基于凸规划的机械臂轨迹规划方法

研究了快速求解具有时间约束的机械臂轨迹规划问题,提出了一种基于凸规划的轨迹规划方法。该方法针对机械臂轨迹规划中动力学约束非线性强、时间约束不易处理的问题,首先通过变量替换,将非线性约束转化为线性约束,然后添加新的约束,将原始非凸优化问题转化为凸规划问题,在此基础上,将其写作二阶锥规划（SOCP）形式,使用SeDuMi等优化工具包近似实时求解。该方法具有以下优点：计算高效,凸规划问题能够在多项式时间内得到求解;算法全局稳定,能收敛到全局最优解,不需要提供优化初值;可扩展性强,工业机器人的多种约束以及性能指标如加速度平滑约束、功率等均可扩充。仿真实验表明,与现有方法相比,该方法能够有效提高轨迹规划的效率,机器人的轨迹规划可以近似实时求解。     

Converging towards the optimal path to extinction

Extinction appears ubiquitously in many fields, including chemical reactions, population biology, evolution and epidemiology. Even though extinction as a random process is a rare event, its occurrence is observed in large finite populations. Extinction occurs when fluctuations owing to random transitions act as an effective force that drives one or more components or species to vanish. Although there are many random paths to an extinct state, there is an optimal path that maximizes the probability to extinction. In this paper, we show that the optimal path is associated with the dynamical systems idea of having maximum sensitive dependence to initial conditions. Using the equivalence between the sensitive dependence and the path to extinction, we show that the dynamical systems picture of extinction evolves naturally towards the optimal path in several stochastic models of epidemics.     

LTV-MPC自动驾驶汽车路径跟踪算法研究

为解决自动驾驶汽车在时变曲率路径上的跟踪精度和操控稳定性问题,提出一种基于线性时变(LTV)模型的模型预测控制(MPC)算法.分别建立车辆运动学参考模型和动力学参考模型,通过分析期望路径的几何特征获得车辆航向角的前馈参考量,并通过迭代线性化方法推导线性时变的车辆运动参考模型.根据车辆行驶状态设计车辆运动学参考模型/动力...     

A reliability allocation method for agricultural machinery based on AHP-IFM

In the product design phase, the available product failure data are limited, and the weight allocation method is often used to assign reliability targets to each unit. The integrated factors method (IFM) can calculate the reliability allocation weights considering multiple influencing factors simultaneously, but it cannot reflect the difference in the importance of each factor and each unit. The analytic hierarchy process (AHP) can calculate the relative importance weights of each factor and each unit. Combining the AHP with the IFM can make the IFM more adaptable to the system and more accurate for reliability allocation. However, the current combination method can cause two problems: the invalidation of the influencing factor weights and the imbalance of the unit weights. To address these two shortcomings, the AHP-IFM proposed in this paper introduces a weight weakening factor and exponentially corrects the unit weights for units, which can better apply the relative importance weights of each influencing factor and each unit to the reliability allocation. The effectiveness of the AHP-IFM is verified by comparison with existing methods and data. Finally, an AHP-IFM applicable to agricultural machinery is proposed, and the reliability allocation of a no-till seeder is used as a case to verify the feasibility of the AHP-IFM.     

板振动的无需次级通道建模的分散式前馈控制方法研究

本文针对板的振动,提出了一种无需次级通道建模的分散式前馈控制方法。该前馈控制方法不需要结构的物理信息,并且能够控制板在非共振频率处的线谱振动。采用压电片和加速度计分别作为执行和传感元件,建立了简支板振动主动控制的理论模型和实验系统。提出了分散式前馈控制策略,并分析了无需次级通道建模的分散式前馈控制算法的稳定性。提出了一种内模滤波器将加速度信号转变为速度信号,并补偿抗混叠滤波器和平滑滤波器的频率响应,使执行器和传感器保持同位配置。通过仿真和实验验证了该算法的有效性。     

A constraint‐based approach to the modelling and analysis of packaging machinery

To enable packaging machinery manufacturers to compete at an international level, it is necessary to introduce them to more advanced design methods and technologies. For years, the evolution of packaging machinery has relied heavily on trial‐and‐error methods. The demands for continual increases in the performance capabilities of the machines, escalating legislation, environmental directives and changes in the characteristics of the product require rapid development of existing machine designs and the creation of new machines. This paper discusses the needs of SME packaging machinery manufacturers and identifies their requirements for methods in support of the design and redesign of packaging machinery. The need to identify, capture and manipulate design knowledge is critical for SMEs, where all too often design records are incomplete. Furthermore, a systems modelling approach that provides for support over the conceptual, embodiment and detailed design phases is essential for the rapid and effective development of designs. In order to meet these requirements, a methodology is proposed which incorporates ‘constraint modelling’ techniques. The methodology provides for experimental investigation and computer‐based modelling, which together aid the designer in gaining a fundamental understanding of the design problem. This enables the identification and representation of design knowledge, the determination of the limitations of an existing design, the evaluation of alternative designs and redesign strategies, as well as the embodiment, refinement and optimization of design solutions. The theory of ‘constraint modelling’ is discussed and the various phases of the methodology described. The applications of the methodology to a new machine design and a redesign program are also detailed. Copyright © 2001 John Wiley & Sons, Ltd.     

