The large-scale development of electric vehicles(EVs)requires numerous charging stations to serve them,and the charging stations should be reasonably laid out and planned according to the charging demand of electric v...The large-scale development of electric vehicles(EVs)requires numerous charging stations to serve them,and the charging stations should be reasonably laid out and planned according to the charging demand of electric vehicles.Considering the costs of both operators and users,a site selection model for optimal layout planning of charging stations is constructed,and a queuing theory approach is used to determine the charging pile configuration to meet the charging demand in the planning area.To solve the difficulties of particle swarm global optimization search,the improved random drift particle swarm optimization(IRDPSO)and Voronoi diagram are used to jointly solve for the optimal layout of electric vehicles.The final arithmetic analysis verifies the feasibility and practicality of the model and algorithm,and the results show that the total social cost is minimized when the charging station is 9,the location of the charging station is close to the center of gravity and the layout is reasonable.展开更多
Aiming at the practical application of Unmanned Underwater Vehicle(UUV)in underwater combat,this paper proposes a battlefield ambush scene with UUV considering ocean current.Firstly,by establishing these mathematical ...Aiming at the practical application of Unmanned Underwater Vehicle(UUV)in underwater combat,this paper proposes a battlefield ambush scene with UUV considering ocean current.Firstly,by establishing these mathematical models of ocean current environment,target movement,and sonar detection,the probability calculation methods of single UUV searching target and multiple UUV cooperatively searching target are given respectively.Then,based on the Hybrid Quantum-behaved Particle Swarm Optimization(HQPSO)algorithm,the path with the highest target search probability is found.Finally,through simulation calculations,the influence of different UUV parameters and target parameters on the target search probability is analyzed,and the minimum number of UUVs that need to be deployed to complete the ambush task is demonstrated,and the optimal search path scheme is obtained.The method proposed in this paper provides a theoretical basis for the practical application of UUV in the future combat.展开更多
Cooperative path dynamic planning of a UCAV （unmanned combat air vehicle） team not only considers the capability of task requirement of single UCAV, but also considers the cooperative dynamic connection among member...Cooperative path dynamic planning of a UCAV （unmanned combat air vehicle） team not only considers the capability of task requirement of single UCAV, but also considers the cooperative dynamic connection among members of the UCAV team. A cooperative path dynamic planning model of the UCAV team by applying a global optimization method is discussed in this paper and the corresponding model is built and analyzed. By the example simulation, the reasonable result acquired indicates that the model could meet dynamic planning demand under the circumstance of membership functions. The model is easy to be realized and has good practicability.展开更多
How to improve the water use efficiency of rice in black soil regions was studied. The black soil region in paddy fields was chosen as the research object. The research showed the fertilizer coupling mathematical mode...How to improve the water use efficiency of rice in black soil regions was studied. The black soil region in paddy fields was chosen as the research object. The research showed the fertilizer coupling mathematical model with N,P,K,irrigation water( W) and water use efficiency( WUE),which was set up under the condition of controlled irrigation with quadratic D- 416 optimized saturation design. The results show that the decending order of single factor' s influence on the WUE was N,K,P and W. All the interactions between N&P,N&K,N&W,K&P,P&W and K&W on the WUE were raised initially,and when reached a certain value,they began to decline. The decending order of each interaction on the WUE was K&P,K&W,N&K,N&P,P&W and N&W. When the WUE was targeted within 1. 8- 2. 5 kg / km^3,an optimized proportion plan was obtained in the 95% confidence interval,i. e. N 87. 76- 103. 32 kg / hm^2,K_2 O 52. 37- 66. 53 kg / hm^2 and P_2O_536. 80- 46. 71 kg / hm^2. Furthermore,the late tillering of the soil moisture content was 70. 07%- 72. 57% of the saturated moisture content.展开更多
Based on the traditional numerical simulation and optimization algorithms,in combination with the layered injection and production"hard data"monitored at real time by automatic control technology,a systemati...Based on the traditional numerical simulation and optimization algorithms,in combination with the layered injection and production"hard data"monitored at real time by automatic control technology,a systematic approach for detailed water injection design using data-driven algorithms is proposed.First the data assimilation technology is used to match geological model parameters under the constraint of observed well dynamics;the flow relationships between injectors and producers in the block are calculated based on automatic identification method for layered injection-production flow relationship;multi-layer and multi-direction production splitting technique is used to calculate the liquid and oil production of producers in different layers and directions and obtain quantified indexes of water injection effect.Then,machine learning algorithms are applied to evaluate the effectiveness of water injection in different layers of wells and to perform the water injection direction adjustment.Finally,the particle swarm algorithm is used to optimize the detailed water injection plan and to make production predictions.This method and procedure make full use of the automation and intelligence of data-driven and machine learning algorithms.This method was used to match the data of a complex faulted reservoir in eastern China,achieving a fitting level of 85%.The cumulative oil production in the example block for 12 months after optimization is 8.2%higher than before.This method can help design detailed water injection program for mature oilfields.展开更多
