一种新型剪切阀式旋转MR制动器的开发与评估

基于磁流变（Magnetorheological,MR）液的流变特性,MR制动器具有的高转矩-体积比(Torque-to-Volume Ratio,TVR)和低功耗优点使其成为一种应用前景广泛的被动力输出装置。为了提高旋转型MR制动器在单位空间内的输出制动转矩,基于凸轮结构提出了一种在剪切阀模式下工作的旋转型MR制动器。首先,介绍了这种新型MR制动器的总体结构,并基于Bingham塑性模型和凸轮模型对MR制动器的输出制动转矩进行了理论推导。然后,利用ANSYS软件和多目标优化设计方法,对制动器的结构进行有限元分析,得到最优的几何参数。在自主搭建的实验平台上对制动器进行了性能测试实验,结果表明,该制动器具有较高的TVR、较低的初始制动转矩和良好的动态特性。该制动器在较小的体积下能够实现最大42.4 kN/m³的TVR,可以很好地满足力触觉交互、康复训练、可穿戴设备等需要小体积和大输出转矩的应用场景。     

Applications of hybrid optimization techniques for model updating of rotor shafts

This paper presents an approach by combining the genetic algorithm (GA) with simulated annealing (SA) algorithm for enhancing finite element (FE) model updating. The proposed algorithm has been applied to two typical rotor shafts to test the superiority of the technique. It also gives a detailed comparison of the natural frequencies and frequency response functions (FRFs) obtained from experimental modal testing, the initial FE model and FE models updated by GA, SA, and combination of GA and SA (GA–SA). The results concluded that the GA, SA, and GA–SA are powerful optimization techniques which can be successfully applied to FE model updating, but the appropriate choice of the updating parameters and objective function is of great importance in the iterative process. Generally, the natural frequencies and FRFs obtained from FE model updated by GA–SA show the best agreement with experiments than those obtained from the initial FE model and FE models updated by GA and SA independently.     

Data Generation for Path Testing

We present two stochastic search algorithms for generating test cases that execute specified paths in a program. The two algorithms are: a simulated annealing algorithm (SA), and a genetic algorithm (GA). These algorithms are based on an optimization formulation of the path testing problem which include both integer- and real-value test cases. We empirically compare the SA and GA algorithms with each other and with a hill-climbing algorithm, Korel's algorithm (KA), for integer-value-input subject programs and compare SA and GA with each other on real-value subject programs. Our empirical work uses several subject programs with a number of paths. The results show that: (a) SA and GA are superior to KA in the number of executed paths, (b) SA tends to perform slightly better than GA in terms of the number of executed paths, and (c) GA is faster than SA; however, KA, when it succeeds in finding the solution, is the fastest.     

Application of heuristic and hybrid-GASA algorithms to tool-path optimization problem for minimizing airtime during machining

In this paper, heuristic algorithms such as simulated annealing (SA), genetic algorithm (GA) and hybrid algorithm (hybrid-GASA) were applied to tool-path optimization problem for minimizing airtime during machining. Many forms of SA rely on random starting points that often give poor solutions. The problem of how to efficiently provide good initial estimates of solution sets automatically is still an ongoing research topic. This paper proposes a hybrid approach in which GA provides a good initial solution for SA runs. These three algorithms were tested on three-axis-cartesian robot during milling of wood materials. Their performances were compared based on minimum path and consequently minimum airtime. In order to make a comparison between these algorithms, two cases among the several milling operations were given here. According to results obtained from these examples, hybrid algorithm gives better results than other heuristic algorithms alone. Due to combined global search feature of GA and local search feature of SA, hybrid approach using GA and SA produces about 1.5% better minimum path solutions than standard GA and 47% better minimum path solutions than standard SA.     

基于正交设计NSGA-II算法的制动器多目标优化*

针对汽车鼓式制动器,以制动效能因数最大、制动鼓体积最小和制动器温升最低为目标,建立了多目标优化模型。针对传统NSGA-II算法求解3目标优化问题的不足,引入正交设计策略,提出了改进的NSGA-II算法。将改进算法与目前三种经典的多目标优化算法在DTLZ系列测试函数上进行性能测试,结果表明改进算法在求解3目标优化问题上有更好的性能。用改进算法和NSGA-II两种算法同时求解制动器多目标优化设计实例,改进算法得到了分布更好的Pareto前端,表明改进算法对此类问题求解行之有效。     

