Design and Optimization of Wheel-legged Robot：Rolling-Wolf

Though the studies of wheel-legged robots have achieved great success, the existing ones still have defects in load distribution, structure stability and carrying capacity. For overcoming these shortcomings, a new kind of wheel-legged robot（Rolling-Wolf） is designed. It is actuated by means of ball screws and sliders, and each leg forms two stable triangle structures at any moment, which is simple but has high structure stability. The positional posture model and statics model are built and used to analyze the kinematic and mechanical properties of Rolling-Wolf. Based on these two models, important indexes for evaluating its motion performance are analyzed. According to the models and indexes, all of the structure parameters which influence the motion performance of Rolling-Wolf are optimized by the method of Archive-based Micro Genetic Algorithm（AMGA） by using Isight and Matlab software. Compared to the initial values, the maximum rotation angle of the thigh is improved by 4.17%, the maximum lifting height of the wheel is improved by 65.53%, and the maximum driving forces of the thigh and calf are decreased by 25.5% and 12.58%, respectively. The conspicuous optimization results indicate that Rolling-Wolf is much more excellent. The novel wheel-leg structure of Rolling-Wolf is efficient in promoting the load distribution, structure stability and carrying capacity of wheel-legged robot and the proposed optimization method provides a new approach for structure optimization.     

基于混合类电磁机制算法的机械臂逆运动学解

机械臂的逆运动学问题可转化为等效的最小化优化问题,并采用数值优化方法求解。提出一种基于类电磁机制(Electromagnetism-like mechanism,EM)和模式搜索(Pattern search,PS)数值求解机械臂逆运动学问题的混合类电磁机制算法(Hybrid electromagnetism-like mechanism,HEM)。该方法利用修改的类电磁机制(Revised electromagnetism-like mechanism,REM)与模式搜索方法各自特性相互融合平衡算法对解空间的全局探索和局部开发能力,基准函数测试结果表明该算法改善了全局搜索性能及寻优解的可靠性。在此基础上以6自由度TX60型号史陶比尔工业机械臂为例,考虑以机械臂末端位姿误差构建适应度函数并采用上混合类电磁机制算法数值求解,仿真结果表明,与其他方法比较,该方法用较少的适应度值计算次数下就能搜索到期望精度的寻优解,并且能搜索到所有可能关节角逆解的潜在能力,验证了该方法的有效性。     

Sequential RBF Surrogate-based Efficient Optimization Method for Engineering Design Problems with Expensive Black-Box Functions

As a promising technique, surrogate-based design and optimization（SBDO） has been widely used in modern engineering design optimizations. Currently, static surrogate-based optimization methods have been successfully applied to expensive optimization problems. However, due to the low efficiency and poor flexibility, static surrogate-based optimization methods are difficult to efficiently solve practical engineering cases. At the aim of enhancing efficiency, a novel surrogate-based efficient optimization method is developed by using sequential radial basis function（SEO-SRBF）. Moreover, augmented Lagrangian multiplier method is adopted to solve the problems involving expensive constraints. In order to study the performance of SEO-SRBF, several numerical benchmark functions and engineering problems are solved by SEO-SRBF and other well-known surrogate-based optimization methods including EGO, MPS, and IARSM. The optimal solutions, number of function evaluations, and algorithm execution time are recorded for comparison. The comparison results demonstrate that SEO-SRBF shows satisfactory performance in both optimization efficiency and global convergence capability. The CPU time required for running SEO-SRBF is dramatically less than that of other algorithms. In the torque arm optimization case using FEA simulation, SEO-SRBF further reduces 21% of thematerial volume compared with the solution from static-RBF subject to the stress constraint. This study provides the efficient strategy to solve expensive constrained optimization problems.     

Localization of Small Mobile Robot by Low-Cost GPS Receiver

This article deals with a problem of the robot localization in the outdoor environment by using the GPS （global positioning system） data. In order to navigate the robot, it is necessary to transform the global position into the local map in the form of two-dimensional Cartesian coordinate system. The transformation is based on the model of the Earth-WGS 84 reference ellipsoid. The aim of this article is to experimentally evaluate a set of low-cost GPS receivers applicable as position sensors for small outdoor mobile robots. The evaluation is based on series of measurements executed in different times and places. The measured data is processed by given procedure and acquired positions are transformed into the local coordinate system. Accordingly the accuracy of the measured positions is statistically evaluated. The evaluation of used GPS receivers is done by comparison with data acquired by high-end geodetic GPS system Leica 1200, which is used as a reference GPS system.     