A novel inverted generalized gamma(IGG)distribution,proposed for data modelling with an upside-down bathtub hazard rate,is considered.In many real-world practical situations,when a researcher wants to conduct a compar...A novel inverted generalized gamma(IGG)distribution,proposed for data modelling with an upside-down bathtub hazard rate,is considered.In many real-world practical situations,when a researcher wants to conduct a comparative study of the life testing of items based on cost and duration of testing,censoring strategies are frequently used.From this point of view,in the presence of censored data compiled from the most well-known progressively Type-Ⅱ censoring technique,this study examines different parameters of the IGG distribution.From a classical point of view,the likelihood and product of spacing estimation methods are considered.Observed Fisher information and the deltamethod are used to obtain the approximate confidence intervals for any unknown parametric function of the suggestedmodel.In the Bayesian paradigm,the same traditional inferential approaches are used to estimate all unknown subjects.Markov-Chain with Monte-Carlo steps are considered to approximate all Bayes’findings.Extensive numerical comparisons are presented to examine the performance of the proposed methodologies using various criteria of accuracy.Further,using several optimality criteria,the optimumprogressive censoring design is suggested.To highlight how the proposed estimators can be used in practice and to verify the flexibility of the proposed model,we analyze the failure times of twenty mechanical components of a diesel engine.展开更多
Rural power network planning is a complicated nonlinear optimized combination problem which based on load forecasting results, and its actual load is affected by many uncertain factors, which influenced optimization r...Rural power network planning is a complicated nonlinear optimized combination problem which based on load forecasting results, and its actual load is affected by many uncertain factors, which influenced optimization results of rural power network planning. To solve the problems, the interval algorithm was used to modify the initial search method of uncertainty load mathematics model in rural network planning. Meanwhile, the genetic/tabu search combination algorithm was adopted to optimize the initialized network. The sample analysis results showed that compared with the certainty planning, the improved method was suitable for urban medium-voltage distribution network planning with consideration of uncertainty load and the planning results conformed to the reality.展开更多
The main problem existing in Guangdong electric power sources is analyzed in this paper. Based on theanalysis on energy-supply features, power demand and the technical and economic performances of various powersource...The main problem existing in Guangdong electric power sources is analyzed in this paper. Based on theanalysis on energy-supply features, power demand and the technical and economic performances of various powersources in Guangdong, the power sources construction scale and its structure are studied and analyzed in detail byusing Generation Expansion Software Package (GESP). The future development of Guangdong electric power sourcesunder the new situation of "Power from West to East" is studied as well.[展开更多
A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK ...A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK graph theory to establish the free space model of the mobile robot, the second step is adopting the improved Dijkstra algorithm to find out a sub-optimal collision-free path, and the third step is using the ant system algorithm to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path for the mobile robot. The computer simulation experiment was carried out and the results show that this method is correct and effective. The comparison of the results confirms that the proposed method is better than the hybrid genetic algorithm in the global optimal path planning.展开更多
