Be still 片刻停留,片刻自我

Be still.

Just for a moment.

Listen to the world around you. Feel your breath coming in and going out. Listen to your thoughts. See the details of your surroundings. 

Be at peace with being still.

In this modern world, activity and movement are the default modes, if not with our bodies then at least with our minds, with our attention. We rush around all day, doing things, talking, emailing, sending and reading messages, clicking from browser tab to the next, one link to the next.

We are always on, always connected, always thinking, always talking. There is no time for stillness — and sitting in front of a frenetic computer all day, and then in front of the hyperactive television, doesn’t count as stillness.

This comes at a cost: we lose that time for contemplation, for observing and listening. We lose peace.

And worse yet: all the rushing around is often counterproductive. I know, in our society action is all-important — inaction is seen as lazy and passive and unproductive. However, sometimes too much action is worse than no action at all. You can run around crazily, all sound and fury, but get nothing done. Or you can get a lot done — but nothing important. Or you can hurt things with your actions, make things worse than if you’d stayed still.

And when we are forced to be still — because we’re in line for something, or waiting at a doctor’s appointment, or on a bus or train — we often get antsy, and need to find something to do. Some of us will have our mobile devices, others will have a notebook or folder with things to do or read, others will fidget. Being still isn’t something we’re used to.

Take a moment to think about how you spend your days — at work, after work, getting ready for work, evenings and weekends. Are you constantly rushing around? Are you constantly reading and answering messages, checking on the news and the latest stream of information? Are you always trying to Get Lots of Things Done, ticking off tasks from your list like a machine, rushing through your schedule?

Is this how you want to spend your life?

If so, peace be with you. If not, take a moment to be still. Don’t think about what you have to do, or what you’ve done already. Just be in the moment.

Then after a minute or two of doing that, contemplate your life, and how you’d like it to be. See your life with less movement, less doing, less rushing. See it with more stillness, more contemplation, more peace.

Then be that vision.

It’s pretty simple, actually: all you have to do is sit still for a little bit each day. Once you’ve gotten used to that, try doing less each day. Breathe when you feel yourself moving too fast. Slow down. Be present. Find happiness now, in this moment, instead of waiting for it.

Savor the stillness. It’s a treasure, and it’s available to us, always.

内容概要:本文介绍了一种利用元启发式算法(如粒子群优化,PSO)优化线性二次调节器(LQR)控制器加权矩阵的方法,专门针对复杂的四级倒立摆系统。传统的LQR控制器设计中,加权矩阵Q的选择往往依赖于经验和试错,而这种方法难以应对高维度非线性系统的复杂性。文中详细描述了如何将控制器参数优化问题转化为多维空间搜索问题,并通过MATLAB代码展示了具体实施步骤。关键点包括:构建非线性系统的动力学模型、设计适应度函数、采用对数缩放技术避免局部最优、以及通过实验验证优化效果。结果显示,相比传统方法,PSO优化后的LQR控制器不仅提高了稳定性,还显著减少了最大控制力,同时缩短了稳定时间。 适合人群:控制系统研究人员、自动化工程专业学生、从事机器人控制或高级控制算法开发的技术人员。 使用场景及目标:适用于需要精确控制高度动态和不确定性的机械系统,特别是在处理多自由度、强耦合特性的情况下。目标是通过引入智能化的参数寻优手段,改善现有控制策略的效果,降低人为干预的需求,提高系统的鲁棒性和性能。 其他说明:文章强调了在实际应用中应注意的问题,如避免过拟合、考虑硬件限制等,并提出了未来研究方向,例如探索非对角Q矩阵的可能性。此外,还分享了一些实践经验,如如何处理高频抖动现象,以及如何结合不同类型的元启发式算法以获得更好的优化结果。
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