求解置换调度问题的改进混合遗传算法

构造了求解极小化总完工时间的置换调度问题的改进混合遗传算法：先采用构造型启发式算法和随机方法共同产生初始种群，然后在选择、交叉和变异等遗传操作之前借助禁忌搜索算法寻找每个个体的局部最优解组成当前种群，再应用种群整体替换策略保存种群中的优秀个体构成新一代种群。改进混合遗传算法有机地结合了禁忌搜索算法的局部搜索性能和遗传算法的全局搜索性能。仿真实验表明，改进混合遗传算法具有比构造型启发式算法和禁忌搜索算法更好的鲁棒性和寻优性能。     

基于混合差分进化算法的并行机批处理调度问题研究

考虑到实际生产中产品多、批量小的特点,建立了一种带工艺约束的并行机批处理调度优化模型。为解决调度中的分批问题,提出了一种新的基于产品需求量的批量划分方案及批量染色体编码方式,采用两级差分进化算法来解决批量划分和批次调度问题;针对标准差分进化算法收敛速度慢、易出现早熟现象等问题,引入动态随机搜索和随机变异的局部搜索策略,以增强标准差分进化算法的局部搜索能力。测试算例及调度实例的仿真结果表明,该算法能有效地提高算法收敛速度,平衡其全局搜索和局部探索能力。     

Development of integrated evolutionary optimization algorithm and its application to optimum design of ship structures

This paper proposes an integrated evolutionary optimization algorithm (IEOA) which is combined with genetic algorithm (GA), random tabu search method (TS) and response surface methodology (RSM). This algorithm, in order to improve the convergent speed that is thought to be the demerit of GA, uses RSM and the simplex method. Though mutation of GA offers random variety, systematic variety can be secured through the use of tabu-list. Efficiency of this method has been proven by applying traditional test functions and comparing the results to GA. And it is an evidence that the newly suggested algorithm can effectively find the global optimum solution by applying it to minimize the weight of fresh water tank that is placed in the rear of ship designed to avoid resonance. According to the results, GA’s convergent speed in initial phase has been improved by using RSM. An optimized solution was calculated without the evaluation of additional actual objective function. Finally, it can be concluded that IEOA is a very useful global optimization algorithm from the viewpoint of convergent speed and global search ability.     

Hybrid evolutionary optimal MEMS design

A hybrid evolutionary design synthesis and optimization process for microelectromechanical systems (MEMS) devices has been developed. The process integrates a MEMS design component library with multiple simulation modules and two levels of design optimization: global multi-objective genetic algorithms (MOGA) and local gradient-based refinement. During the hybrid evolutionary design process, MOGA randomly searches the design space and approaches the desirable design solutions using probabilistic transition rules, and gradient-based local optimization refines promising design candidates with computational efficiency. To efficiently apply hybrid evolutionary optimization techniques on MEMS designs, a hierarchical tree-structured component-based genotype representation has been developed, which incorporates specific engineering knowledge into the design synthesis and optimization process. The MEMS design component library serves as a source of practical and efficient genotypes for the evolutionary process, with each component associated with its instructions and restrictions on genetic operations. The component-based genotype incorporated with engineering knowledge constrains evolutionary searching in appropriate and promising regions of the search space, allowing a deeper search in a given amount of time. Hybrid evolutionary MEMS design synthesis and optimization are demonstrated with surface-micromachined resonator and accelerometer designs.     

Vibration Analysis of Vehicle Floor Panel Using Hybrid Method of FEM and SEA

In order to improve the mass efficiency of an automotive soundproof package, it is important to predict the middle to high frequency range of noise and vibration during vehicle operation. A hybrid method of experimental and analytical SEA （statistical energy analysis） has been applied for the prediction of air-borne noise. However, for predicting structure-borne noise, there are no definitive simulation methods that can address the soundproof specifications in an actual vehicle. Thus, in this paper, a FEM （finite element method）＇SEA hybrid method is used. The FEM＇SEA hybrid method predicts structure-borne noise in the middle to high frequency range. First, we explain the basic concept of the FEM＇SEA hybrid method; Second, we describe our experiment to verify the analytical results of the FEM＇SEA hybrid method; Third, we provide the details of the FEM model versus the FEM＇SEA hybrid model; Finally, we verify the validity and availability of the FEM＇SEA hybrid method through comparisons of the FEM analysis results, FEM-SEA analysis results and measured results.     

