A two-stage path planning approach for multiple car-like robots based on PH curves and a modified harmony search algorithm

In this article, collision-avoidance path planning for multiple car-like robots with variable motion is formulated as a two-stage objective optimization problem minimizing both the total length of all paths and the task’s completion time. Accordingly, a new approach based on Pythagorean Hodograph (PH) curves and Modified Harmony Search algorithm is proposed to solve the two-stage path-planning problem subject to kinematic constraints such as velocity, acceleration, and minimum turning radius. First, a method of path planning based on PH curves for a single robot is proposed. Second, a mathematical model of the two-stage path-planning problem for multiple car-like robots with variable motion subject to kinematic constraints is constructed that the first-stage minimizes the total length of all paths and the second-stage minimizes the task’s completion time. Finally, a modified harmony search algorithm is applied to solve the two-stage optimization problem. A set of experiments demonstrate the effectiveness of the proposed approach.     

Self-adaptive multi-objective harmony search for optimal design of water distribution networks

In multi-objective optimization computing, it is important to assign suitable parameters to each optimization problem to obtain better solutions. In this study, a self-adaptive multi-objective harmony search (SaMOHS) algorithm is developed to apply the parameter-setting-free technique, which is an example of a self-adaptive methodology. The SaMOHS algorithm attempts to remove some of the inconvenience from parameter setting and selects the most adaptive parameters during the iterative solution search process. To verify the proposed algorithm, an optimal least cost water distribution network design problem is applied to three different target networks. The results are compared with other well-known algorithms such as multi-objective harmony search and the non-dominated sorting genetic algorithm-II. The efficiency of the proposed algorithm is quantified by suitable performance indices. The results indicate that SaMOHS can be efficiently applied to the search for Pareto-optimal solutions in a multi-objective solution space.     

全局缺陷和局部缺陷的FPC检测算法研究

为满足柔性电路板缺陷检测在生产线上的检测要求,讨论了基于机器视觉的柔性电路板缺陷实时检测系统试验所需要的关键技术.并且针对传统的基于模板匹配的算法的速度慢、准确率低等问题,提出将柔性电路板的缺陷分为全局缺陷和局部缺陷,对全局缺陷采用直方图匹配和八连通域面积的计算,淘汰两者均存在缺陷的产品;对未被排除的产品图像采用投影匹配和相关系数的计算,实现局部缺陷的识别.改进的算法经过实验验证表明其准确率和检测速度优于传统的检测算法,符合柔性电路板生产线的检测要求.     

Influence of non degenerated joint on the global and local behavior of joined rods

We consider transport (thermoconductivity, diffusion, etc.) problem in a system of joined n-dimensional (n = 2, 3) thin rods, We assume that the joint has the size compared with the characteristic diameter of the rods and the joint is made of materials with transport properties similar to the transport properties of materials of the rods (such joint is referred as non degenerated joint). Using a technique of local perturbation, we construct asymptotic representations of the solution and obtain the limit model for some types of rods and joints. In all the cases, we find that the non degenerated joint is ignored on the global level (e.g., in framework models) and it manifests itself on the local level (in particular, it determines the gradient of the solution in and near the joint).