODING FOR IR TRANSMISSION4.4Physical Compatibility4.4.1I NDUCTIVE C ONNECTOR4.4.1.1Critical Dimensions—See Figures 7 and 8.4.4.1.2Orientation—The operation of the inductive connector shall be independent of the orientation wheninserted into the vehicle inlet.4.4.1.3Connection Present Magnet Location—The inductive connector shall contain two magnets at the locationsspecified in Figure 8. These magnets may be used by the vehicle to detect the presence of the inductive connector when it is fully inserted into the vehicle inlet.4.4.1.4Connection Present Magnet Strength—The magnetic field strength of the coupler connection detectionmagnets shall be 60 millitesla minimum when measured at the surface of the connector directly above the magnet location.4.4.1.5Tactile Feel Indents—There shall be indents on both sides of the inductive connector at the locationsspecified in Figure 7. These indents may be used by the vehicle to provide positive tactile feedback to the user when the inductive connector is fully inserted into the vehicle inlet.4.4.1.6EMI Shield Contact Zone Location—There shall be a conductive contact area encircling the inductiveconnector as specified in Figure 7. This contact area shall be used to connect the charger ground to the vehicle chassis ground for purposes of EMI shielding when the inductive connector is fully inserted into the vehicle inlet.4.4.1.7EMI Shield Contact Zone Impedance—The resistance between the external surface of the EMI shieldcontact zone and charger ground shall be less than 0.5 Ω.4.4.1.8IR Transceiver Interface Location—The inductive connector may contain one IR transceiver interface atthe locations specified in Figure 8 to meet the IR communications requirements. This transceiver interface shall be used for IR communications between the charger and vehicle inlet when the inductive connector isfully inserted into the vehicle inlet.FIGURE 7—INDUCTIVE CONNECTOR CRITICAL DIMENSIONSFIGURE 8—INDUCTIVE CONNECTOR CRITICAL DIMENSIONS4.4.1.9Stop Receptacle Locations—The inductive connector shall include stop receptacles at the locationsspecified in Figure 7. These stop receptacles may be used to align the inductive connector when it isfully inserted into the vehicle inlet.4.4.2I NDUCTIVE V EHICLE I NLET4.4.2.1Critical Dimensions—See Figure 9.NOTE—Use of an adapter to mate a standard size inductive connector to a non-standard size inductive vehicle inlets shall be allowed provided all other requirements are met.4.4.2.2Alignment—The inductive vehicle inlet shall provide a means for alignment of the inductive connectorduring insertion. Alignment of the inductive connector ferrite with the vehicle inlet ferrite center post shall be within 1.0 mm of true position when the inductive connector is fully inserted into the vehicle inlet.4.4.2.3EMI Shield Contact Zone Location—There shall be a conductive contact area inside the vehicle inletreceptacle as specified in Figure 7. This contact area shall be used to connect the vehicle chassis ground to the charger ground for purposes of EMI shielding when the inductive connector is fully inserted into thevehicle inlet.FIGURE 9—INDUCTIVE VEHICLE INLET CRITICAL DIMENSIONS4.4.2.4Grounding of EMI Shield Contact Zone—The EMI shield contact zone shall be grounded to the vehiclechassis.4.4.2.5IR Transceiver Alignment—The IR transceiver in the vehicle inlet shall be aligned within ±10 degrees ofthe IR transceiver in the inductive connector when the inductive connector is fully inserted into the vehicle inlet.4.5Electromagnetic Emissions—The interface shall comply with the requirements of 4.4.1.7 (EMI ShieldContact Zone Impedance) and 4.4.2.4 (Grounding of EMI Shield Contact Zone).NOTE—The inductive interface is a component of a larger inductive charging system. The following EMI/EMC requirements are intended to apply to inductive charging systems manufactured for and used in theU.S. For systems intended to be used outside of the U.S., manufacturers shall comply with all localEMI/EMC regulations. Vehicle manufacturers may apply additional requirements.4.5.1SAE C HARGING S YSTEM R EQUIREMENTS—When tested as an operational inductive charging system passingpower to an appropriate load, the electromagnetic emissions shall, at a minimum, comply with SAE J551-2 and J551-5.4.5.2FCC C HARGING S YSTEM R EQUIREMENTS—When tested as an operational inductive charging system passingpower to an appropriate load, the charging system shall comply with the requirements of FCC CFR 47 Part18C RE and Part 15B CE using Class B limits.5.Application Requirements5.1Environment—The inductive inlet will meet the performance requirements due to weather and environmentalexposure as defined by the individual automotive manufacturers. As a minimum, the inductive connector shall meet the performance requirements as listed in SAE J1211.5.1.1P ERFORMANCE R EQUIREMENTS5.1.1.1External Touch Temperature—The maximum external touch temperature of the inductive connector shallnot be greater than 60 °C when the ambient temperature is 40 °C. The design process shall take into consideration material types and solar loading (Reference UL 2202).5.1.1.2Operational and Storage Temperature—The inductive connector shall be designed to withstandcontinuous ambient temperatures in the range of –30 °C to +50 °C during normal operation. For storage, the inductive connector shall be designed to withstand continuous ambient temperatures in the range of–50 °C to +80 °C.5.1.1.3External Contaminants—The inductive connector shall be unaffected by automotive lubricants, solvents,and fuels (Reference SAE J1211, 4.4 Immersion and Splash).5.1.1.4Vibration—The inductive inlet shall be tested to the following minimum conditions:a.Amplitude = 2.54 mm p-p displacement limitb.Frequency = 5 to 200 Hz and back to 5 Hzc.Sweep Type = Lineard.Time per Sweep = 2 mine.Axis = Vertical axis of the device as mounted on the vehicle.f.Test Duration = 18 h5.1.1.5Pass Criteria—After completion of the test, there shall be no observed rotation, displacement, cracking, orrupture of parts of the device which would result in failure of any other test requirements within this document. Cracking or rupture of the parts of the device that affect the mounting shall constitute a failure.5.1.1.6Material—The inductive connector material shall meet the flammability requirements of UL 94-HB orbetter.5.1.1.7Fluid Egress—The inductive inlet shall provide for the egress of fluids.5.2Charger Requirements5.2.1P OWER L EVEL C OMPATIBILITY—See Appendix B for more detail of these requirements.5.3Vehicle Requirements5.3.1P OWER L EVEL C OMPATIBILITY—See Appendix B for more detail of these requirements.6.Notes6.1Marginal Indicia—The change bar (l) located in the left margin is for the convenience of the user in locatingareas where technical revisions have been made to the previous issue of the report. An (R) symbol to the left of the document title indicates a complete revision of the report.PREPARED BY THE SAE ELECTRIC VEHICLE CHARGING SYSTEMSAPPENDIX ASOFTWARE INTERFACEA.1Scope—This appendix describes requirements for a standard inductive charging software interface. Note thatwhile certain required and optional messages have been defined for each software state, this proposal does not preclude the possibility that additional optional messages may be defined by individual manufacturers and used as part of the software interface provided that (a) the minimum requirements in this document continue to be met, and (b) no additional requirements are imposed on existing systems.For manufacturers considering adding optional messages to the software interface, it is recommended that total bus loading not exceed 80% — allocated equally as 40% maximum contribution by the charger and 40% maximum contribution by the vehicle — on a dedicated charging communications link. In general, total bus loading should be reduced even further