阀口袋套袋机器人轨迹优化方法研究

目的 为了提高阀口袋套袋机器人的工作效率,提出基于改进粒子群算法的阀口袋套袋机器人时间最优轨迹规划方法。方法 首先,通过逆运动学方程反解出操作空间轨迹对应的关节空间角度值。其次,采用4–3–4混合多项式对阀口袋套袋机器人的关节空间轨迹进行插值拟合。最后,在速度约束条件下,利用改进粒子群算法对阀口袋套袋机器人的运行时间进行优化处理。结果 仿真结果表明,改进粒子群算法可以在保证阀口袋套袋机器人运行平稳的条件下将总运行时间缩减41.66%,实现了阀口袋套袋机器人在关节空间中时间最优的轨迹规划。结论 该方法可有效地提高机器人工作效率,延长机器人的使用寿命,为阀口袋套袋机器人稳定可靠运行提供了科学依据。     

A comparison of swarm intelligence algorithms for structural engineering optimization

This paper compares the performance of three swarm intelligence algorithms for the optimization of hard engineering problems. The algorithms tested were bacterial foraging optimization (BFO), particle swarm optimization (PSO), and artificial bee colony (ABC). Besides the regular BFO, two other variants reported in the literature were also included in the study: adaptive BFO and swarming BFO. Both PSO and ABC were tested using the regular algorithm and variants that include explosion (mass extinction). Three optimization problems of structural engineering were used: minimization of the cost of a welded beam, minimization of the construction cost of a pressure vessel, and minimization of the total weight of a 10‐bar plane truss. All problems are strongly constrained. The algorithms were evaluated using two criteria: quality of solutions and the number of function evaluations. The results show that PSO presented the best balance between these two criteria. For the optimization problems approached in this paper, we can also conclude that the explosion procedure resulted in no significant improvements. Copyright © 2012 John Wiley & Sons, Ltd.     

Probabilistic optimal design of laminates using improved particle swarm optimization

A new approach to the particle swarm optimization (PSO) is proposed for the solution of non-linear optimization problems with constraints, and is applied to the reliability-based optimum design of laminated composites. Special mutation-interference operators are introduced to increase swarm variety and improve the convergence performance of the algorithm. The reliability-based optimum design of laminated composites is modelled and solved using the improved PSO. The maximization of structural reliability and the minimization of total weight of laminates are analysed. The stacking sequence optimization is implemented in the improved PSO by using a special coding technique. Examples show that the improved PSO has high convergence and good stability and is efficient in dealing with the probabilistic optimal design of composite structures.     

基于改进粒子群算法的高效船体分段制造优化

针对船体分段制造计划通常受到分段装焊场地、作业设备和作业工序等因素限制,以按需拉动、负荷平衡、缩短周期为优化目标,构建了高效分段制造作业计划优化模型。考虑作业优化模型变量离散和非线性问题,采用改进的粒子群算法,对优化模型进行求解。通过对某船厂实例分析,经Matlab编程运行,表明优化算法对提高分段制造产能、缩短建造周期具有较为明显的效果。     

Hybridization of genetic algorithm and fully informed particle swarm for solving the multi-mode resource-constrained project scheduling problem

In this article, the genetic algorithm (GA) and fully informed particle swarm (FIPS) are hybridized for solving the multi-mode resource-constrained project scheduling problem (MRCPSP) with minimization of project makespan as the objective subject to resource and precedence constraints. In the proposed hybrid genetic algorithm–fully informed particle swarm algorithm (HGFA), FIPS is a popular variant of the particle swarm optimization algorithm. A random key and the related mode list representation schemes are used as encoding schemes, and the multi-mode serial schedule generation scheme (MSSGS) is considered as the decoding procedure. Furthermore, the existing mode improvement procedure in the literature is modified. The results show that the proposed mode improvement procedure remarkably improves the project makespan. Comparing the results of the proposed HGFA with other approaches using the well-known PSPLIB benchmark sets validates the effectiveness of the proposed algorithm to solve the MRCPSP.     

