单线激光雷达与GNSS/INS的空间重构

为了解决多线激光雷达在三维空间重构任务中数据吞吐量过大导致运算负担过重以及扫描俯仰范围有限的问题,本文提出了一种利用单线激光雷达与惯性测量单元GNSS/INS相互结合的多站点扫描空间重构方案及相应解算方法。首先使用单线激光雷达扫描待测空间获取三维尺度信息,然后将点云数据与对应的任意方向的航向角相结合,再利用四元数姿态解算获取各站点扫描的点云图像。为提高计算效率,使用迭代最近点算法实现站点间点云配准时,对待匹配点云数据筛选并更新。实验结果表明在保留点云数字特征前提下,单线激光雷达与GNSS/INS系统能够提高76%的运算速率。本文提出的硬件方案和解算方法不但能够实现较高的配准精度,与多线激光雷达方案相比工程成本也得到显著下降。     

Neural network-based hybrid models developed for free radical polymerization of styrene

In the present work, the free radical polymerization of styrene is modeled by considering the phenomenology of the process (a simplified model, which does not include the diffusional effects, gel, and glass effects) in combination with an empirical model represented by an artificial neural network. Differential evolution (DE) algorithm, belonging to the class of evolutionary algorithms, is applied for developing the neural models in optimal forms. For improving the results—predicted conversion and molecular weights as function of time, temperature, and initiator concentration—different combinations between phenomenological model and neural network are tested; also, individual and stacked neural networks have been developed for the polymerization process. This methodology based on hybrid models, including neural networks aggregated in stacks, provides accurate results.     

A novel strategy based on salp swarm algorithm for extracting the maximum power of proton exchange membrane fuel cell

Cell temperature and water content of the membrane have a significant effect on the performance of fuel cells. The current-power curve of the fuel cell has a maximum power point (MPP) that is needed to be tracked. This study presents a novel strategy based on a salp swarm algorithm (SSA) for extracting the maximum power of proton-exchange membrane fuel cell (PEMFC). At first, a new formula is derived to estimate the optimal voltage of PEMFC corresponding to MPP. Then the error between the estimated voltage at MPP and the actual terminal voltage of the fuel cell is fed to a proportional-integral-derivative controller (PID). The output of the PID controller tunes the duty cycle of a boost converter to maximize the harvested power from the PEMFC. SSA determines the optimal gains of PID. Sensitivity analysis is performed with the operating fuel cell at different cell temperature and water content of the membrane. The obtained results through the proposed strategy are compared with other programmed approaches of incremental resistance method, Fuzzy-Logic, grey antlion optimizer, wolf optimizer, and mine-blast algorithm. The obtained results demonstrated high reliability and efficiency of the proposed strategy in extracting the maximum power of the PEMFC.     

基于第三方物流的家具配送开放式车辆路径问题

为了降低家具配送成本,提高物流效率,基于第三方物流配送模式,构建了以总行驶距离最短和车辆数最少为最优目标的开放式车辆路径问题(open vehicle routing problem,OVRP)数学模型,并设计了一个改进的两阶段禁忌搜索算法进行求解,第1阶段求解包含所有客户的TSP(traveling salesman problem)路径来作为第2阶段划分OVRP路径的基础.设计了一个随机动态禁忌表,并将"邻域算子编号"和"邻域交换点对"同时作为禁忌对象,避免了过度禁忌的情况.另外,对5个邻域算子进行了测试,表明采用由点交换、分序点插入、点逆序和前点前向插入这4个算子组成的多邻域结构体效果最佳.经算例测试和文献对比,验证了设计算法的有效性,采用第三方物流配送比自营物流配送更节省成本.     

