Water pollution control planning for the Taizi River watershed,a typical Chinese case study,is presented in this paper. Based on comprehensive analysis.water quality in the watershed was assessed and predicated;water ...Water pollution control planning for the Taizi River watershed,a typical Chinese case study,is presented in this paper. Based on comprehensive analysis.water quality in the watershed was assessed and predicated;water quality models for the river and reservoir were built;and function of water bodies and environmental assimilative capacity were determined ;and then the planning for industrial pollution sources and concentrated sewage treatment were made respectively.展开更多
China has developed more than 20 water pollution control plans for river basins (RBWPs) since 1996. However, the implementation has generally lagged. This paper proposes a three-step, post-evaluation methodology to ...China has developed more than 20 water pollution control plans for river basins (RBWPs) since 1996. However, the implementation has generally lagged. This paper proposes a three-step, post-evaluation methodology to analyze the implementation result of a RBWP and its influential factors. First, a multi-attribute evaluation method based on an index system is established to score the enforcement results of a RBWP. Indicators measure how well a RBWP has achieved its objectives, which include water quality compliance, pollution load control, project construction, financial inputs, and related management requirements. Second, an interpretive structural model is used to detect the significant factors that affect RBWP implementation. This model can effectively analyze the cause-effect chain and hierarchical relationship among variables. Five groups of factors were identified, namely, plan preparation, water resource endowment, policy, institution, and management. Both qualitative and quantitative methods are employed in the third step to evaluate the extent to which these factors have influenced the execution result of a RBWP, including pre-post contrast, scenario analysis, and correlation analysis. This research then post-evaluated the implementation of the Huai River Basin water pollution control plans (H-RBWPs) over a period of 10 years as a case study. Results showed that the implementation of the H-RBWPs was unsatisfactory during 2001–2005, although it improved during 2006–2010. The poor execution of these plans was partially caused by the underestimation of regional economic development in combination with ineffective industrial structure adjustment policies. Therefore, this case study demonstrates the feasibility and flexibility of the proposed post-evaluation methodology.展开更多
The plan view pattern control theoretical models were simplified. Under the condition of constant volume for the plan view pattern compensation, the relation between the thickness and the length can be simplified to t...The plan view pattern control theoretical models were simplified. Under the condition of constant volume for the plan view pattern compensation, the relation between the thickness and the length can be simplified to the linearity in the segment for the plan view pattern control function. The compensation volume can be dispersed for easy calculation. By comparing the model calculation result with the actual result, it was concluded that the simplified model can be used for the online control process.展开更多
Research works on width compensation and correction were carried out in order to eliminate the effects of the PVPC ( plan view pattern control) on width accuracy of plate mill. The thickness correction calculation f...Research works on width compensation and correction were carried out in order to eliminate the effects of the PVPC ( plan view pattern control) on width accuracy of plate mill. The thickness correction calculation formula was derived for compensation the width deviation caused by PVPC function, and the formula is unified under the thinning and thickening conditions. In order to improve the width calculation accuracy, width spread calculation process was modified with dividing one large reduction pass to several small reduction calculation steps. The thickness wedge was simplified to rectangle based on the volume constant principle, and the width spread model for PVPC was constructed. The width compensation and correction for the PVPC functions are used for the online control process, and the Product dimension accuracy is improved. With the decrease of Crop losses, the Droduct yield was increased with 0. 2%.展开更多
The forward slip model with adhesion was used to derive the formula of calculating taper rolling time. The relation between the rolling time and the taper length and the relation between the rolling time and the taper...The forward slip model with adhesion was used to derive the formula of calculating taper rolling time. The relation between the rolling time and the taper length and the relation between the rolling time and the taper thickness can be obtained. The numerical solution for this formula was used on site. According to the simulation result, the roll gap value should be changed linearly with rolling time.展开更多
Using case studies,this paper analyzes the characteristics of detailed control planning and its hierarchical controls,the form and composition of plan content,and methodological innovations.It then suggests improvemen...Using case studies,this paper analyzes the characteristics of detailed control planning and its hierarchical controls,the form and composition of plan content,and methodological innovations.It then suggests improvements to the planning structure that are oriented at adaptability,fairness,centrality,and scientific principles with regard to the content,methods,and results of the planning.Regarding the hierarchical control system,the paper suggests that the detailed control plan should be composed of "block planning" and "plot planning".It is believed that through a combination of block and plot planning,the problem of joining long-term and short-term planning will be solved and it will be possible to address the need for adjustment and revision of detailed control plan.展开更多