A network-wide exact optimization approach for multiobjective routing with path protection in multiservice multiprotocol label switching networks

A multiobjective routing model for multiprotocol label switching networks with multiple service types and path protection is presented in this article. The routing problem is formulated as a biobjective integer program, where the considered objectives are formulated according to a network-wide optimization approach, i.e. the objective functions of the route optimization problem depend explicitly on all traffic flows in the network. A disjoint path pair is considered for each traffic trunk, which guarantees protection to the associated connection. A link-path formulation is proposed for the problem, in which a set of possible pairs of paths is devised in advance for each traffic trunk. An exact method (based on the classical constraint method for solving multiobjective problems) is developed for solving the formulated problem. An extensive experimental study, with results on network performance measures in various randomly generated networks, is also presented and discussed.     

A novel surrogate-based approach for optimal design of electromagnetic-based circuits

A new geometric design centring approach for optimal design of central processing unit-intensive electromagnetic (EM)-based circuits is introduced. The approach uses norms related to the probability distribution of the circuit parameters to find distances from a point to the feasible region boundaries by solving nonlinear optimization problems. Based on these normed distances, the design centring problem is formulated as a max–min optimization problem. A convergent iterative boundary search technique is exploited to find the normed distances. To alleviate the computation cost associated with the EM-based circuits design cycle, space-mapping (SM) surrogates are used to create a sequence of iteratively updated feasible region approximations. In each SM feasible region approximation, the centring process using normed distances is implemented, leading to a better centre point. The process is repeated until a final design centre is attained. Practical examples are given to show the effectiveness of the new design centring method for EM-based circuits.     

主动声纳直达波干扰抑制的盲分离算法

针对舰艇编队作战中主动声纳之间存在的强直达波干扰,提出了一种基于信号统计二阶矩的直达波干扰抑制算法,实现了强干扰背景下的微弱目标回波检测。这种方法将盲分离理论和匹配相关技术相结合,首先对接收数据进行直达波干扰抑制,再利用已知发射信号副本进行匹配相关,最后提取目标回波信号。相比其它强干扰抑制算法,特别是高阶累计量法,该算法具有计算复杂度低的优点。通过数值仿真实验表明：该算法能够对直达波干扰进行有效抑制,对目标回波的检测性能优于直接匹配相关方法。     

A generalized approach to the reconstruction of a restricted class of digitized planar curves

Reconstruction of an original continuous curve and the estimation of its parameters from the digitized version of the curve is a challenging problem, as quantization always causes some loss of information. In this paper, we have developed a scheme for reconstruction which is applicable to a class of curves having at the most two parameters. The class of curves for which the scheme works has also been characterized. We have shown that for one-parameter curves the exact domain of values of the parameter can be obtained. But in the two-parameter case, only the smallest rectangle containing the domain can be realised. The distinctive feature of our scheme is that it provides a unified approach to solve the reconstruction and the domain-finding problem for a class of curves.     

A novel approach for length scale control in structural topology optimization

This article proposes a novel method for topology optimization with length scale control. In this method, the structural skeleton based on the level set framework is employed. On this basis, the concept of the skeleton feature is proposed. The skeleton feature is defined as a circle, of which the centre is the skeleton point and the radius is the length scale. The signed distance function based on the skeleton feature is applied to achieve minimum and maximum length scale control. The length scale constraint is determined according to the location relationship between the structure and the skeleton feature. An increasing Lagrange multiplier is applied for length scale constraints. Several simple examples are presented to demonstrate the effectiveness of the skeleton features in length scale control.     

A freeform surface manufacturing approach by integration of inspection and tool path generation

Freeform surfaces have been widely used in various engineering applications. Increasing requirements for the accuracy of freeform surfaces have led to significant challenges for the manufacturing of these surfaces. A method for manufacturing of freeform surfaces is introduced in this paper by integrating inspection and tool path generation to improve manufacturing quality while reducing manufacturing efforts. Inspection is conducted by comparing the digitised manufactured surface with the design surface to identify the error regions. In this new inspection technique, the areas on the manufactured surface that are beyond the design tolerance boundaries are used as the objective function during the localisation process, in order to minimise post-inspection machining efforts. The tool path generation methods are then selected based on the geometric characteristics of the identified error regions, for creating tool paths to remove the errors. Computational efficiency, machining efficiency, and quality are considered in this integrated method.     