if there are additional active nodes on the same bus as the charger controller and the vehicle charging controller.A.2Software States—There are four software states that apply equally to both the vehicle and the charger:Wakeup, Initialization, Operate, and Sleep. In the Wakeup state, the vehicle and charger attempt to establisha communications link. In the Initialization state, the vehicle and charger exchange initialization informationincluding any information necessary to determine whether it is safe for the charger to transfer power to the vehicle. In the Operate state, the vehicle may request the charger to transfer power for charging or support purposes. In the Sleep state, the current charging session is ended and communications between the vehicle and charger are discontinued. See Figure A1.FIGURE A1—INDUCTIVE CHARGING SOFTWARE STATE TRANSITION DIAGRAMNote that the “Fault state” referenced later in this document is considered a “substate” of the Wakeup, Initialization, and Operate states.A.2.1Wakeup State—The Wakeup state is the first state entered at the beginning of a charging session. If acommunications fault is detected during a charging session, the software that has detected the communications fault will automatically reenter the Wakeup state to reestablish communications so that charging may continue.A charging session may be initiated by either the vehicle or the charger. The vehicle initiates a chargingsession by transmitting Vehicle Status Messages to the charger at regular intervals. The charger initiates a charging session by transmitting Charger Status Messages to the vehicle at regular intervals.Required and optional messages sent between the vehicle and the charger during the Wakeup state are listed in Tables A1 and A2. Message format and content are discussed in a later section of this document.TABLE A1—VEHICLE-TO-CHARGER MESSAGES—INITIALIZATION STATEVehicle-to-Charger Messages CommentsVehicle Status Msg RequiredBus Wakeup Msg OptionalTABLE A2—CHARGER-TO-VEHICLE MESSAGES—INITIALIZATION STATECharger-to-Vehicle Messages CommentsCharger Status Msg RequiredBus Wakeup Msg OptionalWhen the charger receives a Vehicle Status Message, it shall automatically transition to the Initialization state.When the vehicle receives a Charger Status Message, it shall automatically transition to the Initialization state.NOTE—Some existing chargers and vehicles may initially transmit an optional Bus Wakeup Message until communications have been established between the vehicle and charger. Once communicationshave been established, the vehicle and charger will then begin transmitting status messages.A.2.2Initialization State—The Initialization state is entered once communications have been established with thevehicle (or reestablished following a loss of communications). During the Initialization state, the vehicle and charger exchange initialization information including any information necessary to determine whether power transfer may safely occur. Neither the vehicle nor the charger shall transition to the Operate state until (a) all required Initialization messages have been transmitted and received, and (b) a 500 ms timer begun at the entrance to the Initialization state has expired. (The 500 ms timer is intended to ensure that sufficient time has elapsed for the charger to receive the Vehicle Power Capability Message which is required for Level 3 charging.) Note that some of the messages that may be exchanged during the Initialization state are required while other messages are considered optional.Required and optional messages sent between the vehicle and the charger during the Initialization state are listed in Tables A3 and A4. Message format and content are discussed in a later section of this document.TABLE A3—VEHICLE-TO-CHARGER MESSAGES—INITIALIZATION STATEVehicle-to-Charger Messages CommentsVehicle Status Msg RequiredVehicle Power Capability Msg Required for Level 3 charging, optional for Level 2 and Level 1 charging。
人工智能基础(习题卷9)

人工智能基础(习题卷9)第1部分:单项选择题,共53题,每题只有一个正确答案,多选或少选均不得分。
1.[单选题]由心理学途径产生,认为人工智能起源于数理逻辑的研究学派是( )A)连接主义学派B)行为主义学派C)符号主义学派答案:C解析:2.[单选题]一条规则形如:,其中“←"右边的部分称为(___)A)规则长度B)规则头C)布尔表达式D)规则体答案:D解析:3.[单选题]下列对人工智能芯片的表述,不正确的是()。
A)一种专门用于处理人工智能应用中大量计算任务的芯片B)能够更好地适应人工智能中大量矩阵运算C)目前处于成熟高速发展阶段D)相对于传统的CPU处理器,智能芯片具有很好的并行计算性能答案:C解析:4.[单选题]以下图像分割方法中,不属于基于图像灰度分布的阈值方法的是( )。
A)类间最大距离法B)最大类间、内方差比法C)p-参数法D)区域生长法答案:B解析:5.[单选题]下列关于不精确推理过程的叙述错误的是( )。
A)不精确推理过程是从不确定的事实出发B)不精确推理过程最终能够推出确定的结论C)不精确推理过程是运用不确定的知识D)不精确推理过程最终推出不确定性的结论答案:B解析:6.[单选题]假定你现在训练了一个线性SVM并推断出这个模型出现了欠拟合现象,在下一次训练时,应该采取的措施是()0A)增加数据点D)减少特征答案:C解析:欠拟合是指模型拟合程度不高,数据距离拟合曲线较远,或指模型没有很好地捕 捉到数据特征,不能够很好地拟合数据。
可通过增加特征解决。
7.[单选题]以下哪一个概念是用来计算复合函数的导数?A)微积分中的链式结构B)硬双曲正切函数C)softplus函数D)劲向基函数答案:A解析:8.[单选题]相互关联的数据资产标准,应确保()。
数据资产标准存在冲突或衔接中断时,后序环节应遵循和适应前序环节的要求,变更相应数据资产标准。
A)连接B)配合C)衔接和匹配D)连接和配合答案:C解析:9.[单选题]固体半导体摄像机所使用的固体摄像元件为( )。
不对称约束多人非零和博弈的自适应评判控制

第40卷第9期2023年9月控制理论与应用Control Theory&ApplicationsV ol.40No.9Sep.2023不对称约束多人非零和博弈的自适应评判控制李梦花,王鼎,乔俊飞†(北京工业大学信息学部,北京100124;计算智能与智能系统北京市重点实验室,北京100124;智慧环保北京实验室,北京100124;北京人工智能研究院,北京100124)摘要:本文针对连续时间非线性系统的不对称约束多人非零和博弈问题,建立了一种基于神经网络的自适应评判控制方法.首先,本文提出了一种新颖的非二次型函数来处理不对称约束问题,并且推导出最优控制律和耦合Hamilton-Jacobi方程.值得注意的是,当系统状态为零时,最优控制策略是不为零的,这与以往不同.然后,通过构建单一评判网络来近似每个玩家的最优代价函数,从而获得相关的近似最优控制策略.同时,在评判学习期间发展了一种新的权值更新规则.此外,通过利用Lyapunov理论证明了评判网络权值近似误差和闭环系统状态的稳定性.最后,仿真结果验证了本文所提方法的有效性.关键词:神经网络;自适应评判控制;自适应动态规划;非线性系统;不对称约束;多人非零和博弈引用格式:李梦花,王鼎,乔俊飞.不对称约束多人非零和博弈的自适应评判控制.控制理论与应用,2023,40(9): 1562–1568DOI:10.7641/CTA.2022.20063Adaptive critic control for multi-player non-zero-sum games withasymmetric constraintsLI Meng-hua,WANG Ding,QIAO Jun-fei†(Faculty of Information Technology,Beijing University of Technology,Beijing100124,China;Beijing Key Laboratory of Computational Intelligence and Intelligent System,Beijing100124,China;Beijing Laboratory of Smart Environmental Protection,Beijing100124,China;Beijing Institute of Artificial Intelligence,Beijing100124,China)Abstract:In this paper,an adaptive critic control method based on the neural networks is established for multi-player non-zero-sum games with asymmetric constraints of continuous-time nonlinear systems.First,a novel nonquadratic func-tion is proposed to deal with asymmetric constraints,and then the optimal control laws and the coupled Hamilton-Jacobi equations are derived.It is worth noting that the optimal control strategies do not stay at zero when the system state is zero, which is different from the past.After that,only a critic network is constructed to approximate the optimal cost function for each player,so as to obtain the associated approximate optimal control strategies.Meanwhile,a new weight updating rule is developed during critic learning.In addition,the stability of the weight estimation errors of critic networks and the closed-loop system state is proved by utilizing the Lyapunov method.Finally,simulation results verify the effectiveness of the method proposed in this paper.Key words:neural networks;adaptive critic control;adaptive dynamic programming;nonlinear systems;asymmetric constraints;multi-player non-zero-sum gamesCitation:LI Menghua,WANG Ding,QIAO Junfei.Adaptive critic control for multi-player non-zero-sum games with asymmetric constraints.Control Theory&Applications,2023,40(9):1562–15681引言自适应动态规划(adaptive dynamic programming, ADP)方法由Werbos[1]首先提出,该方法结合了动态规划、神经网络和强化学习,其核心思想是利用函数近似结构来估计最优代价函数,从而获得被控系统的近似最优解.在ADP方法体系中,动态规划蕴含最优收稿日期:2022−01−21;录用日期:2022−11−10.†通信作者.E-mail:***************.cn.本文责任编委:王龙.科技创新2030–“新一代人工智能”重大项目(2021ZD0112302,2021ZD0112301),国家重点研发计划项目(2018YFC1900800–5),北京市自然科学基金项目(JQ19013),国家自然科学基金项目(62222301,61890930–5,62021003)资助.Supported by the National Key Research and Development Program of China(2021ZD0112302,2021ZD0112301,2018YFC1900800–5),the Beijing Natural Science Foundation(JQ19013)and the National Natural Science Foundation of China(62222301,61890930–5,62021003).第9期李梦花等:不对称约束多人非零和博弈的自适应评判控制1563性原理提供理论基础,神经网络作为函数近似结构提供实现手段,强化学习提供学习机制.