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.     

发动机活塞喉口涡流检测设备的研制

为了适应国Ⅵ活塞对活塞喉口的缺陷要求,研发了发动机活塞喉口涡流检测设备。该设备具有自动化程度高、可在线实时检测、效率高等优势。该设备采用四轴联动,活塞采用内撑定位方式,探头借助丝杠传动方式到达空间任意位置。控制部分包括探伤控制系统和伺服控制系统。其中,探伤控制系统包括探头和探伤仪。伺服控制系统采用了个人计算机+运动控制卡+伺服驱动器+伺服电机的形式。该设备关键技术在于涡流探头的设计与优化、探头激励高效电路研究、运动控制技术、活塞喉口缺陷在线实时监控与识别技术等。     

Novel navigation signal design based on spreading code time shift position modulation

A novel navigation signal design method based on spread code time shift position modulation was proposed,which inherits the idea of separating the pilot signal component and the data signal component,and applies time shift position of the spread code to carry data information.The old pattern of using carrier phase to carry information was changed,the power efficiency of data signal components and the performances of the satellite navigation system were improved.Theoretical analysis and simulation results show that the proposed method can significantly improve the transmission rate of data signal component or power ratio of the pilot signal component to data signal component without increasing the total transmission power.Then,the transmission rate,acquisition and tracking performance,positioning accuracy and other technical indicators of the satellite navigation system can be further improved.     

In situ solvent formation microextraction based on a new ionic liquid for green preconcentration of trace amount of Cu (II) ions in water samples

A simple, fast, and effective analytical technique known as in situ solvent formation microextraction was used to preconcentrate/separate trace amounts of Cu(II) ions in water samples prior to determination by flame atomic absorption spectroscopy. In the present method, 6,6′-(1Z,1′Z)(butane-1,4-diylbis(azan-1-yl-1-ylidene)bis(methan-1-yl-1-ylidene)bis-3-bromophenol (Schiff base ligand) as the complexing agent and 1-methyl-3-pentylimidazolium bromide (ionic liquid) as an extracting agent were successfully synthesized and characterized by FTIR, C-NMR, and H-NMR spectroscopies. The effects of several analytical parameters on the method were studied and optimized, and the merits of the method, such as LDR (0.2–1000 µg L^?1), LOD (0.12 µg L^?1), RSD (4.1%), and preconcentration factor (70) were evaluated.     

pH-sensitive self-assembling property of poly(ethyleneimine)/cinnamic acid mixture and its effect on pH-dependent release of monoolein cubic phase

Poly(ethyleneimine) (PEI)/cinnamic acid (CA) mixture was self-assembled into microsphere in aqueous phase. As the pH value increased, the self-assembly became hardly formed. As the molar ratio of the amino group of PEI to the carboxyl group of CA increased, the pH window for the formation of self-assembly became broader. The phase transition temperature of cubic phase was 58.5–67.5°C, depending on the PEI/CA content. The release of dye loaded in cubic phase containing PEI/CA increased in a first-order fashion. The release degree was higher at a lower pH value.     

Dynamic forecasting of individual cow milk yield in automatic milking systems

Accurate forecasting of dairy cow milk yield is useful to dairy farmers, both in relation to financial planning and for detection of deviating yield patterns, which can be an indicator of mastitis and other diseases. In this study we developed a dynamic linear model (DLM) designed to forecast milk yields of individual cows per milking, as they are milked in milking robots. The DLM implements a Wood's function to account for the expected total daily milk yield. It further implements a second-degree polynomial function to account for the effect of the time intervals between milkings on the proportion of the expected total daily milk yield. By combining these 2 functions in a dynamic framework, the DLM was able to continuously forecast the amount of milk to be produced in a given milking. Data from 169,774 milkings on 5 different farms in 2 different countries were used in this study. A separate farm-specific implementation of the DLM was made for each of the 5 farms. To determine which factors would influence the forecast accuracy, the standardized forecast errors of the DLM were described with a linear mixed effects model (lme). This lme included lactation stage (early, middle, or late), somatic cell count (SCC) level (nonelevated or elevated), and whether or not the proper farm-specific version of the DLM was used. The standardized forecast errors of the DLM were only affected by SCC level and interactions between SCC level and lactation stage. Therefore, we concluded that the implementation of Wood's function combined with a second-degree polynomial is useful for dynamic modeling of milk yield in milking robots, and that this model has potential to be used as part of a mastitis detection system.     

Hydrodistillation condition adjustment for different material particle sizes: a method to increase batch‐to‐batch quality consistency

Varying material particle sizes represent a common contributing factor to the batch‐to‐batch variation of extraction yields. To increase the batch‐to‐batch quality consistency of extracts, a method was proposed to adjust the extraction conditions for different material particle sizes, taking the hydrodistillation extraction process of Radix Curcumae and Fructus Gardeniae as a case study. Statistical models were built for five sesquiterpenes including curcumenone, curcumenol, curdione, curzerenone and furanodienone, to quantitatively describe the effects of particle size and process parameters on their extraction yields. An increase in sodium chloride concentration remarkably increased the yields of curcumenone and curcumenol, and a larger solvent‐to‐solid ratio increased the yields of five sesquiterpenes. Under the adjusted process parameters for two different particle sizes, the yield for each compound was controlled to fall in the 90–110% target range. The proposed method can be applied to various extraction processes of foods and herbal medicines.