Exploring the association between speed and safety: A path analysis approach

Road safety is influenced by many factors; these factors include characteristics of the road, climate, traffic and, most importantly, vehicle speeds. Previous research shows that increases in speed are typically associated with an increased collision risk. Moreover, previous studies have also found relationships between road and traffic characteristics and collisions. In addition, these features have also been found to affect speeds. This paper aims to model all the aforementioned relationships simultaneously using a Structural Equation Modelling approach. More specifically, the paper attempts to model the relationship between average speed and collision frequency, while taking into account the effects of factors that confound the relationship. Moreover, the analysis attempts to assess the mediated effects that some variables have on collisions through their effects on speed. The data used in this study originated from 353 two-lane urban roads in the city of Edmonton, Canada. The average speeds were obtained from 35 million speed survey observations collected over a five-year period. The speed data are linked to the crash frequency at each location during the same time frame, along with the other factors (road, traffic and climate). The results show that, among others, average speed, volume, segment length, medians and horizontal curves all have statistically significant effects on collisions. On the other hand, shoulders, speed limits and vehicle-lengths are some variables that significantly influence speeds. The results also show that the effects of some variables on safety are indeed mediated through speeds (both partial and full mediation is observed). These findings provide valuable insight that may assist decision makers in choosing and developing alternative speed management strategies, which, in turn, could help improve safety.     

Fuzzy regression approach to process modelling and optimization of epoxy dispensing

Epoxy dispensing is one of the popular processes to perform microchip encapsulation for chip-on-board (COB) packages. However, determination of proper process parameters setting for optimal quality of the encapsulation is difficult due to the complex behaviour of the encapsulant during dispensing and the uncertainties caused by fuzziness of epoxy dispensing systems. In conventional regression models, deviations between the observed values and the estimated values are supposed to be in probability distribution. However, when data is irregular, the obtained regression model has an unnaturally wide possibility range. In fact, these deviations in some processes such as epoxy dispensing can be regarded as system fuzziness that can be dealt with properly using fuzzy regression method. In this paper, a fuzzy regression approach with fuzzy intervals to process modelling of epoxy dispensing for microchip encapsulation is described. Two fuzzy regression models relating three process parameters and two quality characteristics respectively for epoxy dispensing were developed. They were then introduced to formulate a fuzzy multi-objective optimization problem. A fuzzy linear programming technique was employed to formulate the optimization model. By solving the model, an optimal setting of process parameters can be obtained. Validation experiments were conducted to evaluate the effectiveness of the proposed approach to process modelling and optimization of epoxy dispensing for microchip encapsulation.     

A network approach to parametric design integration

This article presents a method for the integration of multiple computing processes used in design and design assessment for a parametric design problem. The method is based on a representation in which the processes are regarded as performing transformations between model states representing attributes of the designed artefact. A classification of attributes and of transformations is presented. The sequences of transformations and model states are modelled using Petri nets, and these models are used as a basis for the development of a computer-based controller that manages the interprocess interaction. The controller directs the concurrent and sequential operation of a number of computing processes operating on different workstations in a network. These processes include geometric modelling and a variety of design analysis actions that exchange data with each other in the optimum design of parametric parts. The example of an automotive crankshaft design is given.     

A portfolio approach to maintenance: a case study of a residential estate

The choice between repairing and replacing a defective piece of equipment is an economic decision that is faced by all maintenance managers, including housing estate managers. Such decisions need to be made within the limits and constraints set by maintenance expenditure budgets and by manpower availability. Our particular problem is concerned with the development of a maintenance policy for a residential estate of the Hong Kong Housing Authority. Our approach is to treat the numerous housing systems as a portfolio and to exploit flexibilities in performing or delaying the repair/replacement of these systems. The cost of a repair/replacement plan for the portfolio is formulated as an integer programme and genetic algorithms (GAs) are employed to generate optimal and sub‐optimal solution plans. The novel features of the approach are the model developed and use of GAs in this particular optimization context. The results and discussion of the case study will help practitioners to better understand the difficulties involved in collecting relevant cost data and in formulating repair/replacement plans for a group of buildings. Copyright © 2007 John Wiley & Sons, Ltd.     