一种工业机器人多目标轨迹优化算法

为解决工业机器人工作效率低、能耗损失严重和关节冲击磨损较大的问题,提出了一种基于布谷鸟搜索（cuckoo search,CS）算法和非支配排序遗传算法-Ⅱ(non-dominated sorting genetic algorithm-Ⅱ,NSGA-Ⅱ)的混合算法（简称为CSNSGA-Ⅱ）,用于机器人的轨迹优化。采用5次非均匀有理B样条（non-uniform rational B-splines,NURBS）曲线作为工业机器人的轨迹规划曲线,同时以运动时间、能耗和冲击磨损为优化目标构建相应的多目标轨迹优化模型,并在速度、加速度和加加速度的约束下采用CSNSGA-Ⅱ进行轨迹优化。CSNSGA-Ⅱ以Tent混沌映射初始化时间序列,采用不可行度算法将解分为可行解与不可行解,并利用改进的CS算法对不可行解进行处理。利用MATLAB软件对6R勃朗特机器人进行建模仿真,并对得到的非支配解集和归一化加权迭代最优值进行对比分析。仿真结果表明,相比于NSGA-Ⅱ、多目标粒子群优化（multi-objective particle swarm optimization,MOPSO）算法,所提出的CSNS...     

基于信息熵改进的粒子群算法在桁架结构

提出了信息熵改进的粒子群优化算法用于解决有应力约束、位移约束的桁架结构杆件截面尺寸优化设计问题.首先介绍了信息熵基本理论和基本粒子群优化算法理论,然后对粒子群优化算法作了合理的参数设置,并将信息熵引入粒子群优化算法的适应函数和停机判别准则中.最后对2个经典的优化问题进行求解并与其他算法进行了比较.数据结果表明信息熵改进后的粒子群优化算法在桁架结构优化设计中优于其他同类算法.     

Enhanced particle swarm optimization for size and shape optimization of truss structures

This article presents an enhanced particle swarm optimization (EPSO) algorithm for size and shape optimization of truss structures. The proposed EPSO introduces a particle categorization mechanism into the particle swarm optimization (PSO) to eliminate unnecessary structural analyses during the optimization process and improve the computational efficiency of the PSO-based structural optimization. The numerical investigation, including three benchmark truss optimization problems, examines the efficiency of the EPSO. The results demonstrate that the particle categorization mechanism greatly reduces the computational requirements of the PSO-based approaches while maintaining the original search capability of the algorithms in solving optimization problems with computationally cheap objective function and expensive constraints.     

新型宽带动力吸振器优化设计*

基于导纳功率流理论建立了变截面阻尼复合梁式新型宽带吸振器吸振分析理论模型,以输入被控制结构净功率峰值最小为目标函数,运用混沌粒子群算法对吸振器参数进行了优化,并给出了吸振效果较好的参数分布范围。结合实验结果表明：通过混沌粒子群算法优化后的得到的变截面阻尼复合梁式新型宽带吸振器具有好的吸振效果。     

基于粒子群算法多目标优化液压支架四连杆

针对煤矿液压支架四连杆受力计算较为复杂,简化计算时易出现较大误差且稳定性较差的问题,提出从四连杆机构的空间受力出发并结合支架的运动轨迹,采用粒子群优化算法对四连杆机构展开优化研究。首先建立了四连杆优化模型,在优化模型中选取对结果影响较大的参数作为优化变量,以轨迹偏差、连杆长、连杆力之和作为目标函数,根据液压支架设计规范确定约束条件。然后使用粒子群算法对目标函数进行迭代求解并在求解过程中采用惩罚函数法解决优化模型中不等式约束问题。对比优化前后连杆的杆长、受力和稳定性数据,发现优化后的四连杆实现了轻量化,且受力较小,稳定性提高。研究结果对四连杆的设计有实际参考价值。     

基于粒子群算法的劣化桥面铺装多目标组合维护策略优化研究

发展了维护导致的间接维护成本改进模型,基于改进的桥面铺装劣化模型推导了在组合维护策略下其状态指标评估公式,建立了多目标组合维护优化模型.使用自适应粒子群优化算法,根据寿命期内维护成本现值最小化和状态指标最大化的原则,满足性能要求和预算限制约束下,优化出寿命期内成本和性能都满足要求的维护策略.以劣化水泥混凝土桥面铺装为数...     