Parallel genetic simulated annealing: a massively parallel SIMDalgorithm

Many significant engineering and scientific problems involve optimization of some criteria over a combinatorial configuration space. The two methods most often used to solve these problems effectively-simulated annealing (SA) and genetic algorithms (GA)-do not easily lend themselves to massive parallel implementations. Simulated annealing is a naturally serial algorithm, while GA involves a selection process that requires global coordination. This paper introduces a new hybrid algorithm that inherits those aspects of GA that lend themselves to parallelization, and avoids serial bottle-necks of GA approaches by incorporating elements of SA to provide a completely parallel, easily scalable hybrid GA/SA method. This new method, called Genetic Simulated Annealing, does not require parallelization of any problem specific portions of a serial implementation-existing serial implementations can be incorporated as is. Results of a study on two difficult combinatorial optimization problems, a 100 city traveling salesperson problem and a 24 word, 12 bit error correcting code design problem, performed on a 16 K PE MasPar MP-1, indicate advantages over previous parallel GA and SA approaches. One of the key results is that the performance of the algorithm scales up linearly with the increase of processing elements, a feature not demonstrated by any previous parallel GA or SA approaches, which enables the new algorithm to utilize massive parallel architecture with maximum effectiveness. Additionally, the algorithm does not require careful choice of control parameters, a significant advantage over SA and GA     

Optimization techniques applied to multiple manipulators for path planning and torque minimization

This paper presents the formulation and application of a strategy for the determination of an optimal trajectory for a multiple robotic configuration. Genetic Algorithm (GA) and Simulated Annealing (SA) have been used as the optimization techniques and results obtained from them compared. First, the motivation for multiple robot control and the current state-of-art in the field of cooperating robots are briefly given. This is followed by a discussion of energy minimization techniques in the context of robotics, and finally, the principles of using genetic algorithms and simulated annealing as an optimization tool are included. The initial and final positions of the end effector are specified. Two cases, one of a single manipulator, and the other of two cooperating manipulators carrying a common payload illustrate the proposed approach. The GA and SA techniques identify the optimal trajectory based on minimum joint torque requirements. The simulations performed for both the cases show that although both the methods converge to the global minimum, the SA converges to solution faster than the GA.     

Implementable strategy research of brake energy recovery based on dynamic programming algorithm for a parallel hydraulic hybrid bus

The purpose of this paper is to develop an implementable strategy of brake energy recovery for a parallel hydraulic hybrid bus. Based on brake process analysis, a dynamic programming algorithm of brake energy recovery is established. And then an implementable strategy of brake energy recovery is proposed by the constraint variable trajectories analysis of the dynamic programming algorithm in the typical urban bus cycle. The simulation results indicate the brake energy recovery efficiency of the accumulator can reach 60% in the dynamic programming algorithm. And the hydraulic hybrid system can output braking torque as much as possible.Moreover, the accumulator has almost equal efficiency of brake energy recovery between the implementable strategy and the dynamic programming algorithm. Therefore, the implementable strategy is very effective in improving the efficiency of brake energy recovery.The road tests show the fuel economy of the hydraulic hybrid bus improves by 22.6% compared with the conventional bus.     

基于SA的改进遗传算法的测试数据生成研究

测试数据的自动生成研究是软件测试的一个焦点问题,测试数据的自动生成可以提高测试工作效率,节约测试成本.考虑遗传算法(GA)和模拟退火算法(SA)各自优缺点,提出遗传/模拟退火(GASA)混合算法的策略,在标准的GA中融入SA,在GA的局部搜索中引入SA,SA的随机状态受限于遗传优化算法的结果,GA的种群更新是由SA的退温算法和随机状态产生函数来控制,从而得到最优解.GA-SA算法取长补短,提高了算法的全局和局部搜索能力,能避免GA过早收敛,提高了算法搜索最优解的能力.实验结果表明,GASA算法寻找最优解所需的迭代次数明显优于标准GA.     

Comparative study of optimization technique for the global performance indices of the robot manipulator based on an approximate model

This paper presents the procedure and results of the multi-objective design optimization of a seven-degrees-of-freedom (7DOF) robot manipulator for better global performance, which pertains to the Global Conditioning Index (GCI) and the Structural Length Index (SLI). The concepts of, and the calculation techniques for, GCI and SLI are introduced to allow their use as objective functions for optimization. The optimization techniques, which are Sequential Two-point Diagonal Quadratic Approximate Optimization (STDQAO), the Progressive Quadratic Response Surface Method (PQRSM), the micro genetic algorithm (μGA), and the evolutionary algorithm (EA), were explained briefly, and they are being used to optimize the global performance indices of the robot manipulator. Also, the results of the optimization and comparison of the four optimization methods are summarized in tables.     

