Improving scenario decomposition algorithms for robust nonlinear model predictive control

This paper deals with the efficient computation of solutions of robust nonlinear model predictive control problems that are formulated using multi-stage stochastic programming via the generation of a scenario tree. Such a formulation makes it possible to consider explicitly the concept of recourse, which is inherent to any receding horizon approach, but it results in large-scale optimization problems. One possibility to solve these problems in an efficient manner is to decompose the large-scale optimization problem into several subproblems that are iteratively modified and repeatedly solved until a solution to the original problem is achieved. In this paper we review the most common methods used for such decomposition and apply them to solve robust nonlinear model predictive control problems in a distributed fashion. We also propose a novel method to reduce the number of iterations of the coordination algorithm needed for the decomposition methods to converge. The performance of the different approaches is evaluated in extensive simulation studies of two nonlinear case studies.     

Simplifying the powder metallurgy manufacturing process using soft computing tools

The tools of soft computing will aid the knowledge mining in predicting and classifying the properties of various parameters while designing the composite preforms in the manufacturing of Powder Metallurgy (P/M) Lab. In this paper, an integrated PRNET (PCA-Radial basis functional neural NET) model is proposed in different versions to select the relevant parameters for preparing composite preforms and to predict the deformation and strain hardening properties of Al–Fe composites. It reveals that the predictability of this model has been increased by 67.89% relatively from the conventional models. A new PR-filter is proposed by slightly modifying the conventional filters of RBFNN, which improves the power of PRNET even though raw data are highly non-linear, interrelated and noisy. Moreover, fixing the range of input parameters for classifying the properties of composite preforms can be automated by the Fuzzy logic. These types of models will avoid expensive experimentation and risky environment while preparing sintered composite preforms. Thus the manufacturing process of composites in P/M Lab will be simplified with minimum energy by the support of these soft-computing tools.     

偶联反应器格栅的制作和组装工艺

格栅支持板是换热器中的主要部件,尤其是大尺寸的格栅支持板,以前国内没有先例,如何编制好它的制作工艺和程序,并且在实际过程中得到很好的执行,遇到问题及时调整处置,对它的加工、组装、和整体安装有着特别重要的作用。     

Rules discovery in fuzzy classifier systems with PSO for scheduling in grid computational infrastructures

Particle swarm optimization (PSO) is a bio-inspired optimization strategy founded on the movement of particles within swarms. PSO can be encoded in a few lines in most programming languages, it uses only elementary mathematical operations, and it is not costly as regards memory demand and running time. This paper discusses the application of PSO to rules discovery in fuzzy classifier systems (FCSs) instead of the classical genetic approach and it proposes a new strategy, Knowledge Acquisition with Rules as Particles (KARP). In KARP approach every rule is encoded as a particle that moves in the space in order to cooperate in obtaining high quality rule bases and in this way, improving the knowledge and performance of the FCS. The proposed swarm-based strategy is evaluated in a well-known problem of practical importance nowadays where the integration of fuzzy systems is increasingly emerging due to the inherent uncertainty and dynamism of the environment: scheduling in grid distributed computational infrastructures. Simulation results are compared to those of classical genetic learning for fuzzy classifier systems and the greater accuracy and convergence speed of classifier discovery systems using KARP is shown.     

Calculating the medial axis of a CAD model by multi-CPU based parallel computation

Computational efficiency is still a great challenge for the generation of the Medial Axis (MA) for complicated CAD models. Current research mainly focuses on CPU-based MA generation methods. However, most of the methods emphasize using a single CPU. The highly-efficient methods based on parallel computing are still missing. In this study, a parallel method based on multi-CPU is proposed for the efficient MA generation of CAD models using distance dilation. By dividing the whole model into several parts for which MAs are calculated in parallel and then combined, computational efficiency can be greatly improved in theory and the computation time can be reduced nearly K times if K CPUs are used. Firstly, an adaptive division method is proposed to divide the voxelized model into blocks which have nearly the same number of voxels to balance the computational burden. Secondly, the local Euclidean Distance Transform (EDT) is calculated for each block based on the existing distance dilation method. Thirdly, the complete inter-dilation method is proposed to compute the influence between different blocks to get a global EDT for each block. Finally, each block generates a sub-MA separately and then all the generated MAs are combined to obtain the final MA. The last three processes can be efficiently conducted in parallel by using multiple CPUs. Several groups of experiments are conducted which demonstrate the good performance of the proposed methods in terms of efficiency.     