Multiobjective robust optimization method for drawbead design in sheet metal forming

It is recognized that fracture and wrinkling in sheet metal forming can be eliminated via an appropriate drawbead design. Although deterministic multiobjective optimization algorithms and finite element analysis (FEA) have been applied in this respect to improve formability and shorten design cycle, the design could become less meaningful or even unacceptable when considering practical variation in design variables and noises of system parameters. To tackle this problem, we present a multiobjective robust optimization methodology to address the effects of parametric uncertainties on drawbead design, where the six sigma principle is adopted to measure the variations, a dual response surface method is used to construct surrogate model and a multiobjective particle swarm optimization is developed to generate robust Pareto solutions. In this paper, the procedure of drawbead design is divided into two stages: firstly, equivalent drawbead restraining forces (DBRF) are obtained by developing a multiobjective robust particle swarm optimization, and secondly the DBRF model is integrated into a single-objective particle swarm optimization (PSO) to optimize geometric parameters of drawbead. The optimal design showed a good agreement with the physical drawbead geometry and remarkably improve the formability and robust. Thus, the presented method provides an effective solution to geometric design of drawbead for improving product quality.     

舰艇武器布置问题的一种协同优化算法

针对舰艇武器布置问题的特点，提出了一种基于粒子群优化和分类器系统的协同优化算法，以粒子群优化进行优化计算，用分类器系统消除约束．计算实例表明，该算法能较好地实现优化计算，并能节省大量的计算时间．     

基于混沌粒子群优化算法的AGV路径规划研究

目的 优化物流AGV路径最优问题。方法 提出一种改进的混沌粒子群优化算法,采用基于Bézier曲线的路径规划模型,通过调整Bézier曲线的控制点数量,显著改善AGV轨迹路线的长度和平滑度。结果 采用混沌粒子群滤波算法（CPSO）最优化处理Bézier曲线的控制点数,引入适应度函数,评估是否满足终止标准,如果达到最大迭代次数或者在给定迭代次数时未修改最优解则终止CPSO算法,最后利用选取的控制点计算出更短、更平滑的轨迹路线,提高了算法的寻优能力。结论 采用CPSO算法初始化Bézier曲线可以获得更加平滑的最短路径。     

A new multi-objective particle swarm optimizer using empirical movement and diversified search strategies

Most real-world optimization problems involve the optimization task of more than a single objective function and, therefore, require a great amount of computational effort as the solution procedure is designed to anchor multiple compromised optimal solutions. Abundant multi-objective evolutionary algorithms (MOEAs) for multi-objective optimization have appeared in the literature over the past two decades. In this article, a new proposal by means of particle swarm optimization is addressed for solving multi-objective optimization problems. The proposed algorithm is constructed based on the concept of Pareto dominance, taking both the diversified search and empirical movement strategies into account. The proposed particle swarm MOEA with these two strategies is thus dubbed the empirical-movement diversified-search multi-objective particle swarm optimizer (EMDS-MOPSO). Its performance is assessed in terms of a suite of standard benchmark functions taken from the literature and compared to other four state-of-the-art MOEAs. The computational results demonstrate that the proposed algorithm shows great promise in solving multi-objective optimization problems.     