In this article, based on river quality simulation and system optimization, a water quality model was established for scenic river after rainfall discharge in flood season, with the target of making water pollutants m...In this article, based on river quality simulation and system optimization, a water quality model was established for scenic river after rainfall discharge in flood season, with the target of making water pollutants meet the standard in priority and saving expenditure on pollution control. With the principle of reducing sewage from combined sewage pumping station and heavily polluted initial rainwater, a mathematical multiobjective planning model was constructed for rain sewage pollution control in flood season, and one scenic river in a northern city was taken for simulation example. The results show that: the optimization result meets the requirements of planning, among which, sewage reduction from the combined pumping station accounts for 17.38% in the total reduction of rain sewage, and the reduction in the heavily polluted rain water accounts for 77.24% in the total reduction of rainwater pumping station. The planning scheme can provide theoretical basis for pollution control of scenic river in flood season, and for rational reconstruction and layout of outfalls along two banks of the river.展开更多
Hydraulic excavator is one type of the most widely applied construction equipment for various applications mainly because of its versatility and mobility. Among the tasks performed by a hydraulic excavator, repeatable...Hydraulic excavator is one type of the most widely applied construction equipment for various applications mainly because of its versatility and mobility. Among the tasks performed by a hydraulic excavator, repeatable level digging or flat surface finishing may take a large percentage. Using automated functions to perform such repeatable and tedious jobs will not only greatly increase the overall productivity but more importantly also improve the operation safety. For the purpose of investigating the technology without loss of generality, this research is conducted to create a coordinate control method for the boom, arm and bucket cylinders on a hydraulic excavator to perform accurate and effective works. On the basis of the kinematic analysis of the excavator linkage system, the tip trajectory of the end-effector can be determined in terms of three hydraulic cylinders coordinated motion with a visualized method. The coordination of those hydraulic cylinders is realized by controlling three electro-hydraulic proportional valves coordinately. Therefore, the complex control algorithm of a hydraulic excavator can be simplified into coordinated motion control of three individual systems. This coordinate control algorithm was validated on a wheeled hydraulic excavator, and the validation results indicated that this developed control method could satisfactorily accomplish the auto-digging function for level digging or flat surface finishing.展开更多
Efficient walking is one of the main goals of researches on biped robots. A feasible way is to translate the understanding from human walking into robot walking, for example, an artificial control approach on a human ...Efficient walking is one of the main goals of researches on biped robots. A feasible way is to translate the understanding from human walking into robot walking, for example, an artificial control approach on a human like walking structure. In this paper, a walking pattern based on Center of Pressure (COP) switched and modeled after human walking is introduced firstly. Then, a parameterization method for the proposed walking gait is presented. In view of the complication, a multi-space planning method which divides the whole planning task into three sub-spaces, including simplified model space, work space and joint space, is proposed. Furthermore, a finite-state-based control method is also developed to implement the proposed walking pattern. The state switches of this method are driven by sensor events. For convincing verification, a 2D simulation system with a 9-1ink planar biped robot is developed. The simulation results exhibit an efficient walking gait.展开更多
Automotive collision avoidance technology can effectively avoid the accidents caused by dangerous traffic conditions or driver's manipulation errors.Moreover,it can promote the development of autonomous driving fo...Automotive collision avoidance technology can effectively avoid the accidents caused by dangerous traffic conditions or driver's manipulation errors.Moreover,it can promote the development of autonomous driving for intelligent vehicle in intelligent transportation.We present a collision avoidance system,which is composed of an evasive trajectory planner and a path following controller.Considering the stability of the vehicle in the conflict-free process,the evasive trajectory planner is designed by polynomial parametric method and optimized by genetic algorithm.The path following controller is proposed to make the car drive along the designed path by controlling the vehicle's lateral movement.Simulation results show that the vehicle with the proposed controller has good stability in the collision process,and it can ensure the vehicle driving in accordance with the planned trajectory at different speeds.The research results can provide a certain basis for the research and development of automotive collision avoidance technology.展开更多
The paper consists of three topics on control theory and engineering applications, namely bifurcation control, manufacturing planning, and formation control. For each topic, we summarize the control problem to be addr...The paper consists of three topics on control theory and engineering applications, namely bifurcation control, manufacturing planning, and formation control. For each topic, we summarize the control problem to be addressed and some key ideas used in our recent research. Interested readers are referred to related publications for more details. Each of the three topics in this paper is technically independent from the other ones. However, all three parts together reflect the recent research activities of the first author, jointly with other researchers in different fields.展开更多