Sampling-based path planning is a popular methodology for robot path planning.With a uniform sampling strategy to explore the state space,a feasible path can be found without the complex geometric modeling of the conf...Sampling-based path planning is a popular methodology for robot path planning.With a uniform sampling strategy to explore the state space,a feasible path can be found without the complex geometric modeling of the configuration space.However,the quality of the initial solution is not guaranteed,and the convergence speed to the optimal solution is slow.In this paper,we present a novel image-based path planning algorithm to overcome these limitations.Specifically,a generative adversarial network(GAN)is designed to take the environment map(denoted as RGB image)as the input without other preprocessing works.The output is also an RGB image where the promising region(where a feasible path probably exists)is segmented.This promising region is utilized as a heuristic to achieve non-uniform sampling for the path planner.We conduct a number of simulation experiments to validate the effectiveness of the proposed method,and the results demonstrate that our method performs much better in terms of the quality of the initial solution and the convergence speed to the optimal solution.Furthermore,apart from the environments similar to the training set,our method also works well on the environments which are very different from the training set.展开更多
This paper presents a novel general method for computing optimal motions of an industrial robot manipulator （AdeptOne XL robot） in the presence of fixed and oscillating obstacles. The optimization model considers th...This paper presents a novel general method for computing optimal motions of an industrial robot manipulator （AdeptOne XL robot） in the presence of fixed and oscillating obstacles. The optimization model considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacle avoidance. The problem has 6 objective functions, 88 variables, and 21 constraints. Two evolutionary algorithms, namely, elitist non-dominated sorting genetic algorithm （NSGA-II） and multi-objective differential evolution （MODE）, have been used for the optimization. Two methods （normalized weighting objective functions and average fitness factor） are used to select the best solution tradeoffs. Two multi-objective performance measures, namely solution spread measure and ratio of non-dominated individuals, are used to evaluate the Pareto optimal fronts. Two multi-objective performance measures, namely, optimizer overhead and algorithm effort, are used to find the computational effort of the optimization algorithm. The trajectories are defined by B-spline functions. The results obtained from NSGA-II and MODE are compared and analyzed.展开更多
To accommodate the gait and balance disorder of the elderly with age progression and the occurrence of various senile diseases,this paper proposes a novel gait balance training robot(G-Balance)based on a six degree-of...To accommodate the gait and balance disorder of the elderly with age progression and the occurrence of various senile diseases,this paper proposes a novel gait balance training robot(G-Balance)based on a six degree-of-freedom parallel platform.Using the platform movement and IMU wearable sensors,two training modes,i.e.,active and passive,are developed to achieve vestibular stimulation.Virtual reality technology is applied to achieve visual stimulation.In the active training mode,the elderly actively exercises to control the posture change of the platform and the switching of the virtual scene.In the passive training mode,the platform movement is combined with the virtual scene to simulate bumpy environments,such as earthquakes,to enhance the human anti-interference ability.To achieve a smooth switching of the scene,continuous speed and acceleration of the platform motion are required in some scenarios,in which a trajectory planning algorithm is applied.This paper describes the application of the trajectory planning algorithm in the balance training mode and the optimization of jerk(differential of acceleration)based on cubic spline planning,which can reduce impact on the joint and enhance stability.展开更多
Planning and production optimization within multiple mines or several work sites （entities） mining systems by using fuzzy linear programming （LP） was studied. LP is the most commonly used operations research metho...Planning and production optimization within multiple mines or several work sites （entities） mining systems by using fuzzy linear programming （LP） was studied. LP is the most commonly used operations research methods in mining engineering. After the introductory review of properties and limitations of applying LP, short reviews of the general settings of deterministic and fuzzy LP models are presented. With the purpose of comparative analysis, the application of both LP models is presented using the example of the Bauxite Basin Niksic with five mines. After the assessment, LP is an efficient mathematical modeling tool in production planning and solving many other single-criteria optimization problems of mining engineering. After the comparison of advantages and deficiencies of both deterministic and fuzzy LP models, the conclusion presents benefits of the fuzzy LP model but is also stating that seeking the optimal plan of production means to accomplish the overall analysis that will encompass the LP model approaches.展开更多
The optimal control of multibody spacecraft during the stretching process of solar arrays is investigated,and a hybrid optimization strategy based on Gauss pseudospectral method（GPM） and direct shooting method（DSM...The optimal control of multibody spacecraft during the stretching process of solar arrays is investigated,and a hybrid optimization strategy based on Gauss pseudospectral method（GPM） and direct shooting method（DSM） is presented. First, the elastic deformation of flexible solar arrays was described approximately by the assumed mode method, and a dynamic model was established by the second Lagrangian equation. Then, the nonholonomic motion planning problem is transformed into a nonlinear programming problem by using GPM. By giving fewer LG points, initial values of the state variables and control variables were obtained. A serial optimization framework was adopted to obtain the approximate optimal solution from a feasible solution. Finally, the control variables were discretized at LG points, and the precise optimal control inputs were obtained by DSM. The optimal trajectory of the system can be obtained through numerical integration. Through numerical simulation, the stretching process of solar arrays is stable with no detours, and the control inputs match the various constraints of actual conditions.The results indicate that the method is effective with good robustness.展开更多