一种混合遗传算法在车间作业调度中的应用研究

结合遗传算法和局域搜索的优点,提出一种混合遗传算法(HGA)以解决Job-shop调度问题。HGA采用基于工序的编码方案;然后在探讨影响HGA性能的交叉和变异算子的基础上,引入顺序保留交叉算子(PPX),并采用具有邻域搜索能力的变异算子;最后应用局部搜索对得到的GA解进行微调以改善解的质量。仿真结果表明了本文方法的有效性。     

Experimental Acoustic Determination of the Void Fraction in Two-Phase Flow in Horizontal Pipelines

In multi-phase flows, the phases can flow and arranged in different spatial configurations in the pipe, which called flow patterns. This type of flow is found in the oil, chemical and nuclear industries. For example, in the production and transport of oil and gas, the identification of the flow patterns are essential for answering those questions which are related to the economic return of the field, such as, measuring the volumetric flow, determining the pressure drop along the flow lines, production management and supervision. In offshore production, these factors are very important. This paper presents a new method for measuring the void fraction in horizontal pipelines, taking the air as gas in water-air two-phase flow. Through acoustic analysis of the frequency response of the pipe, the method gets the parameters to changes in runoff regime, in an experimental arrangement constructed on a small scale. The main advantages are the non-intrusive characteristic and easy to implement. The paper is composed of a qualitative experimental evaluation and transducers （microphone） which are used to analyze variations in the response accompanying variations in void and flow pattern changes. Changes are imposed and controlled by a two-phase flow experimental simulation rig, including a measurement cell constituted of an external casing that can isolate the measurement from the environmental background noise fitted with acoustic pressure transducers radially arranged, and the impact of a monitored excitation mechanism. The signals which captured by the microphones are processed and analyzed by checking their frequency contents changes according to the amount of air in the mixture.     

Development of a Methodology for Determination and Analysis of Thermal Displacements of Machine Tools Using Finite Elements Method and Artificial Neural Network

In the processes of manufacturing, MT （machine tools） plays an important role in the manufacture of work pieces with complex and high dimensional and geometric accuracy. Much of the errors of a machine tool are those which are thermally induced which are from internal and external heat sources acting on the machine. In this paper, a methodology for determining and analyzing the thermal deformation of machine tools using FEM （finite element method） and ANN （artificial neural networks） is presented. After modeling the machine using FEM is defined the location of the heat sources, it is possible to obtain the temperature gradient and the corresponding thermal deformation at predetermined periods. Results obtained with simulations using the software NX.7.5 showed that this methodology is an effective tool in determining the thermal deformation of the machine, correlating the temperature reading at strategic points with volumetric deformation at the tool tip. Therefore, the thermal analysis of the errors in the pair tool part can be established. After training and validation process, the network will be able to make the prediction of thermal errors just stating the temperature values of specific points of each heat source, providing a way for compensation of thermally induced errors.     

Prediction of Aircraft＇s Longitudinal Motion Based on Aerodynamic Coefficients and Derivatives by Surrogate Model Approach

The accuracy of a flight simulation is highly dependent on the quality of the aerodynamic database and prediction accuracies of the aerodynamic coefficients and derivatives. A surrogate model is an approximation method that is used to predict unknown functions based on the sampling data obtained by the design of experiments. This model can also be used to predict aerodynamic coefficients/derivatives using several measured points. The objective of this paper is to develop an efficient digital flight simulation by solving the equation of motion to predict the aerodynamics data using a surrogate model. Accordingly, there is a need to construct and investigate aerodynamic databases and compare the accuracy of the surrogate model with the exact solution, and hence solve the equation of motion for the flight simulation analysis. In this study, sample datas for models are acquired from the USAF Stability and Control DATCOM, and a database is constructed for two input variables （the angle of attack and Mach number）, along with two derivatives of the X-force axis and three derivatives for the Z-force axis and pitching moment. Furthermore, a comparison of the value predicted by the Kriging model and the exact solution shows that its flight analysis prediction ability makes it possible to use the surrogate model in future analyses.     

无成组技术条件下流水车间调度的多目标优化

针对有工件组调整时间的流水车间调度问题,提出了无成组技术假设条件下的多目标优化模型,并设计了一种进化计算与局部搜索结合的混合遗传算法.模型的目标函数是最小化最大完工时间和最大拖期.在局部搜索过程中,根据问题的特征定义了两种邻域结构,采取两阶段搜索策略,以提高算法的优化搜索效率.进化过程中,采用基于个体的累计排序数和密度值的适应度分配方法,以保持群体多样性,并采取精英保留策略,以保证解的收敛性.通过测试问题和实际问题的实验以及与其他算法的比较,验证了所提模型和算法的有效性.     

Program for Solar Water Heating Systems Based on the F-Chart Method

This paper aims at presenting an application developed in Java for optimizing the design of centralized solar water heating systems with forced circulation, based on the f-chart method. The program uses data from the Brazilian Solar Atlas, performance data of flat plate collectors and thermal reservoirs from the standardized tests run within the Brazilian Labeling Program, and values of water consumption of appliances defined by the ABNT. The program finds the inclination of the collector that maximizes the annual solar fraction, or for the winter, and enables the use of arrays in series and parallel collectors. From the investment costs and O ＆ M （operations and maintenance） of solar heating systems, the program carries out economical analysis using classical parameters as net present value, discounted payback and internal rate of return. The program was validated through examples from the book of Duffle ＆ Beckman and also by comparison with the results from a project developed at UFRGS, having obtained good agreement.     

