含摩擦滑移铰及驱动约束多刚体系统数值算法

研究了具有驱动约束及非光滑滑移铰多体系统动力学方程的建模与数值计算方法．将驱动约束视为非定常约束，非光滑滑移铰视为双边定常约束，滑移铰的摩擦模型采用库仑摩擦模型；应用第一类Lagrange方程建立系统的动力学方程，应用距离函数建立滑移铰的约束方程；将线性互补方法和Baumgarte约束稳定化方法引入，以解决滑移铰法向约束力的计算以及约束方程违约问题．最后应用曲柄摇杆机构作为算例，说明该方法的有效性．     

封闭型小区交通开放对城市交通的影响

随着交通需求的增加,城市交通问题日益严重,能否通过开放现有封闭型小区的道路以缓解城市交通拥堵是一个值得研究的问题.本文针对这一问题,建立了基于最短路的交通分流线性规划网络模型,提出了交通量改善因子、路段饱和度均值以及路段饱和度标准差等三个评价指标,以评价和对比封闭性小区开放前后的交通量与道路占用程度,从而反映了封闭性小区的开放对城市交通的具体影响.本文对两种不同的交通网络及交通流量数据进行了仿真与模型求解,结果表明：尽管小区开放后路网密度提高,有可能使得总交通负荷降低,但并非任何小区开放均能缓解城市交通拥堵.小区面积、位置、外部及内部道路状况等诸多因素都能影响路网的交通状态,所以,是否开放封闭型小区,需要用针对具体的小区与周边道路状况进行评估后再进行决策.     

Coordinated road-network search route planning by a team of UAVs

This paper presents a road-network search route planning algorithm by which multiple autonomous vehicles are able to efficiently visit every road identified in the map in the context of the Chinese postman problem. Since the typical Chinese postman algorithm can be applied solely to a connected road-network in which ground vehicles are involved, it is modified to be used for a general type of road map including unconnected roads as well as the operational and physical constraints of unmanned aerial vehicles (UAVs). For this, a multi-choice multi-dimensional knapsack problem is formulated to find an optimal solution minimising flight time and then solved via mixed integer linear programming. To deal with the dynamic constraints of the UAVs, the Dubins theory is used for path generation. In particular, a circular–circular–circular type of the Dubins path is exploited based on a differential geometry to guarantee that the vehicles follow the road precisely in a densely distributed road environment. Moreover, to overcome the computational burden of the multi-choice multi-dimensional knapsack algorithm, a nearest insertion and auction-based approximation algorithm is newly introduced. The properties and performance of the proposed algorithm are evaluated via numerical simulations operating on a real village map and randomly generated maps with different parameters.     

基于应力分布的3D打印壳模型构造与优化

近年来,愈发成熟的3D打印技术拉近了模型设计与产品制造的距离.但高昂的材料费用仍是制约其发展的重要因素.因此,如何在不改变模型外观的情况下进行模型结构的优化,以此来减少模型的打印体积、降低打印成本是亟待解决的问题.针对该问题,本文提出一种基于应力分布的壳模型构造和优化算法.该算法首先基于模型的体素化表示构造距离场,提取出初始的均匀厚度壳模型.然后基于顶点的von Mises应力,自适应的向外扩张内表面,调整各部位厚度,直到达到相关约束条件.优化得到的内表面与输入的外表面围成最终的优化模型.实验结果表明,在满足外观不变、力学稳定等约束的同时,优化得到的壳模型体积为输入模型体积的17.2%~24.4%,大幅减少了模型的打印体积,有效降低了打印成本.     

Plowing with precedence: A variant of the windy postman problem

In winter, a common problem is to determine the route that a snowplow should take in order to minimize the distance traveled. We propose a variant of this arc routing problem that is motivated by the fact that deadhead travel over streets that have already been plowed is significantly faster than the time it takes to plow the street. This problem differs from most arc routing problems because the cost of traversing a street changes depending on the order of the streets on a route. We develop a method that generates near-optimal solutions to instances as large as 200 nodes.     