Aiming at the faults of some weak nodes in the concentrated solar power-photovoltaic(CSP-PV)hybrid power generation system,it is impossible to restore the transient voltage only relying on the reactive power regulatio...Aiming at the faults of some weak nodes in the concentrated solar power-photovoltaic(CSP-PV)hybrid power generation system,it is impossible to restore the transient voltage only relying on the reactive power regulation capability of the system itself.We propose a dynamic reactive power planning method suitable for CSP-PV hybrid power generation system.The method determines the installation node of the dynamic reactive power compensation device and its compensation capacity based on the reactive power adjustment capability of the system itself.The critical fault node is determined by the transient voltage stability recovery index,and the weak node of the system is initially determined.Based on this,the sensitivity index is used to determine the installation node of the dynamic reactive power compensation device.Dynamic reactive power planning optimization model is established with the lowest investment cost of dynamic reactive power compensation device and the improvement of system transient voltage stability.Furthermore,the component of the reactive power compensation node is optimized by particle swarm optimization based on differential evolution(DE-PSO).The simulation results of the example system show that compared with the dynamic position compensation device installation location optimization method,the proposed method can improve the transient voltage stability of the system under the same reactive power compensation cost.展开更多
The increasing integration of distributed household photovoltaics(PVs)and electric vehicles(EVs)may further ag gravate voltage violations and unbalance of low-voltage distribu tion networks(LVDNs).DC distribution netw...The increasing integration of distributed household photovoltaics(PVs)and electric vehicles(EVs)may further ag gravate voltage violations and unbalance of low-voltage distribu tion networks(LVDNs).DC distribution networks can increase the accommodation of PVs and EVs and mitigate mutilple pow er quality problems by the flexible power regulation capability of voltage source converters.This paper proposes schemes to es tablish hybrid AC/DC LVDNs considering the conversion of the existing three-phase four-wire low-voltage AC systems to DC op eration.The characteristics and DC conversion constraints of typical LVDNs are analyzed.In addition,converter configura tions for typical LVDNs are proposed based on the three-phase four-wire characteristics and quantitative analysis of various DC configurations.Moreover,an optimal planning method of hybrid AC/DC LVDNs is proposed,which is modeled as a bi-level programming model considering the annual investments and three-phase unbalance.Simulations are conducted to verify the effectiveness of the proposed optimal planning method.Sim ulation results show that the proposed optimal planning method can increase the integration of PVs while simultaneously reduc ing issues related to voltage violation and unbalance.展开更多
Aiming at the limitations of the traditional mathematical model for production planning, a novel optimization model is proposed to improve the efficiency and performance for production planning in steelmaking and cont...Aiming at the limitations of the traditional mathematical model for production planning, a novel optimization model is proposed to improve the efficiency and performance for production planning in steelmaking and continuous casting （SCC） process. The optimization model combined with parallel-backward inferring algorithm and genetic algorithm is described. To analyze and evaluate the production plans, a simulation model based on cellular automata is presented. And then, the integrated system including the production plan optimization model and the simulation model is introduced to evaluate and adjust the production plan on-line. The test with production data in a steel plant shows that the optimization model demonstrates ability to deal with time uncertainty in production planning and to set up a conflict-free production plan, and the integrated system provides a useful tool for dynamically drawing and adjusting a production plan on-line. The average staying time of the production plan is about 5% shorter than that in a practical process.展开更多