基于改进粒子群算法的月地转移轨道优化

月地转移轨道优化是月球返回任务的技术难题之一,其搜索空间大、约束条件多。该文通过罚函数法将多约束优化问题转化为无约束优化问题,提出了一种改进粒子群算法,利用适应度函数来更新惯性权重,对粒子的速度加以约束,还对粒子的位置参数引入随机反馈控制,分析了算法的收敛性。在月地返回窗口内获得了逃逸速度增量最小的月地转移轨道优化结果,并利用目标函数的等高线图分析,对优化结果进行了验证。     

Biogeography-based particle swarm optimization with fuzzy elitism and its applications to constrained engineering problems

In evolutionary algorithms, elites are crucial to maintain good features in solutions. However, too many elites can make the evolutionary process stagnate and cannot enhance the performance. This article employs particle swarm optimization (PSO) and biogeography-based optimization (BBO) to propose a hybrid algorithm termed biogeography-based particle swarm optimization (BPSO) which could make a large number of elites effective in searching optima. In this algorithm, the whole population is split into several subgroups; BBO is employed to search within each subgroup and PSO for the global search. Since not all the population is used in PSO, this structure overcomes the premature convergence in the original PSO. Time complexity analysis shows that the novel algorithm does not increase the time consumption. Fourteen numerical benchmarks and four engineering problems with constraints are used to test the BPSO. To better deal with constraints, a fuzzy strategy for the number of elites is investigated. The simulation results validate the feasibility and effectiveness of the proposed algorithm.     

Particle swarm-based structural optimization of laminated composite hydrokinetic turbine blades

Composite blade manufacturing for hydrokinetic turbine application is quite complex and requires extensive optimization studies in terms of material selection, number of layers, stacking sequence, ply thickness and orientation. To avoid a repetitive trial-and-error method process, hydrokinetic turbine blade structural optimization using particle swarm optimization was proposed to perform detailed composite lay-up optimization. Layer numbers, ply thickness and ply orientations were optimized using standard particle swarm optimization to minimize the weight of the composite blade while satisfying failure evaluation. To address the discrete combinatorial optimization problem of blade stacking sequence, a novel permutation discrete particle swarm optimization model was also developed to maximize the out-of-plane load-carrying capability of the composite blade. A composite blade design with significant material saving and satisfactory performance was presented. The proposed methodology offers an alternative and efficient design solution to composite structural optimization which involves complex loading and multiple discrete and combinatorial design parameters.     

An improved hybrid self-inertia weight adaptive particle swarm optimization algorithm with local search

As an evolutionary computing technique, particle swarm optimization (PSO) has good global search ability, but the swarm can easily lose its diversity, leading to premature convergence. To solve this problem, an improved self-inertia weight adaptive particle swarm optimization algorithm with a gradient-based local search strategy (SIW-APSO-LS) is proposed. This new algorithm balances the exploration capabilities of the improved inertia weight adaptive particle swarm optimization and the exploitation of the gradient-based local search strategy. The self-inertia weight adaptive particle swarm optimization (SIW-APSO) is used to search the solution. The SIW-APSO is updated with an evolutionary process in such a way that each particle iteratively improves its velocities and positions. The gradient-based local search focuses on the exploitation ability because it performs an accurate search following SIW-APSO. Experimental results verified that the proposed algorithm performed well compared with other PSO variants on a suite of benchmark optimization functions.     

基于弹流润滑理论的非对称齿轮胶合强度多目标优化

为提高双压力角非对称齿廓齿轮的设计质量,缩短设计周期,依据弹性流体动力润滑理论,通过范例,以齿间最小油膜厚度最大和齿轮传动总体积最小为目标函数,按照粒子群优化算法,利用MATLAB编制优化程序,进行约束多目标优化设计.在此基础上,根据齿轮啮合原理和现代摩擦学原理从数学逻辑关系和物理机理上分析了目标函数对各个设计变量的灵敏度.研究结果表明:非对称齿轮的体积随模数和齿宽的增加而增加,对模数的敏感程度大于齿宽;齿间最小油膜厚度随模数、齿宽、压力角及变位系数的增加而增加,其敏感程度依次为压力角、模数、齿宽和变位系数;压力角是影响弹流润滑齿间最小油膜厚度最重要的因素,在工作齿侧适度增大压力角可以显著增大最小膜厚;大、小齿轮的变位系数对最小油膜厚度具有同等的影响程度.