Based on analysis and evaluation on the circular, cosine type, constant-speed offset type and ladder type lane change trajectory, this paper proposes an intelligent vehicle lane change trajectory model under multiple ...Based on analysis and evaluation on the circular, cosine type, constant-speed offset type and ladder type lane change trajectory, this paper proposes an intelligent vehicle lane change trajectory model under multiple barriers, proposes its dynamic constraints in the light of the cellular automata theory, obtains the desired lane change trajectory using this method, and finally changes into a simple coefficient selection problem. Secondly, based on the quadratic optimal control theory, this paper proposes a state space analysis method of intelligent vehicle lateral control, and designs an optimal controller for lateral stability of H2 vehicles. The computer simulation results show that compared with other vehicle trajectory methods, the method in this paper is able to simply and rapidly describe the trajectory, and can describe the intelligent vehicle lane change trajectory under a variety of situations, wherein the controller is reliable and capable of fast convergence.展开更多
Because the understanding of urban development principles is a continuously deepening process,the Detailed Control Planning(DCP) also needs to be improved in the implementation process.For many years,the city of Beiji...Because the understanding of urban development principles is a continuously deepening process,the Detailed Control Planning(DCP) also needs to be improved in the implementation process.For many years,the city of Beijing has made great efforts in this regard and established a dynamic maintenance mechanism for the DCP of the Central City in 2007.This enabled constant improvement and revision of the regulatory plans based on urban economic and social development as well as actual demands.This paper analyzes the formulation and execution of the DCP for the Central City of Beijing since 1999,discussing its evolution and development,as well as its practical application and a general explration of the planning work.It focuses upon the philosophy and mechanisms of dynamic maintenance.By drawing on previous experiences and lessons,it provides ideas and examples for the future management,formulation and implementation of the DCP.展开更多
Locomotion and manipulation optimization is essential for the performance of tetrahedron-based mobile mechanism. Most of current optimization methods are constrained to the continuous actuated system with limited degr...Locomotion and manipulation optimization is essential for the performance of tetrahedron-based mobile mechanism. Most of current optimization methods are constrained to the continuous actuated system with limited degree of freedom(DOF), which is infeasible to the optimization of binary control multi-DOF system. A novel optimization method using for the locomotion and manipulation of an 18 DOFs tetrahedron-based mechanism called 5-TET is proposed. The optimization objective is to realize the required locomotion by executing the least number of struts.Binary control strategy is adopted, and forward kinematic and tipping dynamic analyses are performed, respectively.Based on a developed genetic algorithm(GA), the optimal number of alternative struts between two adjacent steps is obtained as 5. Finally, a potential manipulation function is proposed, and the energy consumption comparison between optimal 5-TET and the traditional wheeled robot is carried out. The presented locomotion optimization and manipulation planning enrich the research of tetrahedron-based mechanisms and provide the instruction to the successive locomotion and operation planning of multi-DOF mechanisms.展开更多
This study proposes a new nonlinear tracking control method with safe angular velocity constraints for a cushion robot. A fuzzy path planning algorithm is investigated and a realtime desired motion path of obstacle av...This study proposes a new nonlinear tracking control method with safe angular velocity constraints for a cushion robot. A fuzzy path planning algorithm is investigated and a realtime desired motion path of obstacle avoidance is obtained. The angular velocity is constrained by the controller, so the planned path guarantees the safety of users. According to Lyapunov theory, the controller is designed to maintain stability in terms of solutions of linear matrix inequalities and the controller's performance with safe angular velocity constraints is derived.The simulation and experiment results confirm the effectiveness of the proposed method and verify that the angular velocity of the cushion robot provided safe motion with obstacle avoidance.展开更多
Manufacturing system, with high level of complexity and with a mix of semi-repetitive and repetitive products, to become productive, should seek the standardization of products and processes to obtain the optimization...Manufacturing system, with high level of complexity and with a mix of semi-repetitive and repetitive products, to become productive, should seek the standardization of products and processes to obtain the optimization of use of production resources. However, it is necessary to measure the productivity, so that the system of measurement and control of manufacturing processes are an element critical as to ensure greater visibility of the flow's restrictions, minimized when detected properly. In this case, the automation of factory's measurement process can effectively contribute to ensuring the effectiveness of the function control of a manufacturing system. It is important to consider that the automation of the system of measurement and control of manufacturing processes, of complex environment, is heavily dependent of IT tools applied directly in the interface computational between the operation systems and the corporate systems. This heavy reliance, if exploited technically properly, allows that automation of the system of measurement and control of production makes the access to time real of availability of manufacturing process's data, such as processing time and setup time that it can export to a specialist software in programming production, for example, feasible. In this paper, the automation of the system of measurement and control of production is approached, in order to identify the main possibilities of the design of an information system capable to integrate the flow of information in an environment internal on manufacturing organizations, with emphasis in the digital manufacturing paradigm.展开更多