值得注意的是, ADP方法具有强大的自学习能力,在处理非线性复杂系统的最优控制问题上具有很大的潜力[2–7].此外, ADP作为一种近似求解最优控制问题的新方法,已经成为智能控制与计算智能领域的研究热点.关于ADP的详细理论研究以及相关应用,读者可以参考文献[8–9].本文将基于ADP的动态系统优化控制统称为自适应评判控制.近年来,微分博弈问题在控制领域受到了越来越多的关注.微分博弈为研究多玩家系统的协作、竞争与控制提供了一个标准的数学框架,包括二人零和博弈、多人零和博弈以及多人非零和博弈等.在零和博弈问题中,控制输入试图最小化代价函数而干扰输入试图最大化代价函数.在非零和博弈问题中,每个玩家都独立地选择一个最优控制策略来最小化自己的代价函数.值得注意的是,零和博弈问题已经被广泛研究.在文献[10]中,作者提出了一种改进的ADP方法来求解多输入非线性连续系统的二人零和博弈问题.An等人[11]提出了两种基于积分强化学习的算法来求解连续时间系统的多人零和博弈问题.Ren等人[12]提出了一种新颖的同步脱策方法来处理多人零和博弈问题.然而,关于非零和博弈[13–14]的研究还很少.此外,控制约束在实际应用中也广泛存在.这些约束通常是由执行器的固有物理特性引起的,如气压、电压和温度.因此,为了确保被控系统的性能,受约束的系统需要被考虑.Zhang等人[15]发展了一种新颖的事件采样ADP方法来求解非线性连续约束系统的鲁棒最优控制问题.Huo等人[16]研究了一类非线性约束互联系统的分散事件触发控制问题.Yang和He[17]研究了一类具有不匹配扰动和输入约束的非线性系统事件触发鲁棒镇定问题.这些文献考虑的都是对称约束,而实际应用中,被控系统受到的约束也可能是不对称的[18–20],例如在污水处理过程中,需要通过氧传递系数和内回流量对溶解氧浓度和硝态氮浓度进行控制,而根据实际的运行条件,这两个控制变量就需要被限制在一个不对称约束范围内[20].因此,在控制器设计过程中,不对称约束问题将是笔者研究的一个方向.到目前为止,关于具有控制约束的微分博弈问题,有一些学者取得了相应的研究成果[12,21–23].但可以发现,具有不对称约束的多人非零和博弈问题还没有学者研究.同时,在多人非零和博弈问题中,相关的耦合Hamilton-Jacobi(HJ)方程是很难求解的.因此,本文针对一类连续时间非线性系统的不对称约束多人非零和博弈问题,提出了一种自适应评判控制方法来近似求解耦合HJ方程,从而获得被控系统的近似最优解.本文的主要贡献如下:1)首次将不对称约束应用到连续时间非线性系统的多人非零和博弈问题中;2)提出了一种新颖的非二次型函数来处理不对称约束问题,并且当系统状态为零时,最优控制策略是不为零的,这与以往不同;3)在学习期间,用单一评判网络结构代替了传统的执行–评判网络结构,并且提出了一种新的权值更新规则;4)利用Lyapunov方法证明了评判网络权值近似误差和系统状态的一致最终有界(uniformly ultimately bounded,UUB)稳定性.2问题描述考虑以下具有不对称约束的N–玩家连续时间非线性系统:˙x(t)=f(x(t))+N∑j=1g j(x(t))u j(t),(1)其中:x(t)∈Ω⊂R n是状态向量且x(0)=x0为初始状态,R n代表由所有n-维实向量组成的欧氏空间,Ω是R n的一个紧集;u j(t)∈T j⊂R m为玩家j在时刻t所选择的策略,且T j为T j={[u j1u j2···u jm]T∈R m:u j min u jl u j max, |u j min|=|u j max|,l=1,2,···,m},(2)其中:u jmin∈R和u j max∈R分别代表控制输入分量的最小界和最大界,R表示所有实数集.假设1非线性系统(1)是可控的,并且x=0是被控系统(1)的一个平衡点.此外,∀j∈N,f(x)和g j(x)是未知的Lipschitz函数且f(0)=0,其中集合N={1,2,···,N},N 2是一个正整数.假设2∀j∈N,g j(0)=0,且存在一个正常数b gj使∥g j(x)∥ b gj,其中∥·∥表示在R n上的向量范数或者在R n×m上的矩阵范数,R n×m代表由所有n×m维实矩阵组成的空间.注1假设1–3是自适应评判领域的常用假设,例如文献[6,13,19],是为了保证系统的稳定性以及方便后文中的稳定性证明,其中假设3出现在后文中的第3.2节.定义与每个玩家相关的效用函数为U i(x,U)=x T Q i x+N∑j=1S j(u j),i∈N,(3)其中U={u1,u2,···,u N}并且Q i是一个对称正定矩阵.此外,为了处理不对称约束问题,令S j(u j)为S j(u j)=2αj m∑l=1ujlβjtanh−1(z−βjαj)d z,(4)其中αj和βj分别为αj=u jmax−u j min2,βj=u jmax+u jmin2.(5)因此,与每个玩家相关的代价函数可以表示为J i(x0,U)=∞U i(x,U)dτ,i∈N,(6)1564控制理论与应用第40卷本文希望构建一个Nash均衡U∗={u∗1,u∗2,···,u∗N},来使以下不等式被满足:J i(u∗1,···,u∗i,···,u∗N)J i(u∗1,···,u i,···,u∗N),(7)其中i∈N.为了方便,将J i(x0,U)简写为J i(x0).于是,每个玩家的最优代价函数为J∗i (x0)=minu iJ i(x0,U),i∈N.(8)在本文中,如果一个控制策略集的所有元素都是可容许的,那么这个集合是可容许的.定义1(容许控制[24])如果控制策略u i(x)是连续的,u i(x)可以镇定系统(1),并且J i(x0)是有限的,那么它是集合Ω上关于代价函数(6)的可容许控制律,即u i(x)∈Ψ(Ω),i∈N,其中,Ψ(Ω)是Ω上所有容许控制律的集合.对于任意一个可容许控制律u i(x)∈Ψ(Ω),如果相关代价函数(6)是连续可微的,那么非线性Lyapu-nov方程为0=U i(x,U)+(∇J i(x))T(f(x)+N∑j=1g j(x)u j),(9)其中:i∈N,J i(0)=0,并且∇(·) ∂(·)∂x.根据最优控制理论,耦合HJ方程为0=minU H i(x,U,∇J∗i(x)),i∈N,(10)其中,Hamiltonian函数H i(x,U,∇J∗i(x))为H i(x,U,∇J∗i(x))=U i(x,U)+(∇J∗i (x))T(f(x)+N∑j=1g j(x)u j),(11)进而,由∂H i(x,U,∇J∗i(x))∂u i=0可得出最优控制律为u∗i (x)=−αi tanh(12αig Ti(x)∇J∗i(x))+¯βi,i∈N,(12)其中¯βi=[βiβi···βi]T∈R m.注2根据式(2)和式(5),能推导出βi=0,即¯βi=0,又根据式(12)可知u∗i(0)=0,i∈N.因此,为了保证x=0是系统(1)的平衡点,在假设2中提出了条件∀j∈N,g j(0)=0.将式(12)代入式(10),耦合HJ方程又能表示为(∇J∗i (x))T f(x)+N∑j=1((∇J∗i(x))T g j(x)¯βj)+x T Q i x−N∑j=1((∇J∗i(x))Tαj g j(x)tanh(A j(x)))+N∑j=1S j(−αj tanh(A j(x))+¯βj)=0,i∈N,(13)其中J∗i(0)=0并且A j(x)=12αjg Tj(x)∇J∗j(x).如果已知每个玩家的最优代价函数值,那么相关的最优状态反馈控制律就可以直接获得,也就是说式(13)是可解的.可是,式(13)这种非线性偏微分方程的求解是十分困难的.同时,随着系统维数的增加,存储量和计算量也随之以指数形式增加,也就是平常所说的“维数灾”问题.因此,为了克服这些弱点,在第3部分提出了一种基于神经网络的自适应评判机制,来近似每个玩家的最优代价函数,从而获得相关的近似最优状态反馈控制策略.3自适应评判控制设计3.1神经网络实现本节的核心是构建并训练评判神经网络,以得到训练后的权值,从而获得每个玩家的近似最优代价函数值.首先,根据神经网络的逼近性质[25],可将每个玩家的最优代价函数J∗i(x)在紧集Ω上表示为J∗i(x)=W Tiσi(x)+ξi(x),i∈N,(14)其中:W i∈Rδ是理想权值向量,σi(x)∈Rδ是激活函数,δ是隐含层神经元个数,ξi(x)∈R是重构误差.同时,可得出每个玩家的最优代价函数梯度为∇J∗i(x)=(∇σi(x))T W i+∇ξi(x),i∈N,(15)将式(15)代入式(12),有u∗i(x)=−αi tanh(B i(x)+C i(x))+¯βi,i∈N,(16)其中:B i(x)=12αig Ti(x)(∇σi(x))T W i∈R m,C i(x)=12αig Ti(x)∇ξi(x)∈R m.然后,将式(15)代入式(13),耦合HJ方程变为W Ti∇σi(x)f(x)+(∇ξi(x))T f(x)+x T Q i x+N∑j=1((W Ti∇σi(x)+(∇ξi(x))T)g j(x)¯βj)−N∑j=1(αj W Ti∇σi(x)g j(x)tanh(B j(x)+C j(x)))−N∑j=1(αj(∇ξi(x))T g j(x)tanh(B j(x)+C j(x)))+N∑j=1S j(−αj tanh(B j(x)+C j(x))+¯βj)=0,i∈N.(17)值得注意的是,式(14)中的理想权值向量W i是未知的,也就是说式(16)中的u∗i(x)是不可解的.因此,第9期李梦花等:不对称约束多人非零和博弈的自适应评判控制1565构建如下的评判神经网络:ˆJ∗i (x)=ˆW Tiσi(x),i∈N,(18)来近似每个玩家的最优代价函数,其中ˆW i∈Rδ是估计的权值向量.同时,其梯度为∇ˆJ∗i(x)=(∇σi(x))TˆW i,i∈N.(19)考虑式(19),近似的最优控制律为ˆu∗i(x)=−αi tanh(D i(x))+¯βi,i∈N,(20)其中D i(x)=12αig Ti(x)(∇σi(x))TˆW i.同理,近似的Hamiltonian可以写为ˆHi(x,ˆW i)=ˆW T i ϕi+x T Q i x+N∑j=1(ˆW Ti∇σi(x)g j(x)¯βj)−N ∑j=1(αjˆW Ti∇σi(x)g j(x)tanh(D j(x)))+N∑j=1S j(−αj tanh(D j(x))+¯βj),i∈N,(21)其中ϕi=∇σi(x)f(x).此外,定义误差量e i=ˆH i(x,ˆW i )−H i(x,U∗,∇J∗i(x))=ˆH i(x,ˆW i).为了使e i足够小,需要训练评判网络来使目标函数E i=12e Tie i最小化.在这里,本文采用的训练准则为˙ˆW i =−γi1(1+ϕTiϕi)2(∂E i∂ˆW i)=−γiϕi(1+ϕTiϕi)2e i,i∈N,(22)其中:γi>0是评判网络的学习率,(1+ϕT iϕi)2用于归一化操作.此外,定义评判网络的权值近似误差为˜Wi=W i−ˆW i.因此,有˙˜W i =γiφi1+ϕTiϕie Hi−γiφiφT i˜W i,i∈N,(23)其中:φi=ϕi(1+ϕTiϕi),e Hi=−(∇ξi(x))T f(x)是残差项.3.2稳定性分析本节的核心是通过利用Lyapunov方法讨论评判网络权值近似误差和闭环系统状态的UUB稳定性.这里,给出以下假设:假设3∥∇ξi(x)∥ b∇ξi ,∥∇σi(x)∥ b∇σi,∥e Hi∥ b e Hi,∥W i∥ b W i,其中:b∇ξi,b∇σi,b e Hi,b W i 都是正常数,i∈N.定理1考虑系统(1),如果假设1–3成立,状态反馈控制律由式(20)给出,且评判网络权值通过式(22)进行训练,则评判网络权值近似误差˜W i是UUB 稳定的.证选取如下的Lyapunov函数:L1(t)=N∑i=1(12˜W Ti˜Wi)=N∑i=1L1i(t),(24)计算L1i(t)沿着式(23)的时间导数,即˙L1i(t)=γi˜W Tiφi1+ϕTiϕie Hi−γi˜W TiφiφTi˜Wi,i∈N,(25)利用不等式¯X T¯Y12∥¯X∥2+12∥¯Y∥2(注:¯X和¯Y都是具有合适维数的向量),并且考虑1+ϕTiϕi 1,能得到˙L1i(t)γi2(∥φTi˜Wi∥2+∥e Hi∥2)−γi˜W TiφiφTi˜Wi=−γi2˜W TiφiφTi˜Wi+γi2∥e Hi∥2,i∈N.(26)根据假设3,有˙L1i(t) −γi2λmin(φiφTi)∥˜W i∥2+γi2b2e Hi,i∈N,(27)其中λmin(·)表示矩阵的最小特征值.因此,当不等式∥˜W i∥>√b2e Hiλmin(φiφTi),i∈N(28)成立时,有˙L1i(t)<0.根据标准的Lyapunov定理[26],可知评判网络权值近似误差˜W i是UUB稳定的.证毕.定理2考虑系统(1),如果假设1–3成立,状态反馈控制律由式(20)给出,且评判网络权值通过式(22)进行训练,则系统状态x(t)是UUB稳定的.证选取如下的Lyapunov函数:L2i(t)=J∗i(x),i∈N.(29)计算L2i(t)沿着系统˙x=f(x)+N∑j=1g j(x)ˆu∗j的时间导数,即˙L2i(t)=(∇J∗i(x))T(f(x)+N∑j=1g j(x)ˆu∗j)=(∇J∗i(x))T(f(x)+N∑j=1g j(x)u∗j)+N∑j=1((∇J∗i(x))T g j(x)(ˆu∗j−u∗j)),i∈N.(30)考虑式(13),有˙L2i(t)=−x T Q i x−N∑j=1S j(u∗j)+N∑j=1((∇J∗i(x))T g j(x)(ˆu∗j−u∗j))Σi,i∈N,(31)1566控制理论与应用第40卷利用不等式¯XT ¯Y 12∥¯X ∥2+12∥¯Y ∥2,并且考虑式(15)–(16)(20),可得Σi 12N ∑j =1∥−αj tanh (D j (x ))+αj tanh (F j (x ))∥2+12N ∑j =1∥g Tj (x )((∇σi (x ))T W i +∇ξi (x ))∥2,i ∈N ,(32)其中F j (x )=B j (x )+C j (x ).然后,利用不等式∥¯X+¯Y∥2 2∥¯X ∥2+2∥¯Y ∥2,有Σi N ∑j =1(∥αj tanh (D j (x ))∥2+∥αj tanh (F j (x ))∥2)+N ∑j =1∥g Tj (x )(∇σi (x ))T W i ∥2+N ∑j =1∥g T j (x )∇ξi (x )∥2,i ∈N ,(33)其中D j (x )∈R m ,F j (x )∈R m 分别被表示为[D j 1(x )D j 2(x )···D jm (x )]T 和[F j 1(x )F j 2(x )···F jm (x )]T .易知,∀θ∈R ,tanh 2θ 1.因此,有∥tanh (D j (x ))∥2=m ∑l =1tanh 2(D jl (x )) m,(34)∥tanh (F j (x ))∥2=m ∑l =1tanh 2(F jl (x )) m.(35)同时,根据假设2–3,有Σi N ∑j =1(2α2j m +b 2g j b 2∇σi b 2W i +b 2g j b 2∇ξi ),i ∈N ,(36)根据式(2)(4)–(5),可知S j (u ∗j ) 0.于是,有˙L2i (t ) −λmin (Q i )∥x ∥2+ϖi ,i ∈N ,(37)其中ϖi =N ∑j =1(2α2j m +b 2g j b 2∇σi b 2W i +b 2g j b 2∇ξi ).因此,根据式(37)可知,当不等式∥x ∥>√ϖiλmin (Q i )成立时,有˙L2i (t )<0.即,如果x (t )满足下列不等式:∥x ∥>max {√ϖ1λmin (Q 1),···,√ϖNλmin (Q N )},(38)则,∀i ∈N ,都有˙L 2i (t )<0.同理,可得闭环系统状态x (t )也是UUB 稳定的.证毕.4仿真结果考虑如下的3–玩家连续时间非线性系统:˙x =[−1.2x 1+1.5x 2sin x 20.5x 1−x 2]+[01.5sin x 1cos x 1]u 1(x )+[1.2sin x 1cos x 2]u 2(x )+[01.1sin x 2]u 3(x ),(39)其中:x (t )=[x 1x 2]T ∈R 2是状态向量,u 1(x )∈T 1={u 1∈R :−1 u 1 2},u 2(x )∈T 2={u 2∈R :−0.2 u 2 1}和u 3(x )∈T 3={u 3∈R :−0.4 u 3 0.8}是控制输入.令Q 1=2I 2,Q 2=1.8I 2,Q 3=0.3I 2,其中I 2代表2×2维单位矩阵.同时,根据式(5)可知,α1=1.5,β1=0.5,α2=0.6,β2=0.4,α3=0.6,β3=0.2.因此,与每个玩家相关的代价函数可以表示为J i (x 0)= ∞0(x TQ i x +3∑j =1S j (u j ))d τ,i =1,2,3,(40)其中S j (u j )=2αju jβj tanh −1(z −βjαj)d z =2αj (u j −βj )tanh −1(u j −βjαj)+α2j ln (1−(u j −βj )2α2j).(41)然后,本文针对系统(39)构建3个评判神经网络,每个玩家的评判神经网络权值分别为ˆW1=[ˆW 11ˆW 12ˆW13]T ,ˆW 2=[ˆW 21ˆW 22ˆW 23]T ,ˆW 3=[ˆW 31ˆW 32ˆW33]T ,激活函数被定义为σ1(x )=σ2(x )=σ3(x )=[x 21x 1x 2x 22]T,且隐含层神经元个数为δ=3.此外,系统初始状态取x 0=[0.5−0.5]T ,每个评判神经网络的学习率分别为γ1=1.5,γ2=0.8,γ3=0.2,且每个评判神经网络的初始权值都在0和2之间选取.最后,引入探测噪声η(t )=sin 2(−1.2t )cos(0.5t )+cos(2.4t )sin 3(2.4t )+sin 5t +sin 2(1.12t )+sin 2t ×cos t +sin 2(2t )cos(0.1t ),使得系统满足持续激励条件.执行学习过程,本文发现每个玩家的评判神经网络权值分别收敛于[6.90912.99046.6961]T ,[4.89012.23475.2062]T ,[1.79450.33212.4583]T .