Scheduling the vehicles of bus rapid transit systems: a case study

Bus rapid transit (BRT) is a cost-efficient, traffic-free bus-based transportation system competing with subways. There are 205 municipalities around the world that implemented their own BRT systems. Istanbul, having the sixth-most congested traffic in the world, built its own BRT system (Metrobüs), which serves more than 830,000 people (6.45% of all public transportation usage) in a day with 6254 trips covered by its current fleet of 496 vehicles. In this study, we model the vehicle scheduling problem of Metrobüs as a multiple depot vehicle scheduling problem. The model aims to minimize the fleet size and total deadhead kilometers while covering all timetabled trips. We propose a new heuristic, trips merger (TM), to solve the model and show that there exists cost reduction opportunities in terms of both fleet size and deadhead kilometers. The proposed heuristic is a member of the state-space reduction heuristics family, which first reduces the problem size, then solves the reduced problem. Computational study reveals that TM performed better than the existing state-space reduction heuristics for the Metrobüs case.     

Recursive 3-D road and relative ego-state recognition

The general problem of recognizing both horizontal and vertical road curvature parameters while driving along the road has been solved recursively. A differential geometry representation decoupled for the two curvature components has been selected. Based on the planar solution of E.D. Dickmanns and A. Zapp (1986) and its refinements, a simple spatio-temporal model of the driving process makes it possible to take both spatial and temporal constraints into account effectively. The estimation process determines nine road and vehicle state parameters recursively at 25 Hz (40 ms) using four Intel 80286 and one 386 microprocessors. Results with the test vehicle (VaMoRs), which is a 5-ton van, are given for a hilly country road     

A fuzzy approach for the reviewer assignment problem

Assignment of experts to project proposals is a significant task for funding agencies which have to assess the potential value of the research and development (R&D) projects through peer review. The problem is known as reviewer assignment problem and has real-world applications in funding agencies, conferences and research journals. Given a set of experts and a set of proposals; the problem can be defined as assigning the most suitable experts to the proposals under some constraints, which are generally encountered by funding agencies. In this study, a fuzzy model is offered to solve the reviewer assignment problem. The objective of the model is to maximize the total matching degree of assigned experts under some constraints such as cost of forming a panel and the size of a panel. The matching degrees are defined using linguistic variables to denote the expertise of each expert with respect to each proposal. The fuzzy mathematical model, which also takes into account different constraints related to the problem, is solved via the selected fuzzy ranking methods namely; the signed distance method and the method of ranking fuzzy numbers with integral value. The solution of an example problem – inspired from a real-life situation – with both of the mentioned methods revealed the effectiveness of the solution approach. It is believed that the use of the offered fuzzy approach could improve the accuracy of the decisions made by funding agencies.     

基于PER-APF算法的无人驾驶汽车换道轨迹规划

针对传统人工势场算法在解决无人驾驶汽车换道轨迹规划过程中存在的不足,提出一种基于势能重构人工势场 (Potential Energy Reconstruction- Artificial Potential Field, PER-APF) 的无人驾驶汽车换道轨迹规划算法。首先,建立了具有斥力区分的道路边界约束条件和多约束换道轨迹规划模型,通过判断障碍车辆与道路边沿的距离来保证换道过程的安全性与有效性;其次,提出了基于势能重构的改进APF算法,通过构建虚拟区域以及重构物理势能力场,有效的解决了目标不可达以及局部最优问题。仿真结果表明,所设计的PER-APF算法能够快速有效地为无人驾驶汽车规划一条安全合理的换道轨迹。     

空地异构机器人系统协作巡逻路径规划方法EI北大核心CSCD

空地异构机器人系统由空中无人机和地面无人车组成,当两者协作执行持续巡逻任务时,使用无人车充当无人机的地面移动补给站能够解决无人机续航能力不足的问题.运动受限于路网中的无人车必须在适当地点为无人机补充能量,这使得两者的路径高度耦合,给空地协作路径规划带来了挑战.针对此问题,本文通过分析无人机能量、路网、空地汇合时间、巡逻任务全覆盖等多种约束,以无人机完成全部巡逻任务的总距离为代价,建立了空地协作巡逻路径规划模型.该模型可推广至多架无人机与多辆无人车协作的情形.然后,采用遗传算法与蚁群算法相融合的方法,对无人机巡逻路径和无人车能量补给路径进行优化求解.仿真实验表明,本文的方法不仅可以得到很好的路径规划结果,而且较其他算法具有更优的收敛性和执行速度.     