Control parameters of original differential evolution (DE) are kept fixed throughout the entire evolutionary process. However, it is not an easy task to properly set control parameters in DE for different optiinizat...Control parameters of original differential evolution (DE) are kept fixed throughout the entire evolutionary process. However, it is not an easy task to properly set control parameters in DE for different optiinization problems. According to the relative position of two different individual vectors selected to generate a difference vector in the searching place, a self-adapting strategy for the scale factor F of the difference vector is proposed. In terms of the convergence status of the target vector in the current population, a self-adapting crossover probability constant CR strategy is proposed. Therefore, good target vectors have a lower CFI while worse target vectors have a large CFI. At the same time, the mutation operator is modified to improve the convergence speed. The performance of these proposed approaches are studied with the use of some benchmark problems and applied to the trajectory planning of a three-joint redundant manipulator. Finally, the experiment results show that the proposed approaches can greatly improve robustness and convergence speed.展开更多
It is vital for pipeline assembly enterprise to respond to changing market needs quickly and keep its cost advantage. A production planning and control (PPC) model under supply chain management combining with operat...It is vital for pipeline assembly enterprise to respond to changing market needs quickly and keep its cost advantage. A production planning and control (PPC) model under supply chain management combining with operation characteristics of pipeline assembly enterprise was proposed. The present model can realize synchroni- zation in real-time response in production by establishing a win-win corporate model, classified regulation be- tween strategic parts and non-strategic parts, postponing the production of special modules and guaranteeing pro- duction at the bottleneck.展开更多
For autonomous MUAV,the Ground Control Station(GCS)including hardware and modular software programming such as control modular,navigation modular,display modular and monitor modular becomes important equipment to be d...For autonomous MUAV,the Ground Control Station(GCS)including hardware and modular software programming such as control modular,navigation modular,display modular and monitor modular becomes important equipment to be developed.This paper emphasizes the global planning and the local replanning arithmetic based on three-dimensional velocity potential field for the moving threats.During the test on the ground and in the sky,GCS show the remote sensing information precisely and send the control command in time.The system can be used to assist in the function of autonomous complex task for MUAV.展开更多
文摘Water pollution control planning for the Taizi River watershed,a typical Chinese case study,is presented in this paper. Based on comprehensive analysis.water quality in the watershed was assessed and predicated;water quality models for the river and reservoir were built;and function of water bodies and environmental assimilative capacity were determined ;and then the planning for industrial pollution sources and concentrated sewage treatment were made respectively.
文摘China has developed more than 20 water pollution control plans for river basins (RBWPs) since 1996. However, the implementation has generally lagged. This paper proposes a three-step, post-evaluation methodology to analyze the implementation result of a RBWP and its influential factors. First, a multi-attribute evaluation method based on an index system is established to score the enforcement results of a RBWP. Indicators measure how well a RBWP has achieved its objectives, which include water quality compliance, pollution load control, project construction, financial inputs, and related management requirements. Second, an interpretive structural model is used to detect the significant factors that affect RBWP implementation. This model can effectively analyze the cause-effect chain and hierarchical relationship among variables. Five groups of factors were identified, namely, plan preparation, water resource endowment, policy, institution, and management. Both qualitative and quantitative methods are employed in the third step to evaluate the extent to which these factors have influenced the execution result of a RBWP, including pre-post contrast, scenario analysis, and correlation analysis. This research then post-evaluated the implementation of the Huai River Basin water pollution control plans (H-RBWPs) over a period of 10 years as a case study. Results showed that the implementation of the H-RBWPs was unsatisfactory during 2001–2005, although it improved during 2006–2010. The poor execution of these plans was partially caused by the underestimation of regional economic development in combination with ineffective industrial structure adjustment policies. Therefore, this case study demonstrates the feasibility and flexibility of the proposed post-evaluation methodology.