North African countries generally have strategic demands for energy transformation and sustainable development.Renewable energy development is important to achieve this goal.Considering three typical types of renewabl...North African countries generally have strategic demands for energy transformation and sustainable development.Renewable energy development is important to achieve this goal.Considering three typical types of renewable energies—wind,photovoltaic(PV),and concentrating solar power(CSP)—an optimal planning model is established to minimize construction costs and power curtailment losses.The levelized cost of electricity is used as an index for assessing economic feasibility.In this study,wind and PV,wind/PV/CSP,and transnational interconnection modes are designed for Morocco,Egypt,and Tunisia.The installed capacities of renewable energy power generation are planned through the time sequence production simulation method for each country.The results show that renewable energy combined with power generation,including the CSP mode,can improve reliability of the power supply and reduce the power curtailment rate.The transnational interconnection mode can help realize mutual benefits of renewable energy power,while the apportionment of electricity prices and trading mechanisms are very important and are related to economic feasibility;thus,this mode is important for the future development of renewable energy in North Africa.展开更多
A target is assumed to move according to a Brownian motion on the real line. The searcher starts from the origin and moves in the two directions from the starting point. The object is to detect the target. The purpose...A target is assumed to move according to a Brownian motion on the real line. The searcher starts from the origin and moves in the two directions from the starting point. The object is to detect the target. The purpose of this paper is to find the conditions under which the expected value of the first meeting time of the searcher and the target is finite, and to show the existence of a search plan which made this expected value minimum.展开更多
基金the National Social Science Foundation of China(No.18AJL014)。
文摘The large-scale development of electric vehicles(EVs)requires numerous charging stations to serve them,and the charging stations should be reasonably laid out and planned according to the charging demand of electric vehicles.Considering the costs of both operators and users,a site selection model for optimal layout planning of charging stations is constructed,and a queuing theory approach is used to determine the charging pile configuration to meet the charging demand in the planning area.To solve the difficulties of particle swarm global optimization search,the improved random drift particle swarm optimization(IRDPSO)and Voronoi diagram are used to jointly solve for the optimal layout of electric vehicles.The final arithmetic analysis verifies the feasibility and practicality of the model and algorithm,and the results show that the total social cost is minimized when the charging station is 9,the location of the charging station is close to the center of gravity and the layout is reasonable.
文摘Aiming at the practical application of Unmanned Underwater Vehicle(UUV)in underwater combat,this paper proposes a battlefield ambush scene with UUV considering ocean current.Firstly,by establishing these mathematical models of ocean current environment,target movement,and sonar detection,the probability calculation methods of single UUV searching target and multiple UUV cooperatively searching target are given respectively.Then,based on the Hybrid Quantum-behaved Particle Swarm Optimization(HQPSO)algorithm,the path with the highest target search probability is found.Finally,through simulation calculations,the influence of different UUV parameters and target parameters on the target search probability is analyzed,and the minimum number of UUVs that need to be deployed to complete the ambush task is demonstrated,and the optimal search path scheme is obtained.The method proposed in this paper provides a theoretical basis for the practical application of UUV in the future combat.
基金supported by the National Social Science Foundation of China in 2012 under Grant No. 11GJ003-074the Science Foundation of Aeronautics of China under Grant No. 20085584010
文摘Cooperative path dynamic planning of a UCAV （unmanned combat air vehicle） team not only considers the capability of task requirement of single UCAV, but also considers the cooperative dynamic connection among members of the UCAV team. A cooperative path dynamic planning model of the UCAV team by applying a global optimization method is discussed in this paper and the corresponding model is built and analyzed. By the example simulation, the reasonable result acquired indicates that the model could meet dynamic planning demand under the circumstance of membership functions. The model is easy to be realized and has good practicability.
文摘How to improve the water use efficiency of rice in black soil regions was studied. The black soil region in paddy fields was chosen as the research object. The research showed the fertilizer coupling mathematical model with N,P,K,irrigation water( W) and water use efficiency( WUE),which was set up under the condition of controlled irrigation with quadratic D- 416 optimized saturation design. The results show that the decending order of single factor' s influence on the WUE was N,K,P and W. All the interactions between N&P,N&K,N&W,K&P,P&W and K&W on the WUE were raised initially,and when reached a certain value,they began to decline. The decending order of each interaction on the WUE was K&P,K&W,N&K,N&P,P&W and N&W. When the WUE was targeted within 1. 8- 2. 5 kg / km^3,an optimized proportion plan was obtained in the 95% confidence interval,i. e. N 87. 76- 103. 32 kg / hm^2,K_2 O 52. 37- 66. 53 kg / hm^2 and P_2O_536. 80- 46. 71 kg / hm^2. Furthermore,the late tillering of the soil moisture content was 70. 07%- 72. 57% of the saturated moisture content.