Intelligent control of braking process

Intelligent modeling, prediction and control of the braking process are not an easy task if using classical modeling techniques, regarding its complexity. In this paper, the new approach has been proposed for easy and effective monitoring, modeling, prediction, and control of the braking process i.e. the brake performance during a braking cycle. The context based control of the disc brake actuation pressure was used for improving the dynamic control of braking process versus influence of the previous and current values of the disc brake actuation pressure, the vehicle speed, and the brake interface temperature. For these purposes, two different dynamic neural models have been developed and integrated into the microcontroller. Microcontrollers are resource intensive and cost effective platforms that offer possibilities to associate with commonly used artificial intelligence techniques. The neural models, based on recurrent dynamic neural networks, are implemented in 8-bit CMOS microcontroller for control of the disc brake actuation pressure during a braking cycle. The first neural model was used for modeling and prediction of the braking process output (braking torque). Based on such acquired knowledge about the real brake operation, the inverse neural model has been developed which was able to predict the brake actuation pressure needed for achieving previously selected (desired) braking torque value in accordance with the previous and current influence of the pressure, speed, and the brake interface temperature. Both neural models have had inherent abilities for on-line learning and prediction during each braking cycle and an intelligent adaptation to the change of influences of pressure, speed, and temperature on the braking process.     

A fast recursive algorithm based on fuzzy 2-partition entropy approach for threshold selection

The fuzzy c-partition entropy approach for threshold selection is an effective approach for image segmentation. The approach models the image with a fuzzy c-partition, which is obtained using parameterized membership functions. The ideal threshold is determined by searching an optimal parameter combination of the membership functions such that the entropy of the fuzzy c-partition is maximized. It involves large computation when the number of parameters needed to determine the membership function increases. In this paper, a recursive algorithm is proposed for fuzzy 2-partition entropy method, where the membership function is selected as S-function and Z-function with three parameters. The proposed recursive algorithm eliminates many repeated computations, thereby reducing the computation complexity significantly. The proposed method is tested using several real images, and its processing time is compared with those of basic exhaustive algorithm, genetic algorithm (GA), particle swarm optimization (PSO), ant colony optimization (ACO) and simulated annealing (SA). Experimental results show that the proposed method is more effective than basic exhaustive search algorithm, GA, PSO, ACO and SA.     

An efficient hybrid approach based on PSO, ACO and k-means for cluster analysis

Clustering is a popular data analysis and data mining technique. A popular technique for clustering is based on k-means such that the data is partitioned into K clusters. However, the k-means algorithm highly depends on the initial state and converges to local optimum solution. This paper presents a new hybrid evolutionary algorithm to solve nonlinear partitional clustering problem. The proposed hybrid evolutionary algorithm is the combination of FAPSO (fuzzy adaptive particle swarm optimization), ACO (ant colony optimization) and k-means algorithms, called FAPSO-ACO–K, which can find better cluster partition. The performance of the proposed algorithm is evaluated through several benchmark data sets. The simulation results show that the performance of the proposed algorithm is better than other algorithms such as PSO, ACO, simulated annealing (SA), combination of PSO and SA (PSO–SA), combination of ACO and SA (ACO–SA), combination of PSO and ACO (PSO–ACO), genetic algorithm (GA), Tabu search (TS), honey bee mating optimization (HBMO) and k-means for partitional clustering problem.     

Study on continuous network design problem using simulated annealing and genetic algorithm

In general, a continuous network design problem (CNDP) is formulated as a bi-level program. The objective function at the upper level is defined as the total travel time on the network, plus total investment costs of link capacity expansions. The lower level problem is formulated as a certain traffic assignment model. It is well known that such bi-level program is non-convex and non-differentiable and algorithms for finding global optimal solutions are preferable to be used in solving it. Simulated annealing (SA) and genetic algorithm (GA) are two global methods and can then be used to determine the optimal solution of CNDP. Since application of SA and GA on continuous network design on real transportation network requires solving traffic assignment model many times at each iteration of the algorithm, computation time needed is tremendous. It is important to compare the efficacy of the two methods and choose the more efficient one as reference method in practice. In this paper, the continuous network design problem has been studied using SA and GA on a simulated network. The lower level program is formulated as user equilibrium traffic assignment model and Frank–Wolf method is used to solve it. It is found that when demand is large, SA is more efficient than GA in solving CNDP, and much more computational effort is needed for GA to achieve the same optimal solution as SA. However, when demand is light, GA can reach a more optimal solution at the expense of more computation time. It is also found that increasing the iteration number at each temperature in SA does not necessarily improve solution. The finding in this example is different from [Karoonsoontawong, A., & Waller, S. T. (2006). Dynamic continuous network design problem – Linear bilevel programming and metaheuristic approaches. Network Modeling 2006 Transportation Research Record (1964) (pp. 104–117)]. The reason might be the bi-level model in this example is nonlinear while the bi-level model in their study is linear.     