在60个时间步之后去掉探测噪声,每个玩家的评判网络权值收敛过程如图1–3所示.然后,将训练好的权值代入式(20),能得到每个玩家的近似最优控制律,将其应用到系统(39),经过10个时间步之后,得到的状态轨迹和控制轨迹分别如图4–5所示.由图4可知,系统状态最终收敛到了平衡点.由图5可知,每个玩家的控制轨迹都没有超出预定的边界,并且可以观察到u 1,u 2和u 3分别收敛于0.5,0.4和0.2.综上所述,仿真结果验证了所提方法的有效性.第9期李梦花等:不对称约束多人非零和博弈的自适应评判控制1567䇴 㖁㔌U / s图1玩家1的评判网络权值收敛过程Fig.1Convergence process of the critic network weights forplayer1䇴 㖁㔌U / s图2玩家2的评判网络权值收敛过程Fig.2Convergence process of the critic network weights forplayer2﹣䇴 㖁㔌U / s图3玩家3的评判网络权值收敛过程Fig.3Convergence process of the critic network weights forplayer 35结论本文首次将不对称约束应用到连续时间非线性系统的多人非零和博弈问题中.首先,获得了最优状态反馈控制律和耦合HJ 方程,并且为了解决不对称约束问题,建立了一种新的非二次型函数.值得注意的是,当系统状态为零时,最优控制策略是不为零的.其次,由于耦合HJ 方程不易求解,提出了一种基于神经网络的自适应评判算法来近似每个玩家的最优代价函数,从而获得相关的近似最优控制律.在实现过程中,用单一评判网络结构代替了经典的执行–评判结构,并且建立了一种新的权值更新规则.然后,利用Lyap-unov 理论讨论了评判网络权值近似误差和系统状态的UUB 稳定性.最后,仿真结果验证了所提算法的可行性.在未来的工作中,会考虑将事件驱动机制引入到连续时间非线性系统的不对称约束多人非零和博弈问题中,并且将该研究内容应用到污水处理系统中也是笔者的一个重点研究方向.﹣0.5﹣0.4﹣0.3﹣0.2﹣0.10.00.10.20.00.10.20.30.40.5(U )Y 1(U )Y 2图4系统(39)的状态轨迹Fig.4State trajectory of the system (39)0.00.51.01.52.00.00.20.40.60.81.01.200.012345678910﹣0.40.4﹣0.20.2(U )V 3(U )V 2(U )V 1U / s 012345678910U / s 012345678910U / s (c)(b)(a)(U )V 1(U )V 2(U )V 3图5系统(39)的控制轨迹Fig.5Control trajectories of the system (39)1568控制理论与应用第40卷参考文献:[1]WERBOS P J.Beyond regression:New tools for prediction andanalysis in the behavioral sciences.Cambridge:Harvard Universi-ty,1974.[2]HONG Chengwen,FU Yue.Nonlinear robust approximate optimaltracking control based on adaptive dynamic programming.Control Theory&Applications,2018,35(9):1285–1292.(洪成文,富月.基于自适应动态规划的非线性鲁棒近似最优跟踪控制.控制理论与应用,2018,35(9):1285–1292.)[3]CUI Lili,ZHANG Yong,ZHANG Xin.Event-triggered adaptive dy-namic programming algorithm for the nonlinear zero-sum differential games.Control Theory&Applications,2018,35(5):610–618.(崔黎黎,张勇,张欣.非线性零和微分对策的事件触发自适应动态规划算法.控制理论与应用,2018,35(5):610–618.)[4]WANG D,HA M,ZHAO M.The intelligent critic framework foradvanced optimal control.Artificial Intelligence Review,2022,55(1): 1–22.[5]WANG D,QIAO J,CHENG L.An approximate neuro-optimal solu-tion of discounted guaranteed cost control design.IEEE Transactions on Cybernetics,2022,52(1):77–86.[6]YANG X,HE H.Adaptive dynamic programming for decentralizedstabilization of uncertain nonlinear large-scale systems with mis-matched interconnections.IEEE Transactions on Systems,Man,and Cybernetics:Systems,2020,50(8):2870–2882.[7]ZHAO B,LIU D.Event-triggered decentralized tracking control ofmodular reconfigurable robots through adaptive dynamic program-ming.IEEE Transactions on Industrial Electronics,2020,67(4): 3054–3064.[8]WANG Ding.Research progress on learning-based robust adaptivecritic control.Acta Automatica Sinica,2019,45(6):1037–1049.(王鼎.基于学习的鲁棒自适应评判控制研究进展.自动化学报, 2019,45(6):1037–1049.)[9]ZHANG Huaguang,ZHANG Xin,LUO Yanhong,et al.An overviewof research on adaptive dynamic programming.Acta Automatica Sini-ca,2013,39(4):303–311.(张化光,张欣,罗艳红,等.自适应动态规划综述.自动化学报, 2013,39(4):303–311.)[10]L¨U Yongfeng,TIAN Jianyan,JIAN Long,et al.Approximate-dynamic-programming H∞controls for multi-input nonlinear sys-tem.Control Theory&Applications,2021,38(10):1662–1670.(吕永峰,田建艳,菅垄,等.非线性多输入系统的近似动态规划H∞控制.控制理论与应用,2021,38(10):1662–1670.)[11]AN P,LIU M,WAN Y,et al.Multi-player H∞differential gameusing on-policy and off-policy reinforcement learning.The16th In-ternational Conference on Control and Automation.Electr Network: IEEE,2020,10:1137–1142.[12]REN H,ZHANG H,MU Y,et al.Off-policy synchronous iterationIRL method for multi-player zero-sum games with input constraints.Neurocomputing,2020,378:413–421.[13]LIU D,LI H,WANG D.Online synchronous approximate optimallearning algorithm for multiplayer nonzero-sum games with unknown dynamics.IEEE Transactions on Systems,Man,and Cybernetics: Systems,2014,44(8):1015–1027.[14]V AMVOUDAKIS K G,LEWIS F L.Non-zero sum games:Onlinelearning solution of coupled Hamilton-Jacobi and coupled Riccati equations.IEEE International Symposium on Intelligent Control.Denver,CO,USA:IEEE,2011,9:171–178.[15]ZHANG H,ZHANG K,XIAO G,et al.Robust optimal controlscheme for unknown constrained-input nonlinear systems via a plug-n-play event-sampled critic-only algorithm.IEEE Transactions on Systems,Man,and Cybernetics:Systems,2020,50(9):3169–3180.[16]HUO X,KARIMI H R,ZHAO X,et 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networks.Neural Networks,1990,3(5):551–560.[26]LEWIS F L,JAGANNATHAN S,YESILDIREK A.Neural NetworkControl of Robot Manipulators and Nonlinear Systems.London:Tay-lor&Francis,1999.作者简介:李梦花博士研究生,目前研究方向为自适应动态规划、智能控制,E-mail:*********************;王鼎教授,博士生导师,目前研究方向为智能控制、强化学习,E-mail:*****************.cn;乔俊飞教授,博士生导师,目前研究方向为智能计算、智能优化控制,E-mail:***************.cn.。
竞争理论

第6章竞争理论张大勇姜新华6.1 竞争的定义与分类从达尔文时起,竞争就一直是生态学和进化研究的焦点;竞争理论几乎就是生态学理论的代名词。
竞争可以从许多角度来定义,但最简单也是最具有概括性的一个定义是:在同一因子(资源、资源组合或捕食者等)控制下所产生的有机体(同种的或异种的)之间的相互妨碍(王刚、张大勇 1996)。
竞争作用亦可从多个角度去进行分类。
首先,从生物类群的角度分类。
竞争是生物有机体之间相互的负作用;那么,当这些有机体属于同种时,就称之为种内竞争;当这些有机体属于不同种时,就称之为种间竞争。
种间竞争是竞争理论的主体。
在谈及竞争时,如没有特别指出,就应认为是种间竞争。
以往对于种内竞争的研究主要是在整个种群水平上进行的;竞争的效应用出生率、死亡率或净增长率等“平均个体”的特征来表示。
这种简化忽略了种群内个体之间的差异和种群内的各种结构。
如果我们是相对于种间竞争而论及种内竞争,那么这种忽略有其一定程度的合理性和必要性;但如果我们是专门研究种内竞争,那么种内的个体差异和种群结构将是不容忽略的。
而且,如我们将在6.7.3节看到的那样,正确认识物种间竞争与共存同样需要考虑种群内部结构。
种群的结构特征有多方面,如性比、年龄结构、遗传结构、个体大小等级等。
在考虑到这些结构的基础上研究竞争条件下的种群行为是近年来种内竞争研究的新趋向(王刚、张大勇 1996),但本章限于篇幅不再涉及。
关于竞争的第二种分类是将竞争分为利用性竞争和干扰性竞争。
利用性竞争为利用共同有限资源的生物个体之间的妨害作用,是通过资源这个中介而实现的。
参与竞争的所有个体都在降低资源的可利用程度,而资源可利用度的下降影响所有个体,降低它们的适合度。
这里没有个体间直接的行为上的对抗,其主要特征表现为参与竞争的个体对资源水平的反应。
干扰性竞争为一个个体以行为上的直接对抗影响另一个个体。
这种个体间干扰行为的实质还是为了资源的利用,因而干扰性竞争是一种潜在的资源竞争。
CPDA考试真题与答案 5

一、判断题(题数:15,共15.0 分)1.定量属性可以是整数值或者是连续值。
()正确答案:√2.分类模型的误差大致分为两种:训练误差(training error)和泛化误差(generalization error)。
()正确答案:√3.在决策树中,随着树中结点数变得太大,即使模型的训练误差还在继续减低,但是检验误差开始增大,这是出现了模型拟合不足的问题。
()正确答案:×4.在聚类分析当中,簇内的相似性越大,簇间的差别越大,聚类的效果就越差。
()正确答案:×5.聚类分析可以看作是一种非监督的分类。
()正确答案:√6.如果一个对象不强属于任何簇,那么该对象是基于聚类的离群点。
()正确答案:√7.允许误差应根据错误记录对整个系统可能带来的破坏来确定,通常正是那些低使用率的产品或不常使用的产品为库存误差带来很大麻烦,因此应结合数量方差百分比和绝对值方差来确定误差。
()正确答案:√8.召回率反映的是预测为正中的样本中正例的概率。
()正确答案:×9.支持度表示前项与后项在一个数据集中同时出现的频率。
()正确答案:√10.最大最小值标准化法也叫极值法,该方法适用于已知数据集的最小值或最大值情况。
()正确答案:√11.波特五力模型中五个压力来源是供应商议价能力、购买者的议价能力、行业新进入者的威胁、替代产品的威胁及企业内部的管理压力。
()(1.0分)1.0 分正确答案:×12.异常值在数理统计里一般是指一组观测值中与平均值的偏差超过三倍标准差的测定值。
()正确答案:×13.数据可视化可以便于人们对数据的理解。
()正确答案:√14.大数据思维,是指一种意识,认为公开的数据一旦处理得当可以为人类急需解决的问题提供答案。
()正确答案:√15.资金本身具有时间价值。
()二、单选题(题数:30,共45.0 分)1.某超市研究销售记录发现,购买牛奶的人很大概率会购买面包,这种属于数据挖掘的哪类问题?()A、聚类分析B、关联规则C、分类分析D、自然语言处理正确答案:B2.以下两种描述分别对应哪两种对分类算法的评价标准?()(a)警察抓杀人犯,描述警察抓的人中有多少个是杀人犯的标准。
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Adapting to Network and Client Variability via On-DemandDynamic DistillationArmando Fox Steven D. Gribble Eric A. Brewer Elan AmirUniversity of California at BerkeleyThe explosive growth of the Internet and the proliferation of Array smart cellular phones and handheld wireless devices is wideningan already large gap between Internet clients. Clients vary in theirhardware resources, software sophistication, and quality of con-nectivity, yet server support for client variation ranges from rela-tively poor to none at all. In this paper we introduce some designprinciples that we believe are fundamental to providing “meaning-ful” Internet access for the entire range of clients. In particular, weshow how to perform on-demand datatype-specific lossy compres-sion on semantically typed data, tailoring content to the specificconstraints of the client. We instantiate our design principles in aproxy architecture that further exploits typed data to enable appli-cation-level management of scarce network resources. Our proxyarchitecture generalizes previous work addressing all three aspectsof client variation by applying well-understood techniques in anovel way, resulting in quantitatively better end-to-end perfor-mance, higher quality display output, and new capabilities for low-end clients.1 IntroductionThe current Internet infrastructure includes an extensive rangeand number of clients and servers. Clients vary along many