基金Supported by the Key Program of Petro China Exploration&Production Company(Grant No.kt2017-17-01-1 and kt2017-17-06-1)Consulting Project of Chinese Academy of Engineering(Grant No.2019-XZ-17)
文摘Based on the traditional numerical simulation and optimization algorithms,in combination with the layered injection and production"hard data"monitored at real time by automatic control technology,a systematic approach for detailed water injection design using data-driven algorithms is proposed.First the data assimilation technology is used to match geological model parameters under the constraint of observed well dynamics;the flow relationships between injectors and producers in the block are calculated based on automatic identification method for layered injection-production flow relationship;multi-layer and multi-direction production splitting technique is used to calculate the liquid and oil production of producers in different layers and directions and obtain quantified indexes of water injection effect.Then,machine learning algorithms are applied to evaluate the effectiveness of water injection in different layers of wells and to perform the water injection direction adjustment.Finally,the particle swarm algorithm is used to optimize the detailed water injection plan and to make production predictions.This method and procedure make full use of the automation and intelligence of data-driven and machine learning algorithms.This method was used to match the data of a complex faulted reservoir in eastern China,achieving a fitting level of 85%.The cumulative oil production in the example block for 12 months after optimization is 8.2%higher than before.This method can help design detailed water injection program for mature oilfields.
基金funded by the Deanship of Scientific Research and Libraries,Princess Nourah bint Abdulrahman University,through the Program of Research Project Funding after Publication,Grant No.(RPFAP-34-1445).
文摘A novel inverted generalized gamma(IGG)distribution,proposed for data modelling with an upside-down bathtub hazard rate,is considered.In many real-world practical situations,when a researcher wants to conduct a comparative study of the life testing of items based on cost and duration of testing,censoring strategies are frequently used.From this point of view,in the presence of censored data compiled from the most well-known progressively Type-Ⅱ censoring technique,this study examines different parameters of the IGG distribution.From a classical point of view,the likelihood and product of spacing estimation methods are considered.Observed Fisher information and the deltamethod are used to obtain the approximate confidence intervals for any unknown parametric function of the suggestedmodel.In the Bayesian paradigm,the same traditional inferential approaches are used to estimate all unknown subjects.Markov-Chain with Monte-Carlo steps are considered to approximate all Bayes’findings.Extensive numerical comparisons are presented to examine the performance of the proposed methodologies using various criteria of accuracy.Further,using several optimality criteria,the optimumprogressive censoring design is suggested.To highlight how the proposed estimators can be used in practice and to verify the flexibility of the proposed model,we analyze the failure times of twenty mechanical components of a diesel engine.
文摘Rural power network planning is a complicated nonlinear optimized combination problem which based on load forecasting results, and its actual load is affected by many uncertain factors, which influenced optimization results of rural power network planning. To solve the problems, the interval algorithm was used to modify the initial search method of uncertainty load mathematics model in rural network planning. Meanwhile, the genetic/tabu search combination algorithm was adopted to optimize the initialized network. The sample analysis results showed that compared with the certainty planning, the improved method was suitable for urban medium-voltage distribution network planning with consideration of uncertainty load and the planning results conformed to the reality.
文摘The main problem existing in Guangdong electric power sources is analyzed in this paper. Based on theanalysis on energy-supply features, power demand and the technical and economic performances of various powersources in Guangdong, the power sources construction scale and its structure are studied and analyzed in detail byusing Generation Expansion Software Package (GESP). The future development of Guangdong electric power sourcesunder the new situation of "Power from West to East" is studied as well.[
文摘A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK graph theory to establish the free space model of the mobile robot, the second step is adopting the improved Dijkstra algorithm to find out a sub-optimal collision-free path, and the third step is using the ant system algorithm to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path for the mobile robot. The computer simulation experiment was carried out and the results show that this method is correct and effective. The comparison of the results confirms that the proposed method is better than the hybrid genetic algorithm in the global optimal path planning.
基金This work was partially supported by National Key R&D Program of China(2019YFB1312400)Shenzhen Key Laboratory of Robotics Perception and Intelligence(ZDSYS20200810171800001)+1 种基金Hong Kong RGC GRF(14200618)Hong Kong RGC CRF(C4063-18G).
文摘Sampling-based path planning is a popular methodology for robot path planning.With a uniform sampling strategy to explore the state space,a feasible path can be found without the complex geometric modeling of the configuration space.However,the quality of the initial solution is not guaranteed,and the convergence speed to the optimal solution is slow.In this paper,we present a novel image-based path planning algorithm to overcome these limitations.Specifically,a generative adversarial network(GAN)is designed to take the environment map(denoted as RGB image)as the input without other preprocessing works.The output is also an RGB image where the promising region(where a feasible path probably exists)is segmented.This promising region is utilized as a heuristic to achieve non-uniform sampling for the path planner.We conduct a number of simulation experiments to validate the effectiveness of the proposed method,and the results demonstrate that our method performs much better in terms of the quality of the initial solution and the convergence speed to the optimal solution.Furthermore,apart from the environments similar to the training set,our method also works well on the environments which are very different from the training set.