基于模拟退火的混合遗传算法研究

针对常规遗传算法会出现早熟现象、局部寻优能力较差等不足,在遗传算法运行中融入模拟退火算法算子,实现了模拟退火的良好局部搜索能力与遗传算法的全局搜索能力的结合。经验证,该混合算法可以显著提高遗传算法的运行效率和优化性能。     

Convergence enhanced genetic algorithm with successive zooming method for solving continuous optimization problems

A dynamic parameter encoding method was previously presented by Schraudolph and Belew [J Mach Learn 9 (1992) 9] for solving optimizing problems using discrete zooming factors. In contrast, the current paper proposes a successive zooming genetic algorithm (SZGA) for identifying global solutions using continuous zooming factors. To improve the local fine-tuning capability of a genetic algorithm (GA), a new method is introduced whereby the search space is zoomed around the design point with the best fitness per 100 generations. Furthermore, the reliability of the optimized solution is determined based on a theory of probability. To demonstrate the superiority of the proposed algorithm, a simple genetic algorithm, micro-genetic algorithm, and the proposed algorithm were compared as regards their ability to minimize multi-modal continuous functions and simple continuous functions. The results confirmed that the proposed SZGA significantly improved the ability of a GA to identify a precise global minimum. As an example of structural optimization, SZGA was applied to the optimal location of support points for weight minimization in the radial gate of a dam structure. The proposed algorithm identified a more exact optimum value than the conventional GAs.     

Teaching–learning based optimization algorithm based fuzzy-PID controller for automatic generation control of multi-area power system

This paper deals with the design of a novel fuzzy proportional–integral–derivative (PID) controller for automatic generation control (AGC) of a two unequal area interconnected thermal system. For the first time teaching–learning based optimization (TLBO) algorithm is applied in this area to obtain the parameters of the proposed fuzzy-PID controller. The design problem is formulated as an optimization problem and TLBO is employed to optimize the parameters of the fuzzy-PID controller. The superiority of proposed approach is demonstrated by comparing the results with some of the recently published approaches such as Lozi map based chaotic optimization algorithm (LCOA), genetic algorithm (GA), pattern search (PS) and simulated algorithm (SA) based PID controller for the same system under study employing the same objective function. It is observed that TLBO optimized fuzzy-PID controller gives better dynamic performance in terms of settling time, overshoot and undershoot in frequency and tie-line power deviation as compared to LCOA, GA, PS and SA based PID controllers. Further, robustness of the system is studied by varying all the system parameters from −50% to +50% in step of 25%. Analysis also reveals that TLBO optimized fuzzy-PID controller gains are quite robust and need not be reset for wide variation in system parameters.     

Bearing parameter identification of rotor–bearing system using clustering-based hybrid evolutionary algorithm

A new bearing parameter identification methodology based on global optimization scheme using measured unbalance response of rotor–bearing system is proposed. A new hybrid evolutionary algorithm which is a clustering-based hybrid evolutionary algorithm (CHEA), is proposed for global optimization scheme to improve the convergence speed and global search ability. Clustering of individuals by using a neural network is introduced to evaluate the degree of mature of genetic evolution. After clustering-based genetic algorithm (GA), local search is carried out for each cluster to judge the convexity of each cluster. Finally, random search is adapted for extrasearching to find a potential global candidate, which could be missed in GA and local search. The proposed methodology can identify not only unknown bearing parameters but also unbalance information of disk by simply setting them as unknown parameters. Numerical example and experimental results were used to verify the effectiveness of the proposed methodology.     

基于二进制蚁群模拟退火算法的认知引擎

在认知无线电系统中,认知引擎依据通信环境的变化和用户需求动态配置无线电工作参数。针对认知引擎中的智能优化问题,提出一种二进制蚁群模拟退火（BAC&SA）算法用于认知无线电参数优化。该算法在二进制蚁群优化（BACO）算法中引入模拟退火（SA）算法,融合了BACO的快速寻优能力和SA的概率突跳特性,能有效避免BACO容易陷入局部最优解的缺陷。仿真实验结果表明,与遗传算法（GA）和BACO算法相比,基于BAC&SA算法的认知引擎在全局搜索能力和平均适应度等方面具有明显的优势。     

Design of reinforced concrete road vaults by heuristic optimization

This paper aims at the automatic design and cost minimization of reinforced concrete vaults used in road construction. This paper presents three heuristic optimization methods: the multi-start global best descent local search (MGB), the meta-simulated annealing (SA) and the meta-threshold acceptance (TA). Penalty functions are used for unfeasible solutions. The structure is defined by 49 discrete design variables and the objective function is the cost of the structure. All methods are applied to a vault of 12.40 m of horizontal free span, 3.00 m of vertical height of the lateral walls and 1.00 m of earth cover. This paper presents two original moves of neighborhood search and an algorithm for the calibration of SA-TA algorithms. The MGB algorithm appears to be more efficient than the SA and the TA algorithms in terms of mean results. However, the SA outperforms MGB and TA in terms of best results. The optimization method indicates savings of about 10% with respect to a traditional design.