axes,including screen size, color depth, effective bandwidth, processingpower, and ability to handle specific data encodings, e.g., GIF, Post-Script, or MPEG. High-volume devices such as smart phones [30]and smart two-way pagers will soon constitute an increasing frac-tion of Internet clients, making the variation even more pro-nounced.These conditions make it difficult for servers to provide a levelof service that is appropriate for every client. For example, PDA’swith wireless LAN adapters enjoy reasonable bandwidth but havelow-quality displays. Full-featured laptops may connect to theInternet via low bandwidth wide-area wireless or wireline modems.Network computers and set-top boxes may not be able to keep upwith the entire proliferation of data formats found on the Web.In this paper we propose three design principles that we believeare fundamental to enabling meaningful access to Internet contentfor a wide range of clients spanning all these areas of variation. Wedescribe experiments using prototype software as well as a uniformsystem architecture embodying these principles. The principalunderlying idea of the architecture is that on-demand distillation(datatype-specific lossy compression) both increases quality of ser-vice for the client and reduces end-to-end latency perceived by theclient. By performing on-demand distillation in the network infra-structure rather than at clients or servers, we achieve a separation ofconcerns that confers both technical and economic benefits; bymaking it datatype-specific, we enable intelligent management of ascarce resource—a slow network link—at the application level.nonstandard HTML extensions), and also protocol Array extensions such as IP multicast support [12].Although we expect clients to improve over time, there will always be older systems still in use that represent relatively obso-lete clients, and the high end will advance roughly in parallel with the low end, effectively maintaining a gap between the two. There will always be a large difference between the very best laptop and the very best smart phone.1.2 Design Principles for Adapting to VariationWe have identified three design principles that we believe are fundamental for addressing client variation most effectively.1.Datatype-specific lossy compression mechanisms, whichwe introduce as distillation and refinement, can achievemuch better compression than “generic” compressors.Their intelligent decisions about what information to throwaway are based on the semantic type of the data. They aretherefore more effective adaptation mechanisms than aretypeless compressors.2.It is computationally feasible on today’s hardware to per-form “on the fly” adaptation by computing a desiredrepresentation of a typed object on demand rather than rely-ing on a set of precomputed representations. Although thereis some latency associated with generating the representa-tion, the end-to-end latency from the server to the client canbe reduced due to the smaller size of the distilledrepresentation.3.There are technical and economic reasons to push complex-ity away from both clients and servers; therefore, on-demand distillation and refinement should be done at anintermediate proxy that has access to substantial computingresources and is well-connected to the rest of the Internet. 1.3 High-Level Semantic Types Allow Datatype-Specific OperationsAs we describe in Section 3, we have found that datatype-spe-cific lossy compression is an effective adaptation mechanism that can achieved by providing well-defined operations over semanti-cally typed data. For example, lossy compression of an image requires discarding color information, high-frequency components, or pixel resolution. Lossy compression of video can additionally include frame rate reduction. Less obviously, lossy compression of formatted text requires discarding some formatting information but preserving the actual prose. In all cases, the goal is to preserve information that has the highest semantic value. The user can always explicitly ask for a higher-quality representation later if she decides that the data is valuable enough to be worth the additional latency.Knowledge about datatypes also allows us to reorder traffic to minimize perceived latency. If the user is retrieving a technical paper, prioritizing text content ahead of image content will usually result in the early delivery of the information with the highest semantic value. We can only do this if we can first decompose an object into smaller pieces of different semantic types.1.3.1 Datatype-Specific DistillationWe define distillation as highly lossy, datatype-specific com-pression that preserves most of the semantic content of a data object while adhering to a particular set of constraints. Table 3 lists the “axes” of compression corresponding to three important datatypes: formatted text, images, and video streams. Of course there are lim-its to how severe a degradation of quality is possible before thesource object becomes unrecognizable, but we have found thatcan be generalized into a common framework, which we discuss in Array Section 4.2.1.5 Pushing Complexity Into the InfrastructureThere is growing sentiment that the next wave of successful Internet client devices will be inexpensive and simple [19]. On the other hand, the amount of variation even among existing clients has led to substantial complexity in servers. Fortunately, we can push the complexity away from both clients and servers by relocating it into the network infrastructure. Services such as distillation and refinement should be provided by a proxy, a source of bountiful cycles that is well connected to the rest of the Internet. For example, an Internet Service Provider connection point or wireless basesta-tion. This arrangement confers technical as well as economic advantages:•Servers concentrate on serving high quality content, rather than having to maintain multiple versions.•Servers do not pay the costs required to do on-demand distillation.•Legacy servers remain unchanged.•Simple and inexpensive clients can rely on the proxy to optimize content from servers designed for higher-endclients.•Rather than communicating with many servers per session, the client communicates with a single logical entity, theproxy. This allows fine control over both endpoints of theslow network connecting the client to the proxy. In effect, itallows the client to manage bandwidth at the applicationlevel, just as databases manage memory at the applicationlevel [23].•Distillation and refinement can be offered as a value-added service by a service provider. The result is an economicmodel favorable to service providers, clients, and servers.1.6 Existing Approaches to Dealing with VariationToday’s Internet servers deal poorly with client variation:•Some servers ignore client variation, but this can prevent or dissuade lower end clients from accessing the servers’content.•Other servers use only the most basic data types and minimal graphics to reduce bandwidth and client renderingrequirements; sophisticated clients lose their advantageswhen accessing these.•Some servers provide multiple formats for downloading a document (e.g., abstract-only, text-only, full PostScript), ormultiple versions of a Web page (text-only, moderategraphics, graphics-intensive). This requires additionaladministration at the server and leaves out a wide middleground of representations.