文摘This paper presents a novel general method for computing optimal motions of an industrial robot manipulator （AdeptOne XL robot） in the presence of fixed and oscillating obstacles. The optimization model considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacle avoidance. The problem has 6 objective functions, 88 variables, and 21 constraints. Two evolutionary algorithms, namely, elitist non-dominated sorting genetic algorithm （NSGA-II） and multi-objective differential evolution （MODE）, have been used for the optimization. Two methods （normalized weighting objective functions and average fitness factor） are used to select the best solution tradeoffs. Two multi-objective performance measures, namely solution spread measure and ratio of non-dominated individuals, are used to evaluate the Pareto optimal fronts. Two multi-objective performance measures, namely, optimizer overhead and algorithm effort, are used to find the computational effort of the optimization algorithm. The trajectories are defined by B-spline functions. The results obtained from NSGA-II and MODE are compared and analyzed.
基金Supported by National Key R&D Program of China(Grant No.2019YFB1311404)。
文摘To accommodate the gait and balance disorder of the elderly with age progression and the occurrence of various senile diseases,this paper proposes a novel gait balance training robot(G-Balance)based on a six degree-of-freedom parallel platform.Using the platform movement and IMU wearable sensors,two training modes,i.e.,active and passive,are developed to achieve vestibular stimulation.Virtual reality technology is applied to achieve visual stimulation.In the active training mode,the elderly actively exercises to control the posture change of the platform and the switching of the virtual scene.In the passive training mode,the platform movement is combined with the virtual scene to simulate bumpy environments,such as earthquakes,to enhance the human anti-interference ability.To achieve a smooth switching of the scene,continuous speed and acceleration of the platform motion are required in some scenarios,in which a trajectory planning algorithm is applied.This paper describes the application of the trajectory planning algorithm in the balance training mode and the optimization of jerk(differential of acceleration)based on cubic spline planning,which can reduce impact on the joint and enhance stability.
文摘Planning and production optimization within multiple mines or several work sites （entities） mining systems by using fuzzy linear programming （LP） was studied. LP is the most commonly used operations research methods in mining engineering. After the introductory review of properties and limitations of applying LP, short reviews of the general settings of deterministic and fuzzy LP models are presented. With the purpose of comparative analysis, the application of both LP models is presented using the example of the Bauxite Basin Niksic with five mines. After the assessment, LP is an efficient mathematical modeling tool in production planning and solving many other single-criteria optimization problems of mining engineering. After the comparison of advantages and deficiencies of both deterministic and fuzzy LP models, the conclusion presents benefits of the fuzzy LP model but is also stating that seeking the optimal plan of production means to accomplish the overall analysis that will encompass the LP model approaches.
基金supported by the National Natural Science Foundation of China (11472058)
文摘The optimal control of multibody spacecraft during the stretching process of solar arrays is investigated,and a hybrid optimization strategy based on Gauss pseudospectral method（GPM） and direct shooting method（DSM） is presented. First, the elastic deformation of flexible solar arrays was described approximately by the assumed mode method, and a dynamic model was established by the second Lagrangian equation. Then, the nonholonomic motion planning problem is transformed into a nonlinear programming problem by using GPM. By giving fewer LG points, initial values of the state variables and control variables were obtained. A serial optimization framework was adopted to obtain the approximate optimal solution from a feasible solution. Finally, the control variables were discretized at LG points, and the precise optimal control inputs were obtained by DSM. The optimal trajectory of the system can be obtained through numerical integration. Through numerical simulation, the stretching process of solar arrays is stable with no detours, and the control inputs match the various constraints of actual conditions.The results indicate that the method is effective with good robustness.