Finite Element Analysis of the Dynamic Behaviour of Transmission Line Conductors Using MATLAB

The dynamic behaviour of power line cables have been a source of interest to researchers ever since the phenomenon was first noticed in the 1920s. Conductor oscillation is mostly caused by the dynamic forces of nature such as wind loading. This imposes a periodic force on the conductors which is highly undesirable. It is therefore important for engineers to account for the possible effect of the wind loading when designing the power line. Investigations have shown that modeling the exact dynamic behaviour of a conductor is very difficult. Based on this fact, getting the exact analytical solution to conductor vibration is difficult, which is almost impossible, hence the numerical approximation becomes an option. This paper presents the developed finite element method used to analyse the dynamic behaviour of transmission line conductors. The developed FEM （finite element method） is implemented on MATLAB. The numerical analysis using MATLAB that is presented in this paper is used to simulate the response of the conductor when subjected to external loading in the time domain. The simulation is used to analyse the transverse vibration of the conductor. The formulation of the stiffness matrix and load vector is done and the results obtained are used to evaluate the conductor＇s internal energy dissipation. This finite element solution is compared with the results documented in literature. This numerical simulation is also used to investigate the effects of varying the axial tension on energy dissipation within the strands. Hence, this evolved in physically appropriate energy characterization process that can be used to evaluate the conductor self-damping with respect to line contact.     

A Hybrid Search Algorithm for Porous Air Bearings Optimization

The study deals with the development of a hybrid search algorithm for efficient optimization of porous air bearings. Both the compressible Reynolds equation and Darcy's law are linearized and solved iteratively by a successive-over-relaxation method for modeling parallel-surface porous bearings. Three factors affecting the computational efficiency of the numerical model are highlighted and discussed. The hybrid optimization is performed by adopting genetic algorithm (GA) for initial search and accelerated by simplex method (SM) for refined solution. A simple and useful variable transformation is presented and used to convert the unconstrained SM to a constrained method. In this study, the hybrid search algorithm for a multi-variable design exhibits better efficiency compared with the search efficiency by using the SM. The proposed hybrid method also eliminates the need of several trials with random initial guesses to ensure high probability of global optimization. This study presents a new approach for optimizing the performance of porous air bearings and other tribological components.     

The Topic of Contact Zone Problems in the Shaft and Hole Joint, Taking into Account Component Form Errors

In assemblies constructed from components manufactured with radial deviations, cross-section deviations and deviations being combination of both, there occur variable values of local stresses and displacements. Both the types of shape deviations and their values need to be taken into account in the designing process and play an important role during machine operation. They have a crucial effect on the value and scatter of maximum reduced von Mises stresses and contact stresses. Axisymmetric joints were examined, in which shafts in selected shape variants and in variable angular positions were associated with a non-deformable hole. The aspects of contact zone problems are presented using the example of numerical simulation of contact between an elliptical saddle-shaped shaft placed in a rigid, non-deformable hole in different angular positions. Occurrence of both variable relative stresses and contact stresses as well as shaft＇s axial shift and rotary movement resistance were demonstrated.     

单纯形免疫算法及其在高维非凸函数优化中的应用

许多工程问题都可以归结为优化问题,而且其目标函数往往是局部最优点的复杂高维非凸函数,传统单一算法一般难以求得全局最优解。在深入分析免疫算法和单纯形法的基础上,将两种算法有机结合,提出单纯形免疫算法。免疫记忆、抽取疫苗、接种疫苗和自适应等免疫机制的引入有助于优良个体和基因的保留和利用,提高算法收敛性;通过反射、扩展、内缩、缩边等操作来改良劣解而调整邻域结构,不断逼近最优解。典型函数优化Benchmark问题的仿真试验表明,提出的单纯形免疫算法比单一算法性能更优,适合于存在许多局部最优点的复杂高维非凸函数优化。     

RDG System in Remote Areas with Utility or Local Feed Topology and Operation Strategy

In remote regions with availability of wind energy, a RDG （renewable distributed generation） system is an advantageous alternative to increase the provision of electrical supply. Usually, these systems are structured on the basis of a connection to an existing weak grid. When the grid is out of service, the system may operate in islanding mode, if the RDG configuration allows it, continuing the provision of energy with standard voltage and frequency values. Facing the latter situation, a wind-diesel/gas generation system is proposed, with a conversion and control strategies based on a variable speed wind turbine employing a DFIG （doubly fed induction generator）, a SC （ultracapacitor） storage system and a SG （synchronous generator） driven by a diesel/gas engine.