A simple method to solve the forward displacement analysis of the general six-legged parallel manipulator

In this work a simple method to solve the forward displacement analysis of the general 6-6 fully parallel manipulator is applied. The method is based on generating closure equations upon the unknown coordinates of three points embedded to the moving platform. The method is easy to follow and it is available for both, planar and three-dimensional moving platforms. Numerical examples are included with the purpose to show the application of the method.     

OCOG: A common grasp computation algorithm for a set of planar objects

This paper addresses the problem of defining a simple End-Effector design for a robotic arm that is able to grasp a given set of planar objects. The OCOG (Objects COmmon Grasp search) algorithm proposed in this paper searches for a common grasp over the set of objects mapping all possible grasps for each object that satisfy force closure and quality criteria by taking into account the external wrenches (forces and torque) applied to the object. The mapped grasps are represented by feature vectors in a high-dimensional space. This feature vector describes the design of the gripper. A database is generated for all possible grasps for each object in the feature vector space. A search algorithm is then used for intersecting all possible grasps over all parts and finding a common grasp suitable for all objects. The search algorithm utilizes the kd-tree index structure for representing the database of the sets of feature vectors. The kd-tree structure enables an efficient and low cost nearest-neighbor search for common vectors between the sets. Each common vector found (feature vector) is the grasp configuration for a group of objects, which implies the future end-effector design. The final step classifies the grasps found to subsets of the objects, according to the common vectors found. Simulations and experiments are presented for four objects to validate the feasibility of the proposed algorithm. The algorithm will be useful for standardization of end-effector design and reducing its engineering time.     

基于自适应逆的温度控制系统

介绍了自适应逆控制方案,采用变步长LMS自适应滤波算法,用该算法建立对象的模型、对象逆模型,并设计了自适应逆控制器。将这种控制方案应用到含有大惯性、纯滞后的系统。仿真结果表明,此种方案鲁棒性及动态性能较好。     

A survey on nature-inspired optimization algorithms with fuzzy logic for dynamic parameter adaptation

Metaheuristic optimization algorithms have become a popular choice for solving complex problems which are otherwise difficult to solve by traditional methods. However, these methods have the problem of the parameter adaptation and many researchers have proposed modifications using fuzzy logic to solve this problem and obtain better results than the original methods. In this study a comprehensive review is made of the optimization techniques in which fuzzy logic is used to dynamically adapt some important parameters in these methods. In this paper, the survey mainly covers the optimization methods of Particle Swarm Optimization (PSO), Gravitational Search Algorithm (GSA), and Ant Colony Optimization (ACO), which in the last years have been used with fuzzy logic to improve the performance of the optimization methods.     

Optimisation of partner selection and collaborative transportation scheduling in Virtual Enterprises using GA

Partner selection and transportation scheduling are critical to the success of a Virtual Enterprise. Collaborative transportation is a promising strategy that can help many enterprises survive and thrive in today’s highly competitive market. To help decision makers establish and operate Virtual Enterprises more effectively, an innovative decision support system is proposed in this paper. First, new model for integration of partner selection and collaborative transportation scheduling in Virtual Enterprises is developed. This integrated optimisation problem is very dynamic in nature and it is required to optimise a number of interlinked sub-problems at the same time. Then, a novel Genetic Algorithm with a unique dynamic chromosome representation and genetic operations is developed to find an optimal solution to the integrated problem. The effectiveness of the proposed approach is demonstrated in a representative case study.     

基于自相关算法的 TOA 估计方法研究

TOA（脉冲到达时间）估计是检测和截获非合作突发通信信号的关键,在通信对抗中至关重要。在介绍基于自相关（AC）算法 TOA 估计原理的基础上,讨论了在低信噪比情况下自相关算法的门限设置问题。采用双门限方法对门限设置进行了改进,并通过计算机进行了仿真分析和验证。     

用混合式遗传算法进行给水管网现状分析

将广义简约梯度法(GRG)思想应用于传统遗传算法,提出一种新的混合式遗传算法(HGA),此方法具有很强的全局和局部搜索能力,并且无需复杂的编码、解码过程,可以准确解决多变量、多峰值的给水管网现状分析问题。采用此算法,绝大多数的计算值与实测值的误差可减小到1%以下,能准确反映管网的实际工况。     

Characterization of pressure signals in a bubble column by wavelet packet transform

All experiments of pressure fluctuations were carried out in a bubble column with a moderately large column of 0.376 m ID. The recently developed technique of wavelet packet transform based on localized wavelet functions is applicable to analysis of the fluctuating signals. The time series of pressure fluctuation signals have been analyzed by means of wavelet packet transform components, decomposition through best basis algorithm and timefrequency representation. By resorting to this technique, the objects in bubbly flow regime have fine scales and frequencies than ones in churn-turbulent flow regime. Thus, this wavelet packet transform method enables us to obtain the frequency content of local complex flow behaviors in a bubble column.     

蔬菜配送系统的路径优化及设计开发

蔬菜配送对时效性有很高的要求,配送路径优化成为企业赢利的关键点,而路径优化是NP难问题,传统的算法不能在有限的时间内给出最优解。使用蚁群算法（Ant Colony Optimization,AC0）并对其参数进行优化,解决车辆配送路径优化问题,使得配送路径实时最优化,降低配送成本和企业经营成本。本系统使用Struts2、Hibernate、Spring三大框架进行设计,前台具有智能定位、配送体系、订单跟踪、价格动态功能,后台集成用户管理、订单管理、新闻管理、蔬菜管理、客服服务功能。系统采用模块化设计,具有结构清晰,易于扩展的优点。     

《数据结构与算法》教学方法改革探讨

《数据结构与算法》是理论与实践并重的计算机专业的核心课程,该课程理论和实践知识体系难度均较大,学生反映课程枯燥难学、兴趣匮乏。针对目前学生的学习过程中遇到的困难,结合应用型人才培养目标、学生及课程的特点,对教学方法进行多方面的探讨,提出案例教学、加强学生课堂参与度、重视理论与实践紧密结合、多种手段辅助教学、以赛促学、上机考试考核制度等教学方法。