基金Science and Technology Projects of State Grid Corporation of China(No.SGGSKY00FJJS1800140)。
文摘Aiming at the faults of some weak nodes in the concentrated solar power-photovoltaic(CSP-PV)hybrid power generation system,it is impossible to restore the transient voltage only relying on the reactive power regulation capability of the system itself.We propose a dynamic reactive power planning method suitable for CSP-PV hybrid power generation system.The method determines the installation node of the dynamic reactive power compensation device and its compensation capacity based on the reactive power adjustment capability of the system itself.The critical fault node is determined by the transient voltage stability recovery index,and the weak node of the system is initially determined.Based on this,the sensitivity index is used to determine the installation node of the dynamic reactive power compensation device.Dynamic reactive power planning optimization model is established with the lowest investment cost of dynamic reactive power compensation device and the improvement of system transient voltage stability.Furthermore,the component of the reactive power compensation node is optimized by particle swarm optimization based on differential evolution(DE-PSO).The simulation results of the example system show that compared with the dynamic position compensation device installation location optimization method,the proposed method can improve the transient voltage stability of the system under the same reactive power compensation cost.
基金supported by the National Key Research and Development Program of China(No.2019YFE0118400).
文摘The increasing integration of distributed household photovoltaics(PVs)and electric vehicles(EVs)may further ag gravate voltage violations and unbalance of low-voltage distribu tion networks(LVDNs).DC distribution networks can increase the accommodation of PVs and EVs and mitigate mutilple pow er quality problems by the flexible power regulation capability of voltage source converters.This paper proposes schemes to es tablish hybrid AC/DC LVDNs considering the conversion of the existing three-phase four-wire low-voltage AC systems to DC op eration.The characteristics and DC conversion constraints of typical LVDNs are analyzed.In addition,converter configura tions for typical LVDNs are proposed based on the three-phase four-wire characteristics and quantitative analysis of various DC configurations.Moreover,an optimal planning method of hybrid AC/DC LVDNs is proposed,which is modeled as a bi-level programming model considering the annual investments and three-phase unbalance.Simulations are conducted to verify the effectiveness of the proposed optimal planning method.Sim ulation results show that the proposed optimal planning method can increase the integration of PVs while simultaneously reduc ing issues related to voltage violation and unbalance.
基金Item Sponsored by National High-Tech Research and Development Plan of China(2007AA04Z161)
文摘Aiming at the limitations of the traditional mathematical model for production planning, a novel optimization model is proposed to improve the efficiency and performance for production planning in steelmaking and continuous casting （SCC） process. The optimization model combined with parallel-backward inferring algorithm and genetic algorithm is described. To analyze and evaluate the production plans, a simulation model based on cellular automata is presented. And then, the integrated system including the production plan optimization model and the simulation model is introduced to evaluate and adjust the production plan on-line. The test with production data in a steel plant shows that the optimization model demonstrates ability to deal with time uncertainty in production planning and to set up a conflict-free production plan, and the integrated system provides a useful tool for dynamically drawing and adjusting a production plan on-line. The average staying time of the production plan is about 5% shorter than that in a practical process.
基金Supported by the Science and Technology Foundation of SGCC(Large-scale development and utilization mode of solar energy in North Africa under the condition of transcontinental grid interconnection:NY71-18-004)the Science and Technology Foundation of GEI(Research on Large-scale Solar Energy Development in West-Asia and North-Africa:NYN11201805034)
文摘North African countries generally have strategic demands for energy transformation and sustainable development.Renewable energy development is important to achieve this goal.Considering three typical types of renewable energies—wind,photovoltaic(PV),and concentrating solar power(CSP)—an optimal planning model is established to minimize construction costs and power curtailment losses.The levelized cost of electricity is used as an index for assessing economic feasibility.In this study,wind and PV,wind/PV/CSP,and transnational interconnection modes are designed for Morocco,Egypt,and Tunisia.The installed capacities of renewable energy power generation are planned through the time sequence production simulation method for each country.The results show that renewable energy combined with power generation,including the CSP mode,can improve reliability of the power supply and reduce the power curtailment rate.The transnational interconnection mode can help realize mutual benefits of renewable energy power,while the apportionment of electricity prices and trading mechanisms are very important and are related to economic feasibility;thus,this mode is important for the future development of renewable energy in North Africa.
文摘A target is assumed to move according to a Brownian motion on the real line. The searcher starts from the origin and moves in the two directions from the starting point. The object is to detect the target. The purpose of this paper is to find the conditions under which the expected value of the first meeting time of the searcher and the target is finite, and to show the existence of a search plan which made this expected value minimum.