基金Item Sponsored by National Economy Trade Committee Foundation(ZZ0113A040201)
文摘The plan view pattern control theoretical models were simplified. Under the condition of constant volume for the plan view pattern compensation, the relation between the thickness and the length can be simplified to the linearity in the segment for the plan view pattern control function. The compensation volume can be dispersed for easy calculation. By comparing the model calculation result with the actual result, it was concluded that the simplified model can be used for the online control process.
基金Sponsored by the Fundamental Research Funds for the Central Universities(Grant No.N120407007)
文摘Research works on width compensation and correction were carried out in order to eliminate the effects of the PVPC ( plan view pattern control) on width accuracy of plate mill. The thickness correction calculation formula was derived for compensation the width deviation caused by PVPC function, and the formula is unified under the thinning and thickening conditions. In order to improve the width calculation accuracy, width spread calculation process was modified with dividing one large reduction pass to several small reduction calculation steps. The thickness wedge was simplified to rectangle based on the volume constant principle, and the width spread model for PVPC was constructed. The width compensation and correction for the PVPC functions are used for the online control process, and the Product dimension accuracy is improved. With the decrease of Crop losses, the Droduct yield was increased with 0. 2%.
基金Item Sponsored by National Economy Trade Committee Foundation (ZZ0113A040201)
文摘The forward slip model with adhesion was used to derive the formula of calculating taper rolling time. The relation between the rolling time and the taper length and the relation between the rolling time and the taper thickness can be obtained. The numerical solution for this formula was used on site. According to the simulation result, the roll gap value should be changed linearly with rolling time.
文摘Using case studies,this paper analyzes the characteristics of detailed control planning and its hierarchical controls,the form and composition of plan content,and methodological innovations.It then suggests improvements to the planning structure that are oriented at adaptability,fairness,centrality,and scientific principles with regard to the content,methods,and results of the planning.Regarding the hierarchical control system,the paper suggests that the detailed control plan should be composed of "block planning" and "plot planning".It is believed that through a combination of block and plot planning,the problem of joining long-term and short-term planning will be solved and it will be possible to address the need for adjustment and revision of detailed control plan.
基金Project supported by the National Natural Science Foundation of China (Grant No. 50178046)the Science and Technology Innovation Special Foundation of Tianjin (GrantNo.06FZZDSH00900).
文摘In this article, based on river quality simulation and system optimization, a water quality model was established for scenic river after rainfall discharge in flood season, with the target of making water pollutants meet the standard in priority and saving expenditure on pollution control. With the principle of reducing sewage from combined sewage pumping station and heavily polluted initial rainwater, a mathematical multiobjective planning model was constructed for rain sewage pollution control in flood season, and one scenic river in a northern city was taken for simulation example. The results show that: the optimization result meets the requirements of planning, among which, sewage reduction from the combined pumping station accounts for 17.38% in the total reduction of rain sewage, and the reduction in the heavily polluted rain water accounts for 77.24% in the total reduction of rainwater pumping station. The planning scheme can provide theoretical basis for pollution control of scenic river in flood season, and for rational reconstruction and layout of outfalls along two banks of the river.
基金supported by National Natural Science Foundation of China (Grant No. 50875228)
文摘Hydraulic excavator is one type of the most widely applied construction equipment for various applications mainly because of its versatility and mobility. Among the tasks performed by a hydraulic excavator, repeatable level digging or flat surface finishing may take a large percentage. Using automated functions to perform such repeatable and tedious jobs will not only greatly increase the overall productivity but more importantly also improve the operation safety. For the purpose of investigating the technology without loss of generality, this research is conducted to create a coordinate control method for the boom, arm and bucket cylinders on a hydraulic excavator to perform accurate and effective works. On the basis of the kinematic analysis of the excavator linkage system, the tip trajectory of the end-effector can be determined in terms of three hydraulic cylinders coordinated motion with a visualized method. The coordination of those hydraulic cylinders is realized by controlling three electro-hydraulic proportional valves coordinately. Therefore, the complex control algorithm of a hydraulic excavator can be simplified into coordinated motion control of three individual systems. This coordinate control algorithm was validated on a wheeled hydraulic excavator, and the validation results indicated that this developed control method could satisfactorily accomplish the auto-digging function for level digging or flat surface finishing.