基于CDT理论构建道路三维模型方法研究

建立道路三维模型是实现道路三维可视化的关键。本文系统分析了现有的道路三维模型构建方法，针对其存在的不足，提出了一种将道路设计面模型与地形表面模型融为一体的模型构建方法，该方法基于在约束Delaunay三角网内插入点和约束边的理论，巧妙地解决了剔除落在道路设计面区域内的地形点的问题。由此得到外观与内部拓扑关系均为整体的道路三维模型。实践表明，该方法具有整体性好、网形优、速度快的优点。     

A multiplicatively-weighted Voronoi diagram approach to logistics districting

The objective of districting in logistics distribution problems is to find a near optimal partition of the served region into delivery zones or districts. This kind of problem has been treated in the literature with geometric-shaped districts and continuous approximations. Usually it is assumed an underlying road network equivalent to a Euclidean, rectangular, or ring-radial metric. In most real problems, however, the road network is a coarse combination of metrics. In this context, it is unclear what is the optimal shape of the districts and how one should orientate them. A possibility is to treat the problem with a Voronoi diagram approach. Departing from a previously determined ring-radial districting pattern and relaxing the initial district boundaries, we apply the multiplicatively-weighted Voronoi diagram formulation in order to smooth district contours. The computing process is iterated until the convergence is attained. The model has been applied to solve a parcel delivery problem in the city of São Paulo, Brazil, whose results are presented and discussed in the paper.     

The network p-median problem with discrete probabilistic demand weights

We study the problem of locating p facilities to serve clients residing at the nodes of a network with discrete probabilistic demand weights. The objective is to maximize the probability that the total weighted distance from a client to the closest facility does not exceed a given threshold value. The problem is formulated as an integer program but can be solved only for very small instances because of the exponential number of decision variables and constraints. We analyze the problem and, using a normal approximation of the total weighted distance we develop branch and bound solution procedures for various cases of the problem. We also develop heuristics and meta-heuristics to solve the problem. Based on our computational experiments we make recommendations on which approach to use and when.     

Real-time energy optimization of HEVs under-connected environment: a benchmark problem and receding horizon-based solution

In this paper, we propose a benchmark problem for the challengers aiming to energy efficiency control of hybrid electric vehicles (HEVs) on a road with slope. Moreover, it is assumed that the targeted HEVs are in the connected environment with the obtainment of real-time information of vehicle-to-everything (V2X), including geographic information, vehicle-toinfrastructure (V2I) information and vehicle-to-vehicle (V2V) information. The provided simulator consists of an industriallevel HEV model and a traffic scenario database obtained through a commercial traffic simulator, where the running route is generated based on real-world data with slope and intersection position. The benchmark problem to be solved is the HEVs powertrain control using traffic information to fulfill fuel economy improvement while satisfying the constraints of driving safety and travel time. To show the HEV powertrain characteristics, a case study is given with the speed planning and energy management strategy.     

邻域约束高斯混合模型的模糊聚类图像分割*

针对传统模糊聚类分割方法无法有效模拟数据分布特征的问题,提出基于邻域约束高斯混合模型的模糊聚类图像分割算法.利用高斯分布刻画聚类内像素光谱测度统计特征,定义像素与其邻域像素相关性的先验概率,并作为高斯混合模型中各高斯分量权重系数,构建包含特征场邻域作用的高斯混合模型.利用高斯分量描述像素与聚类间的非相似性测度,建立基于高斯混合模型的模糊聚类目标函数.在传统模糊聚类方法基础上,采用高斯混合模型定义像素与聚类间的非相似性测度,并在高斯混合模型中融入邻域作用,有效解决数据具有多峰值特征的问题.最后通过实验验证文中算法的准确性.     