A bioinspired path planning approach for mobile robots based on improved sparrow search algorithm

In this paper, a bioinspired path planning approach for mobile robots is proposed. The approach is based on the sparrow search algorithm, which is an intelligent optimization algorithm inspired by the group wisdom, foraging, and anti-predation behaviors of sparrows. To obtain high-quality paths and fast convergence, an improved sparrow search algorithm is proposed with three new strategies. First, a linear path strategy is proposed, which can transform the polyline in the corner of the path into a smooth line, to enable the robot to reach the goal faster. Then, a new neighborhood search strategy is used to improve the fitness value of the global optimal individual, and a new position update function is used to speed up the convergence. Finally, a new multi-index comprehensive evaluation method is designed to evaluate these algorithms. Experimental results show that the proposed algorithm has a shorter path and faster convergence than other state-of-the-art studies.The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-021-00366-x     

A physical approach to structural stochastic optimal controls

The generalized density evolution equation proposed in recent years profoundly reveals the intrinsic connection between deterministic systems and stochastic systems by introducing physical relationships into stochastic systems. On this basis, a physical stochastic optimal control scheme of structures is developed in this paper, which extends the classical stochastic optimal control methods, and can govern the evolution details of system performance, while the classical stochastic optimal control schemes, such as the LQG control, essentially hold the system statistics since there is still a lack of efficient methods to solve the response process of the stochastic systems with strong nonlinearities in the context of classical random mechanics. It is practically useful to general nonlinear systems driven by non-stationary and non-Gaussian stochastic processes. The celebrated Pontryagin’s maximum principles is employed to conduct the physical solutions of the state vector and the control force vector of stochastic optimal controls of closed-loop systems by synthesizing deterministic optimal control solutions of a collection of representative excitation driven systems using the generalized density evolution equation. Further, the selection strategy of weighting matrices of stochastic optimal controls is discussed to construct optimal control policies based on a control criterion of system second-order statistics assessment. The stochastic optimal control of an active tension control system is investigated, subjected to the random ground motion represented by a physical stochastic earthquake model. The investigation reveals that the structural seismic performance is significantly improved when the optimal control strategy is applied. A comparative study, meanwhile, between the advocated method and the LQG control is carried out, indicating that the LQG control using nominal Gaussian white noise as the external excitation cannot be used to design a reasonable control system for civil engineering structures, while the advocated method can reach the desirable objective performance. The optimal control strategy is then further employed in the investigation of the stochastic optimal control of an eight-storey shear frame. Numerical examples elucidate the validity and applicability of the developed physical stochastic optimal control methodology.     

Sensitivity analysis for decision-making using the MORE method—A Pareto approach

Integrated Assessment Modelling (IAM) incorporates knowledge from different disciplines to provide an overarching assessment of the impact of different management decisions. The complex nature of these models, which often include non-linearities and feedback loops, requires special attention for sensitivity analysis. This is especially true when the models are used to form the basis of management decisions, where it is important to assess how sensitive the decisions being made are to changes in model parameters. This research proposes an extension to the Management Option Rank Equivalence (MORE) method of sensitivity analysis; a new method of sensitivity analysis developed specifically for use in IAM and decision-making. The extension proposes using a multi-objective Pareto optimal search to locate minimum combined parameter changes that result in a change in the preferred management option. It is demonstrated through a case study of the Namoi River, where results show that the extension to MORE is able to provide sensitivity information for individual parameters that takes into account simultaneous variations in all parameters. Furthermore, the increased sensitivities to individual parameters that are discovered when joint parameter variation is taken into account shows the importance of ensuring that any sensitivity analysis accounts for these changes.     

A novel approach to lean control for Taiwan-funded enterprises in mainland China

The lean control approach has been successfully applied to reduce waste and improve customer service in numerous Taiwan-funded enterprises. Although numerous models have been developed to overcome its limitations, such as determining unnecessary moving, unnecessary inventory, and redundant transportation, they do not, however, identify focused stages in which to start lean control. To secure Taiwan-Funded Enterprises in Mainland China (TFEMC), in this paper, after using value stream mapping (VSM) to show the current state of manufacturing processes, rough set theory is adopted and used to identify types of focused stages, where lean controls are most required. A generalised label-correcting algorithm is then developed to determine the desired stages of lean manufacturing, which are difficult to show in the VSM. This methodology is suitable for a repetitive manufacturing environment of mixed type, i.e., job shop and flow shop, and achieves the following objectives: 1. Decreasing work in progress (WIP) inventory.

2. Reducing inventory and logistics cost globally.

The approach is novel and the illustrated case could be a role model of TFEMC because different types of problems can be solved with one algorithm; the reduct rules can be inducted to determine focus stages efficiently; and waste is reduced from the viewpoint of system thinking.