•Progressive encodings and the Netscape IMG LOWSRC extension provide ways of retrieving some content at lowerquality first, and incrementally refining the quality later.These encodings typically assume that all parts of theencoded document are equally important, so they cannotreorder traffic to present the highest-value content first. Inaddition, it is often impossible for clients to preventsubsequent refinements from being delivered after theinitial request, so in effect the bandwidth for the entire2.3 Network Connection Monitor Array There are three methods of determining the characteristics of the client’s network connection:er advice. Via an appropriate user interface, the usernotifies the proxy of her expected bandwidth.work profile. The Daedalus project [25,24] is exploringvertical handoff (VHO): the seamless migration of a clientamong heterogeneous wireless networks. VHO allows theclient to always switch to the best-available network, whichoften results in an order-of-magnitude bandwidth change. Ifthe proxy is informed of the VHO, it can activate a new cli-ent profile corresponding to the average characteristics ofthe new network.3.Automatic. A separate process tracks the values of effec-tive bandwidth, roundtrip latency, and probability of packeterror, and posts events when some value leaves a “window”of interest.Clearly, method (3) is the most difficult to implement but has the potential to provide the most responsive behavior to the user, provided the information delivered in the events can be put to good use. Specific API’s for delivery of such events are described in [4,36].Because distilled object representations are generated on demand in our architecture, and because the distillers are assumed to be able to optimize to a particular size of the output, our distilla-tion-based proxy architecture can dynamically react to changing network conditions. For example, a control panel might allow the user to specify a maximum allowable end-to-end latency for deliv-ery of a particular image. The proxy can ask the image distiller to construct a representation that can be delivered within the desired time bound, given the current effective bandwidth estimate.Since the adaptation mechanism is cleanly separated from the detection of network changes, our architecture can exploit an auto-mated network connection monitor as an optimization, but will still deliver improved service without it.2.4 Client-side ArchitectureRather than dealing directly with transport and data format issues, we would like the client application to deal with datatypes at the application level, in whatever encodings it finds convenient, and to be able to specify distillation and refinement preferences in an abstract way. One way to do this is via an application support library that provides an API with suitable abstractions for manipu-lating data and interacting with the proxy. The application support library is centered around the process of retrieving distilled docu-ments, and includes abstractions for asynchronous document deliv-ery, specifying which data encodings are acceptable to the client, and affecting the proxy’s distillation decisions by specifying weighted constraints on the distillation axes.Because of the library’s rich API, the task of implementing cli-ent applications that support our refinement and distillation mecha-nisms is greatly simplified. Since all communication with the proxy is handled by the support library, applications automatically reap the benefits of an efficient, tokenized transport protocol. We describe a Tcl/Tk [31] implementation of the library in Section 4.3.Unfortunately, legacy applications must be modified if they are to take advantage of our support library. Our architecture does sup-port unmodified legacy applications with the help of an client-side agent. As shown in Figure 1, the client-side agent is a process that runs locally on the client device. It communicates with the remote proxy using the application support library (and therefore benefits from the library’s high-level abstractions and optimized transport protocol), but communicates with local applications using whateverprotocols and data formats the applications require, such as HTTP.•More aggressive color quantization actually takes less time than less aggressive quantization. In the first column, thenumber of colors in the distilled representation was chosento match the number of colors in the original, e.g., 87 forthe first test image. Note that this usually requires thedistiller to perform color quantization, since scaling downmay introduce a large number of new colors. In the secondcolumn, the number of colors in the distilled representationwas fixed at 8, chosen from a fixed gray palette. For all fourimages, the time required to scale and quantizeaggressively was less than the time required to scale andquantize less aggressively.•Format conversion may cause image representation to increase in size, in this case because of PICT’s inefficientencoding of bitmaps compared to GIF. This shows howchoice of representation impacts bandwidth requirements:if the distiller is informed that the client requires PICT, itmust “budget” fewer pixels for the distilled representation.•The additional work of transcoding to PICT adds virtually no latency to the overall distillation process (comparecolumns 2 and 3). Adding this step makes sense, e.g., for aPDA client such as the Newton, on which PICT issupported by the native GUI but GIF-to-PICT conversion iscomputationally expensive.Image distillation can be used to address all three areas of client variation:Network variation: The graphs in Figure 3 depict end-to-end client latency for retrieving the original and each of fourdistilled versions of a selection of GIF images: the top setof bars is for a cartoon found on a popular Web page, andthe bottom two sets correspond to the images in the last andfirst rows of Table 4. The images were fetched using a14.4Kb/s modem with standard compression (V.42bis andMNP-5) through the UC Berkeley PPP gateway, via aprocess that runs each image through gifmunch. Each bar issegmented to show the distillation latency and transmissionlatency separately. Clearly, even though distillation addslatency at the proxy, it can result in greatly reduced end-to-end latency. This supports design principle #2.Hardware variation: The “map to 16 grays” operation in Table 4 is appropriate for PDA-class clients with shallowgrayscale displays. We can identify this operation as aneffective lossy compression technique precisely because weknow we are operating on an image, regardless of theparticular encoding, and the compression achieved isrently in progress on the same machine. Input to the simulator came from the UC Berkeley Computer Science Division’s HTTPd logs.Image distillation is a CPU-bound task, since the process of image reduction and requantization requires a distiller to “touch”all of the pixels in an image many times. We observed that the latency of distillation was a linearly increasing function of the num-ber of simultaneous operations, with a slope approximately propor-tional to the size of the original GIF (in bytes). Because N distillers shared the workstation’s CPU equally, each distillation operation took N times as long to complete.Recent work [32,11] strongly suggests that access to WWW documents is bursty. For example, an access to a new page causes aflurry of distillation operations. Since a user tends to digest the doc-ument for a period of time before moving on, there are variable-length periods of inactivity between distillations performed on behalf of that user. Burstiness results in good utilization of our com-pute resources, as the bursts of activity from multiple users tend to not overlap, as long as the compute server is not overloaded. Figure8a shows an example of bursty distillation activity generated by a single user from our HTTPd logs; black represents many distilla-tions occurring concurrently and white represents inactivity.Adding more users to a proxy increases the “blackness” of thefigure. If two distillation bursts collide, each will take twice as longto complete; this greatly increases the probability of further coinci-dent bursts if more users are added. As the number of users increases, the black regions in the figure tend to smear out and merge (Figure 8b and c), until finally the entire figure is uniform black (Figure 8d). At this point, the proxy becomes overloaded, and distillation requests arrive faster than they can be serviced.Figure 9 shows the simulated average latency of image distilla-tion perceived by a user as a function of the number of users sup-ported by a single workstation, on a logarithmic scale. At approximately 20 users, requests arrive faster than they are ser-viced, and beyond this point, distillation latency is unbounded for the single workstation. Nonetheless, this result suggests that even using today’s desktop hardware, document access patterns (at least(a) 1 user(c) 20 users(d) 24 usersFigure 8: Each square represents the utilization of the proxyover time for a different number of simultaneous users. Timeflows vertically up a column and then up its neighboring column.Each column represents 15 seconds; the entire figurerepresents 4500 seconds of activity. Black vertical stripes implythat clients are waiting for the distiller. At 16 users the proxyworks reasonably well, while at 24 users the system isunusable.