基金Acknowledgements The work was supported by National Natural Science Foundation of China under grant 50775037 and 51075071.
文摘Efficient walking is one of the main goals of researches on biped robots. A feasible way is to translate the understanding from human walking into robot walking, for example, an artificial control approach on a human like walking structure. In this paper, a walking pattern based on Center of Pressure (COP) switched and modeled after human walking is introduced firstly. Then, a parameterization method for the proposed walking gait is presented. In view of the complication, a multi-space planning method which divides the whole planning task into three sub-spaces, including simplified model space, work space and joint space, is proposed. Furthermore, a finite-state-based control method is also developed to implement the proposed walking pattern. The state switches of this method are driven by sensor events. For convincing verification, a 2D simulation system with a 9-1ink planar biped robot is developed. The simulation results exhibit an efficient walking gait.
基金supported by the National Key Research and Development Plan of China (No.2016YFB0101102 )the Suzhou Tsinghua Innovation Initiative(No. 2016SZ0207)+2 种基金the National Natural Science Foundation of China(No.51375007)the Research Project of Key Laboratory of Advanced Manufacture Technology for Automobile Parts(Chongqing University of Technology),Ministry of Education (No.2015KLMT04)the Fundamental Research Funds for the Central Universities (No. NE2016002)
文摘Automotive collision avoidance technology can effectively avoid the accidents caused by dangerous traffic conditions or driver's manipulation errors.Moreover,it can promote the development of autonomous driving for intelligent vehicle in intelligent transportation.We present a collision avoidance system,which is composed of an evasive trajectory planner and a path following controller.Considering the stability of the vehicle in the conflict-free process,the evasive trajectory planner is designed by polynomial parametric method and optimized by genetic algorithm.The path following controller is proposed to make the car drive along the designed path by controlling the vehicle's lateral movement.Simulation results show that the vehicle with the proposed controller has good stability in the collision process,and it can ensure the vehicle driving in accordance with the planned trajectory at different speeds.The research results can provide a certain basis for the research and development of automotive collision avoidance technology.
基金Supported in part by Ford Motor Company, U.S. Air Force Research Laboratory, and National Science Foundation
文摘The paper consists of three topics on control theory and engineering applications, namely bifurcation control, manufacturing planning, and formation control. For each topic, we summarize the control problem to be addressed and some key ideas used in our recent research. Interested readers are referred to related publications for more details. Each of the three topics in this paper is technically independent from the other ones. However, all three parts together reflect the recent research activities of the first author, jointly with other researchers in different fields.
文摘Based on analysis and evaluation on the circular, cosine type, constant-speed offset type and ladder type lane change trajectory, this paper proposes an intelligent vehicle lane change trajectory model under multiple barriers, proposes its dynamic constraints in the light of the cellular automata theory, obtains the desired lane change trajectory using this method, and finally changes into a simple coefficient selection problem. Secondly, based on the quadratic optimal control theory, this paper proposes a state space analysis method of intelligent vehicle lateral control, and designs an optimal controller for lateral stability of H2 vehicles. The computer simulation results show that compared with other vehicle trajectory methods, the method in this paper is able to simply and rapidly describe the trajectory, and can describe the intelligent vehicle lane change trajectory under a variety of situations, wherein the controller is reliable and capable of fast convergence.
文摘Because the understanding of urban development principles is a continuously deepening process,the Detailed Control Planning(DCP) also needs to be improved in the implementation process.For many years,the city of Beijing has made great efforts in this regard and established a dynamic maintenance mechanism for the DCP of the Central City in 2007.This enabled constant improvement and revision of the regulatory plans based on urban economic and social development as well as actual demands.This paper analyzes the formulation and execution of the DCP for the Central City of Beijing since 1999,discussing its evolution and development,as well as its practical application and a general explration of the planning work.It focuses upon the philosophy and mechanisms of dynamic maintenance.By drawing on previous experiences and lessons,it provides ideas and examples for the future management,formulation and implementation of the DCP.