Optimal design of nonlinear model predictive controller based on new modified multitracker optimization algorithm

The controller design for the robotic manipulator faces different challenges such as the system's nonlinearities and the uncertainties of the parameters. Furthermore, the tracking of different linear and nonlinear trajectories represents a vital role by the manipulator. This paper suggests an optimal design for the nonlinear model predictive control (NLMPC) based on a new improved intelligent technique and it is named modified multitracker optimization algorithm (MMTOA). The proposed modification of the MTOA is carried out based on opposition-based learning (OBL) and quasi OBL approaches. This modification improves the exploration behavior of the MTOA to prevent it from becoming trapped in a local optimum. The proposed method is applied on the robotic manipulator to track different linear and nonlinear trajectories. The NLMPC parameters are tuned by the MMTOA rather than the trial and error method of the designer. The proposed NLMPC based on MMTOA is compared with the original MTOA, genetic algorithm, and cuckoo search algorithm in literature. The superiority and effectiveness of the proposed controller are confirmed to track different linear and nonlinear trajectories. Furthermore, the robustness of the proposed method is emphasized against the uncertainties of the parameters.     

Disassembly sequence planning using a Flatworm algorithm

Disassembly Sequence Planning (DSP) refers to a disassembly sequence based on the disassembly properties and restrictions of the product parts that meets the benefit goal. This study aims to reduce the number of changes in disassembly direction and disassembly tools so as to reduce the disassembly time. This study proposes a novel Flatworm algorithm that evolves through the regenerative properties of the flatworm. It is similar to the evolutionary concept of genetic algorithms, with evolution as the main idea, but without crossover, mutation or replication mechanisms in the evolutionary processes. Instead, it is based upon the characteristics of the growth, fracture and regeneration mechanisms of the flatworm. The Flatworm algorithm features a variety of disassembly combinations and excellent mechanisms to avoid the local optimal solution. In particular, it has the advantage of keeping a good disassembly combination from being destroyed. In this study, it is compared with two genetic algorithms and two ant colony algorithms and tested in three examples of different complexity: a ceiling fan, a printer, and 150 simulated parts. The solution searching ability and execution time are compared upon the same evaluation standard. The test results demonstrate that the novel Flatworm algorithm proposed in this study is superior to the two genetic algorithms and ant colony algorithms in solution quality.     

一种超长级联国际传输专线故障机器定位算法的研究

国际电路不同于一般网内电路，具有跨多运营商、超长距离和级联组网的特性，这些特性给该类电路的故障定位带来挑战，但同时也形成其特有的规律。本文通过总结日常运维经验和分析各厂家设备告警信号传递规律，总结出可以用于计算机实现的国际电路故障定位算法。     

基于ＰＩＤ控制算法的直流微网容错控制方法研究

构建直流微网容错控制对象模型，调节直流微电网的输出回路参数；以输出功率、直流微网的 参考电压、弱电网下系统惯性响应特征等为约束参量，构建直流微网容错控制目标函数，在不同电网强度下 进行直流微网容错控制的参数自整定性调节，采用无功环比例积分控制方法进行直流微网容错寻优分析， 建立模糊 ＰＩＤ控制模型，采用变结构的模糊 ＰＩＤ控制方法进行直流微网容错控制过程中的自适应加权学习 和误差反馈调节，实现直流微网容错控制改进设计。仿真结果表明，采用该方法进行直流微网控制的容错 性能较好，输出稳定性较强，具有较好的直流微网输出增益。     

换热网络优化中换热单元生成频次的影响分析及策略改进

换热单元的生成频次对换热网络优化有直接的影响，分析其机理可以指导求解算法的改进。本文采用节点非结构模型及强制进化随机游走算法，通过设置不同的换热单元生成概率与生成个数以改变换热单元的生成频次，观察并记录个体在优化过程中产生的年综合费用变化情况。发现不同生成频次下整型变量和连续变量的相对优化频率发生了变化，从而改变了整体优化过程，并且与个体当前优化状态不适应的生成频次会造成相对优化频率不平衡、优化结果较差。基于此，本文提出了一种具有生成参数动态调节策略的换热单元生成方式，在优化过程中根据个体状态实时调整换热单元的生成概率与生成个数，平衡整型变量与连续变量的相对优化频率。最后，采用15SP、10SP和20SP算例进行验证，换热网络的年综合费用较文献结果分别下降了1.06%、0.16%、0.68%，验证了该策略使得换热单元的生成频次更为合理，有效地提高了算法的优化效率。