(b) 16 usersLatency(sec)4.3 Client-side ImplementationWe have implemented a client-side application support library in C, on top of which is layered language-specific “glue” to the pro-gramming environment of your choice (currently Tcl/Tk, via a shell called gmwish). We are using gmwish as a research testbed for exploring the effectiveness of our API, and for testing the imple-mentation and performance of our core C library and modular proxy. To this end, we have implemented an image browser applica-tion that can retrieve and refine WWW images. We chose this appli-cation because it was easy to implement using Tk, and because it exercises the entire proxy API. The major functions provided by the API include requesting document delivery, providing asynchronous notification of document arrival, specifying which data encodings are acceptable to the client, and indirectly controlling distillation by specifying weighted constraints on the distillation axes.It is difficult to design an effective user interface for controlling many semantically orthogonal distillation axes. In our image browser, the user can specify a desired exact value for any one of the download time, resolution of the image, and color depth of the image, and specify the relative importance of the remaining two. However, the conversion of these constraints to distillation parame-ters at the proxy is not as complete as it should be, and we expect this characterization to lead to significant future work.Perhaps unsurprisingly, we observed that asynchronous data delivery is the largest source of complexity in the library and in applications that use it. For extremely impoverished clients, the implementation overhead of this complexity is likely to outweigh the benefits of asynchronous delivery notification. We are designing a lightweight version of the application support library that has the smallest useful subset of the full functionality for small clients. 4.4 Image DistillerThe image distiller we use is constructed largely from source code in NetPBM [33]. Currently the distiller picks a color palette based on the known capabilities of the client (which identifies itself when it first connects to the proxy and establishes a session), and optimizes for a particular target size in bytes of the distilled repre-sentation by predicting compression. Prediction is done by observ-ing the expansion when converting the original image to the PPM intermediate form, and multiplying this by an encoding-specific “expansion ratio” based on the effective bits per pixel achieved in past runs using the same target encoding. The distiller is typically able to meet this output constraint within a margin of about 10-15%.There are several motivations for choosing output representa-tion size as the optimization target, including targeting a particular latency bound based on known network bandwidth or observing a maximum buffer size in the client (the latter is particularly impor-tant for PDA’s). In practice, however, the user might want to opti-mize for a different constraint, e.g., sacrificing color to achieve better resolution while maintaining a roughly constant representa-tion size. We recognize that in general, mapping a set of weighted constraints to a set of input parameters for a distiller is a nontrivial optimization problem. Our goal is to provide a general self-training mechanism, whereby a statistical model of the distillation process could be used to predict achieved compression or latency of per-forming the distillation, given a particular input document and set of distillation parameters. We do not currently have such a general mechanism, but it is a major subject of continuing work. We are exploring both automated statistical modeling [7] and neural net-works as tools for tackling this problem.4.5 vgw Video Stream DistillerAs initially described in Section 3.3, the basic vgw model involves transcoding from some set of supported input formats to a (possibly different) set of output formats. Each input format is han-dled by a module that decodes the incoming bit stream into an inter-mediate representation, which is transformed and delivered to an encoder that produces a new bit stream in a potentially new format. Vgw joins two separate stateless real-time protocol (RTP) sessions and properly transforms the RTP data and control streams.Requiring every transcoder configuration to decompress all the way to the pixel domain, and then re-encode the stream from scratch, would impose a large performance penalty. Instead, multi-ple intermediate formats are allowed. The choice of intermediate format is a function of the encoder/decoder pair, determined by the lowest complexity decoder/encoder data path. In this way, encoder/ decoder pairs can optimize their interaction by choosing an appro-priate intermediate format. For example, DCT-based coding schemes like JPEG [20] and H.261 [35] can be more efficiently transcoded using DCT coefficients, which avoids the slow conver-sion to the pixel domain.The intermediate format also allows us to perform transforma-tions on the canonical image data, such as temporal and spatial dec-imation and frame geometry conversion (e.g., to handle different resolutions) and color decimation conversion (to handle different chrominance plane downsampling schemes).Vgw has been in service in “production mode” at CERN, as their transatlantic MBONE gateway. It is also in use by the Berke-ley InfoPad [8], transcoding MBONE video to InfoPad VQ format, thus allowing the MBONE video broadcasts to be viewed on the InfoPad.4.6 Other ApplicationsThe proxy architecture may be appealing for service providers that would like to enable their subscribers to use low-cost clients. It has been said that “…the ultimate fate of Network Computers may depend on the adoption rate of technologies such as... ATM and cable data modems” [19]. A “proxied” NC architecture mitigates this limitation, however, since the existing telephone and wireless infrastructure can be used to provide much better service via a proxy than could be obtained from the “raw” network.Because the proxy architecture is designed to address the limi-tations of an extremely wide range of clients, it is a good candidate for a system to deliver Internet content via cable TV converter boxes, even if those clients enjoy connectivity at cable-modem speeds. The appeal of Internet-from-your-TV will be significant if the client computer can be integrated into the cable converter box, which cable subscribers do not need to purchase. This design requirement leads to severe hardware and software constraints, which our proxy architecture is uniquely positioned to address. We are working with Wink Communications, Inc. [38] to build and deploy such a system, allowing users of properly equipped cable