基金Supported by National Science-Technology Support Plan Projects of China (Grant No.2015BAK04B00)2015 Sino-German Postdoc Scholarship Program (Grant No.57165010)
文摘Locomotion and manipulation optimization is essential for the performance of tetrahedron-based mobile mechanism. Most of current optimization methods are constrained to the continuous actuated system with limited degree of freedom(DOF), which is infeasible to the optimization of binary control multi-DOF system. A novel optimization method using for the locomotion and manipulation of an 18 DOFs tetrahedron-based mechanism called 5-TET is proposed. The optimization objective is to realize the required locomotion by executing the least number of struts.Binary control strategy is adopted, and forward kinematic and tipping dynamic analyses are performed, respectively.Based on a developed genetic algorithm(GA), the optimal number of alternative struts between two adjacent steps is obtained as 5. Finally, a potential manipulation function is proposed, and the energy consumption comparison between optimal 5-TET and the traditional wheeled robot is carried out. The presented locomotion optimization and manipulation planning enrich the research of tetrahedron-based mechanisms and provide the instruction to the successive locomotion and operation planning of multi-DOF mechanisms.
基金supported by the Program for Liaoning Excellent Talents in University of China(LJQ2014013)the Liaoning Natural Science Foundation of China(2015020066)
文摘This study proposes a new nonlinear tracking control method with safe angular velocity constraints for a cushion robot. A fuzzy path planning algorithm is investigated and a realtime desired motion path of obstacle avoidance is obtained. The angular velocity is constrained by the controller, so the planned path guarantees the safety of users. According to Lyapunov theory, the controller is designed to maintain stability in terms of solutions of linear matrix inequalities and the controller's performance with safe angular velocity constraints is derived.The simulation and experiment results confirm the effectiveness of the proposed method and verify that the angular velocity of the cushion robot provided safe motion with obstacle avoidance.
文摘Manufacturing system, with high level of complexity and with a mix of semi-repetitive and repetitive products, to become productive, should seek the standardization of products and processes to obtain the optimization of use of production resources. However, it is necessary to measure the productivity, so that the system of measurement and control of manufacturing processes are an element critical as to ensure greater visibility of the flow's restrictions, minimized when detected properly. In this case, the automation of factory's measurement process can effectively contribute to ensuring the effectiveness of the function control of a manufacturing system. It is important to consider that the automation of the system of measurement and control of manufacturing processes, of complex environment, is heavily dependent of IT tools applied directly in the interface computational between the operation systems and the corporate systems. This heavy reliance, if exploited technically properly, allows that automation of the system of measurement and control of production makes the access to time real of availability of manufacturing process's data, such as processing time and setup time that it can export to a specialist software in programming production, for example, feasible. In this paper, the automation of the system of measurement and control of production is approached, in order to identify the main possibilities of the design of an information system capable to integrate the flow of information in an environment internal on manufacturing organizations, with emphasis in the digital manufacturing paradigm.
基金This work was supported by the National Natural Science Foundation of China(No.60375001)the High School Doctoral Foundation of China(NO.20030532004).
文摘Control parameters of original differential evolution (DE) are kept fixed throughout the entire evolutionary process. However, it is not an easy task to properly set control parameters in DE for different optiinization problems. According to the relative position of two different individual vectors selected to generate a difference vector in the searching place, a self-adapting strategy for the scale factor F of the difference vector is proposed. In terms of the convergence status of the target vector in the current population, a self-adapting crossover probability constant CR strategy is proposed. Therefore, good target vectors have a lower CFI while worse target vectors have a large CFI. At the same time, the mutation operator is modified to improve the convergence speed. The performance of these proposed approaches are studied with the use of some benchmark problems and applied to the trajectory planning of a three-joint redundant manipulator. Finally, the experiment results show that the proposed approaches can greatly improve robustness and convergence speed.
文摘It is vital for pipeline assembly enterprise to respond to changing market needs quickly and keep its cost advantage. A production planning and control (PPC) model under supply chain management combining with operation characteristics of pipeline assembly enterprise was proposed. The present model can realize synchroni- zation in real-time response in production by establishing a win-win corporate model, classified regulation be- tween strategic parts and non-strategic parts, postponing the production of special modules and guaranteeing pro- duction at the bottleneck.
基金Sponsored by the Key Programs of National Natural Science Foundation of China(Grant No.60736025 and 60905056)the Major Programs of China National Space Administration(Grant No.D2120060013)
文摘For autonomous MUAV,the Ground Control Station(GCS)including hardware and modular software programming such as control modular,navigation modular,display modular and monitor modular becomes important equipment to be developed.This paper emphasizes the global planning and the local replanning arithmetic based on three-dimensional velocity potential field for the moving threats.During the test on the ground and in the sky,GCS show the remote sensing information precisely and send the control command in time.The system can be used to assist in the function of autonomous complex task for MUAV.