高速冲压生产线上下料冗余机械臂的运动学分析

在应用于高速冲压生产线冗余机械臂姿态规划和轨迹优化过程中,以兼顾上下料效率与轨迹的平稳性为目的,对冗余机器臂的加加速度进行约束,基于旋量理论建立运动学模型,得到正运动学方程,采用遗传算法对冗余机械臂进行逆运动学分析,结合五次B样条插值方法,对末端执行器运动轨迹的加加速度进行优化。结果表明,该方案可有效提高上下料效率,保证冗余机械臂上下料过程运行平稳。     

Sustainability impact assessment for local energy supplies' development – The case of the alpine area of Lake Como,Italy

The development of distributed energy systems has important environmental, social and economic implications. Local decision-making processes must be guided by a careful evaluation of the sustainability of production chains and alternative choices. The aim of this study is to explore if and how an integrated assessment can quantify the extent to which bioenergy supply chain development contributes to rural development and energy policy objectives. We applied a Sustainability Impact Assessment (SIA) for local bioenergy development in the alpine area of Lake Como (Italy). We modeled the local bioenergy chain in 2008 and eleven scenarios considering different biomass utilizations, mechanization levels, combustion technologies, and subsidies schemes at 2020. We calculated economic, social and environmental indicators. We interpret and discuss the scenario analysis in order to support the bioenergy planning under the light of its implications for the different policy aims and concerns.     

Adaptation options for wheat in Europe will be limited by increased adverse weather events under climate change

Ways of increasing the production of wheat, the most widely grown cereal crop, will need to be found to meet the increasing demand caused by human population growth in the coming decades. This increase must occur despite the decrease in yield gains now being reported in some regions, increased price volatility and the expected increase in the frequency of adverse weather events that can reduce yields. However, if and how the frequency of adverse weather events will change over Europe, the most important wheat-growing area, has not yet been analysed. Here, we show that the accumulated probability of 11 adverse weather events with the potential to significantly reduce yield will increase markedly across all of Europe. We found that by the end of the century, the exposure of the key European wheat-growing areas, where most wheat production is currently concentrated, may increase more than twofold. However, if we consider the entire arable land area of Europe, a greater than threefold increase in risk was predicted. Therefore, shifting wheat production to new producing regions to reduce the risk might not be possible as the risk of adverse events beyond the key wheat-growing areas increases even more. Furthermore, we found a marked increase in wheat exposure to high temperatures, severe droughts and field inaccessibility compared with other types of adverse events. Our results also showed the limitations of some of the presently debated adaptation options and demonstrated the need for development of region-specific strategies. Other regions of the world could be affected by adverse weather events in the future in a way different from that considered here for Europe. This observation emphasizes the importance of conducting similar analyses for other major wheat regions.     

Electromagnetism-like algorithms for optimized tool path planning in 5-axis flank machining

Optimization of tool path planning using metaheuristic algorithms such as ant colony systems (ACS) and particle swarm optimization (PSO) provides a feasible approach to reduce geometrical machining errors in 5-axis flank machining of ruled surfaces. The optimal solutions of these algorithms exhibit an unsatisfactory quality in a high-dimensional search space. In this study, various algorithms derived from the electromagnetism-like mechanism (EM) were applied. The test results of representative surfaces showed that all EM-based methods yield more effective optimal solutions than does PSO, despite a longer search time. A new EM-MSS (electromagnetism-like mechanism with move solution screening) algorithm produces the most favorable results by ensuring the continuous improvement of new searches. Incorporating an SPSA (simultaneous perturbation stochastic approximation) technique further improves the search results with effective initial solutions. This work enhances the practical values of tool path planning by providing a satisfactory machining quality.     

Bio-economic modelling for marine spatial planning application in North Sea shrimp and flatfish fisheries

Marine activities have been increasingly competing for space and reducing areas for fishing. The use of spatially explicit tools can assist the decision making process on defining the optimal location of closures for fishing due to these emerging activities.This paper presents the Spatial Integrated bio-economic Model for FISHeries (SIMFISH). In this model fishers behaviour is simulated based on optimal effort allocation. The added value of this model compared to other existing spatial management tools lies in the presence of (i) short and long term fishers behaviour (ii) spatial explicit stock and fleet dynamics and (iii) relatively low data requirements.As an illustration, SIMFISH is applied in this paper to estimate the impact of area closures in the North Sea. Overall area closures have a negative impact on the profitability of the fleets. This would be worsened with higher fuel prices and decreased stock productivity.     

The PAR(p) Interconfigurations model used by the Brazilian Electric Sector

This study discusses the characteristics of the Periodic Autoregressive model, PAR(p), which is used to generate synthetic series of inflow energies that serve as entries for computer platforms that implement the planning and expansion of the operations of the BES – the Brazilian Electric Sector (SEB – Sistema Elétrico Brasileiro). The methodology for the design of a generating plant is presented in addition to the fundamentals of the “PAR(p) Interconfigurations” Model, which is referred to as the Inflow Energy Generation Model (IEGM) in this study. The major contribution of this study is to provide the first scientific discussion of the representation of multiple configurations using the PAR(p) model. For this purpose, several topics related to the time series are discussed, such as the definition of the model order, the matter of stationarity and the need to address possible outliers. Finally, a case study is presented, wherein the results of the estimation and generation of the described model’s scenarios are demonstrated.     

基于Q-learning的不确定环境BDI Agent最优策略规划研究

BDI模型能够很好地解决在特定环境下的Agent的推理和决策问题,但在动态和不确定环境下缺少决策和学习的能力。强化学习解决了Agent在未知环境下的决策问题,却缺少BDI模型中的规则描述和逻辑推理。针对BDI在未知和动态环境下的策略规划问题,提出基于强化学习Q-learning算法来实现BDI Agent学习和规划的方法,并针对BDI的实现模型ASL的决策机制做出了改进,最后在ASL的仿真平台Jason上建立了迷宫的仿真,仿真实验表明,在加入Q-learning学习机制后的新的ASL系统中,Agent在不确定环境下依然可以完成任务。