考虑乘客信任程度的营运车辆合乘线路规划

车辆合乘是解决交通拥堵的有效方法,然而乘客对车辆合乘行为缺乏信任是影响合乘发展的难题。针对这一问题,通过引入信任度权重和用户偏好来衡量合乘的信任水平,以车辆的总行驶距离最短以及总信任度值最高为目标函数,同时考虑了车辆搭载容量约束、车辆行驶距离约束、乘客需求响应约束以及车辆站点服务约束,构建了考虑乘客信任程度的合乘模型,然后针对该模型采用改进的遗传算法进行求解。最后采用北京市新发地周边地区的营运车辆数据进行算法验证。结果表明,该模型能够在有效减少车辆总行驶距离的同时保障较高的乘客合乘信任水平,相较于仅考虑距离优化的模型,距离成本增加了14.8%,信任水平提升了3.3倍。通过对优化结果的对比分析,验证了模型和算法的有效性。     

采用再生制动的地铁时刻表节能优化研究

地铁运行的主要成本是电能消耗,如何降低地铁运行能耗是建设绿色城市的重要课题.本文从列车运行时再生制动产生回馈电网能量出发,建立采用再生制动的地铁列车运行能耗模型.进而,将地铁运行节能问题转化为地铁列车时刻表优化问题,并引入列车运行约束和混合逻辑动态模型约束将该问题建模为一个非线性混合整数规划问题.本文设计了分解协调优化算法,以列车停站时间和发车时间间隔作为优化操作变量进行优化.从仿真结果可知,以不同的操纵变量进行优化均能有效提高再生制动能量利用率,且分解协调算法的求解结果优于传统的模拟退火算法.     

Tackling the flip ambiguity in wireless sensor network localization and beyond

There have been significant advances in range-based numerical methods for sensor network localizations over the past decade. However, there remain a few challenges to be resolved to satisfaction. Those issues include, for example, the flip ambiguity, high level of noises in distance measurements, and irregular topology of the concerning network. Each or a combination of them often severely degrades the otherwise good performance of existing methods. Integrating the connectivity constraints is an effective way to deal with those issues. However, there are too many of such constraints, especially in a large and sparse network. This presents a challenging computational problem to existing methods. In this paper, we propose a convex optimization model based on the Euclidean Distance Matrix (EDM). In our model, the connectivity constraints can be simply represented as lower and upper bounds on the elements of EDM, resulting in a standard 3-block quadratic conic programming, which can be efficiently solved by a recently proposed 3-block alternating direction method of multipliers. Numerical experiments show that the EDM model effectively eliminates the flip ambiguity and retains robustness in terms of being resistance to irregular wireless sensor network topology and high noise levels.     

三维装配几何约束组合的分类求解策略

针对两个刚体之间的三维几何约束求解问题,依据几何约束的参数结构 分析了角度约束和距离约束的解耦性,给出了角度约束和距离约束可解耦求解的条件;然后 对两个刚体之间的几何约束进行组合分析,总结出约束度不小于2 的几何约束构成的组合只 有几十种,且均可采用几何推理方法进行求解;最后阐述了附加方向约束、冗余约束和矛盾 约束对数值求解的不利影响,提出了三维几何约束组合的分类求解策略,并用实例验证了该 求解策略的有效性。     

The Capacitated p-facility Location Problem on the Real Line

The problem we address involves locating p new facilities to service a set of customers or fixed points on the real line such that a measure of total cost will be minimized. A basic form of this problem was investigated by Love (1976), who observed that the fixed points must be allocated in sequence to the new facilities in an optimal solution, and thus, the problem can be solved by a dynamic programming algorithm. Since then, other forms of the model have been investigated; however, in all cases it is assumed that the new facilities have unlimited capacity so that customer flows are always allocated to the nearest facility. The objective of this paper is to analyze the effect of capacity constraints on the optimal locations of the new facilities. A general fixed-cost function is also included to account for practical considerations such as zoning regulations, and to permit the facilities to be located anywhere on the line instead of only at the fixed vertices. A dynamic programming method is formulated to solve the problem when the variable cost components are increasing convex functions of travel distance. The problem is shown to be NP-hard under more general cost structures.