海战场栅格节点的接入与迁移管理技术研究*

针对海战场作战平台中设备繁杂、异构的特点，栅格网络架构将各类作战平台设备以节点形式进行管理，但现有研究中尚缺乏具体的节点接入与迁移实现的流程方法与技术。论文针对上述问题，提出了海战场栅格节点接入与迁移的一种标准化流程与技术的实现方法，并利用仿真软件进行了实例的仿真验证，验证了节点接入与迁移标准化流程的可行性，并证明了其在技术上的可实现性。     

Application of integrated soft computing techniques for optimisation of hybrid CO2 laser–MIG welding process

In this paper, artificial neural networks (ANNs), genetic algorithm (GA), simulated annealing (SA) and Quasi Newton line search techniques have been combined to develop three integrated soft computing based models such as ANN–GA, ANN–SA and ANN–Quasi Newton for prediction modelling and optimisation of welding strength for hybrid CO₂ laser–MIG welded joints of aluminium alloy. Experimental dataset employed for the purpose has been generated through full factorial experimental design. Laser power, welding speeds and wires feed rate are considered as controllable input parameters. These soft computing models employ a trained ANN for calculation of objective function value and thereby eliminate the need of closed form objective function. Among 11 tested networks, the ANN with best prediction performance produces maximum percentage error of only 3.21%. During optimisation ANN–GA is found to show best performance with absolute percentage error of only 0.09% during experimental validation. Low value of percentage error indicates efficacy of models. Welding speed has been found as most influencing factor for welding strength.     

Usability of a cloud-based collaborative learning framework to improve learners’ experience

Computer-Supported Collaborative Learning (CSCL) is concerned with how Information and Communication Technology (ICT) might facilitate learning in groups which can be co-located or distributed over a network of computers such as Internet. CSCL supports effective learning by means of communication of ideas and information among learners, collaborative access of essential documents, and feedback from instructors and peers on learning activities. As the cloud technologies are increasingly becoming popular and collaborative learning is evolving, new directions for development of collaborative learning tools deployed on cloud are proposed. Development of such learning tools requires access to substantial data stored in the cloud. Ensuring efficient access to such data is hindered by the high latencies of wide-area networks underlying the cloud infrastructures. To improve learners’ experience by accelerating data access, important files can be replicated so a group of learners can access data from nearby locations. Since a cloud environment is highly dynamic, resource availability, network latency, and learner requests may change. In this paper, we present the advantages of collaborative learning and focus on the importance of data replication in the design of such a dynamic cloud-based system that a collaborative learning portal uses. To this end, we introduce a highly distributed replication technique that determines optimal data locations to improve access performance by minimizing replication overhead (access and update). The problem is formulated using dynamic programming. Experimental results demonstrate the usefulness of the proposed collaborative learning system used by institutions in geographically distributed locations.     

Robust Mapping for Mobile Robot Based on Immobile Area Grid Map Considering Potential Moving Objects

Mobile robots need Simultaneous Localization and Mapping (SLAM) for autonomous movement in human living environments. The occupancy grid map used in SLAM is a conventional method which makes a map by an occupancy probability in each grid. This method renews a map based on whether an object is observed or not. In order to remove moving objects from a map, an additional method is required. However, conventional methods deal only with actually moving objects, and potential moving objects (e.g., standing humans) are mapped as static objects. Furthermore, only binary states, used or not used, are given to each object in map updating. This paper proposes the immobility area grid map to represent a map by an immobility probability in each grid. The proposed method renews a map based on the identification of observed objects by a robot's sensors, in addition to whether an object is observed or not. We introduce the map update parameter, which is set adaptively from the certainty of identification result of the object. Observed objects can take continuous states, truly static—unknown—truly moving, according to the parameter value. Potential moving objects are not mapped if the parameter takes values corresponding to moving objects. The experimental results show robust mapping in dynamic environments including potential moving objects.     

数据库云化部署技术研究

云计算虚拟化技术具备弹性可扩展、自动迁移(高可用)、自动恢复(高可靠)等特征,然而数据库系统自身技术的复杂性对在云计算环境中部署工作提出了调整.在研究与分析私有云计算环境中数据库系统部署模式的基础上,在实际应用系统环境中重点验证了不同数据库系统采用单虚拟机部署模式时事务性能基准测试中的性能表现,通过与数据库在物理服务器部署方式下的性能对比,验证了数据库系统云化部署的可行性.