converter boxes to access Internet content using their TV and remote control.5 Related WorkNone of the techniques discussed in this paper is fundamentally new on its own. We view our contribution as the generalization of existing techniques into a uniform architecture, in which distillation on demand is used is used to adapt to ever-increasing client vari-ability along three distinct axes, all in a medium still undergoing explosive growth. In this section we discuss work in the three areas our architecture spans: content transcoding, adapting to poor net-works, and shifting application complexity away from small clients.5.1 Transcoding ProxiesThe idea of placing an intermediary between a client and a server is not new. The original HTTP specification [6] explicitlyprovides a proxy mechanism. Though it was originally intended for users behind security firewalls, it has been put to a number of novel uses, including Kanji format transcoding [34], Kanji-to-GIF con-version [39], and rendering equations from markup [40]. The Dis-tributed Clients Project [13] is also exploiting application-level stream transducers [9] as one of several mechanisms for facilitating Web browsing with intermittent connectivity.5.2 Shielding Clients From Effects of Slow NetworksOn-the-fly compression, especially for protocol metadata at the network level, has long been used to mitigate the effects of slow networks [21,16]. Various network- and transport-level optimiza-tions have also been used to address the wireless case [5], which has propagation and error characteristics quite different from those of most wired networks.The Odyssey system [29], on the other hand, supports a form of end-to-end bandwidth management by providing a fixed number of representations of data objects on a server, and specifying an API by which clients track their “environment” (including, e.g., network characteristics) and negotiate for a representation that is appropriate for their current connectivity. The approach as described requires substantial changes (content, filesystem organization, control logic, and kernel modifications) to the server, and does not accommodate clients whose configurations suggest a data representation some-where in between those available at the server. Nonetheless, a distil-lation proxy could negotiate with an Odyssey server for a representation that would minimize the additional work the proxy would need to do on behalf of its client.5.3 Hybrid Network- and Application-Level ApproachesWe know of at least two projects that combine network-level optimizations with at least some application-level content filtering. MOWGLI [26] provides both a proxy and a client-side agent, which cooperate to manage the wireless link using an efficient datagram protocol, hide disconnection from higher network layers, and tokenize application level protocols and data formats such as HTTP and HTML to reduce bandwidth requirements. However, MOWGLI’s protocol-level lossless compression stands in contrast to our document model’s semantic lossy compression, and MOWGLI cannot dynamically adapt its behavior to changing net-work conditions.Bruce Zenel’s “dual proxy” architecture [41] also features sepa-rate low-level and high-level filters, which can be demand-loaded by applications. The low-level filters operate at the socket API level and require modifications to the mobile device’s network stack. The high-level filters can use application-specific semantics to filter data before it is sent to a client, but the filter is part of the application rather than a middleware component, which complicates its reuse by other applications and makes it awkward to support legacy applications.5.4 Partitioning of Application ComplexityRover [22] provides a rich distributed-object system that gives a uniform view of objects at the OS level, and a queued RPC system that provides the substrate for invoking on objects. Together these abstractions allow disconnection and object migration (including code) to be handled largely implicitly by the OS. For example, sim-ple GUI code can be migrated to the mobile, where it will use queued RPC to communicate with the rest of the application run-ning on a server. Rover’s goals and functionality are complemen-tary to our own, and nothing precludes the composition of queued RPC and RDO’s with the functionality of our proxy architecture.Wit [36] partitions mobile applications between a client run-ning threaded Tcl on an HP palmtop, and a workstation-based proxy process. However, Wit 1 did not emphasize bandwidth man-agement (though nothing in the Wit architecture precludes its use on a per-application basis), nor did it specify a uniform architecture for application partitioning. Wit version 2 [37] adds a uniform architecture in which client data is treated as a graph of objects con-structed by the proxy, where graph edges connect “related” data objects (e.g., sequential or threaded messages in a mail queue). Bandwidth management can be achieved by explicitly pruning the graph, e.g., lazily fetching subsequent messages in a mail thread, rather than prefetching them in the initial communication with the proxy.5.5 Cooperative Caching and PrefetchingCooperative caching relays [17,28,1,10] and prefetching can reduce the latency seen by the client and server-to-cache bandwidth requirements, but do not address cache-to-client bandwidth (e.g., the client is connected to the caching relay via a slow link) or client hardware/software variation. We believe that distributed coopera-tive caching will ultimately be necessary for managing the explo-sive growth of the Internet, but not for reducing overall latency and bandwidth to the client. The proxy does, however, provides a natu-ral location for cooperative caching of distilled and undistilled data, exploiting locality among a group of institutional users connected to the same proxy.6 ConclusionsHigh client variability is an area of increasing concern that existing servers do not handle well. We have proposed three design principles we believe to be fundamental to addressing variation:•Datatype-specific distillation and refinement achieve better compression than does lossless compression whileretaining useful semantic content, and allow networkresources to be managed at the application level.•On-demand distillation and refinement reduce end-to-end latency perceived by the client and are more flexible thanreliance on precomputed static representations.•Performing distillation and refinement in the network infrastructure rather than at the endpoints separatestechnical as well as economic concerns of clients andservers.We have also described a proxy architecture based on these design principles that has the ability to adapt dynamically to chang-ing network conditions. Our architecture provides a generalized framework for simultaneously addressing three independent cate-gories of client variation by applying well-understood techniques in a novel way.Our preliminary results, based on both implemented prototypes and trace-driven simulations, confirm the efficacy of our approach. In particular, on-demand distillation leads to better performance, often including an order of magnitude latency reduction, better looking output (targeted to the particular client screen), and new abilities such as video access or PostScript viewing for low-end devices.As new and varied Internet clients become available in volume, we expect that value-added proxy services based on this architec-ture will play an increasingly important role in the network infra-structure.7 AcknowledgmentsThis paper was tremendously improved by the suggestions from our anonymous reviewers and the guidance of Larry Peterson. We received valuable comments from our UC Berkeley colleagues, especially Eric Anderson,Trevor Pering, Hari Balakrishnan, and Randy Katz. This research is supported by DARPA contracts。