The capacitated multi-AGV scheduling problem with conflicting products: Model and a decentralized multi-agent approach

Automated guided vehicles (AGVs) are a key technology to facilitate flexible production systems in the context of Industry 4.0. This paper investigates an optimization model and a solution using a decentralized multi-agent approach for a new capacitated multi-AGV scheduling problem with conflicting products (CMASPCP) to take full advantage of AGVs. The novelty of the problem and our model lies in the introduction of AGV capacity constraints and constraints arising from conflicting products, i.e. products that cannot be transported together. As the new I4.0 paradigm tends towards decentralized control, we also present a decentralized multi-agent approach in which AGVs autonomously coordinate to solve the task. The performance of the proposed decentralized approach is compared to a mixed-integer linear programming model on a set of 110 problem instances with different sizes and degrees of complexity. The obtained results show that the proposed decentralized multi-agent approach is effective and competitive in terms of the solution quality and computational time.     

稀疏约束的时空正则相关滤波无人机视觉跟踪

目的 基于相关滤波的跟踪算法在无人机(unmanned aerial vehicle,UAV)视觉跟踪领域表现出卓越的性能。现有的相关滤波类跟踪算法从样本区域的所有特征中学习滤波器,然而某些来自遮挡或形变的特征可能会污染滤波器,降低模型判别能力。针对此问题,提出一种稀疏约束的时空正则相关滤波跟踪算法。方法 在相关滤波目标函数上施加空间弹性网络约束以自适应地抑制跟踪过程中的干扰特征,同时集成空间—时间正则相关滤波算法(spatial-temporal regularized correlation filter,STRCF)中的时间正则项以增强滤波器抑制畸变的能力。采用交替方向乘子法(alternating direction method of multipliers,ADMM)将带有约束项的目标函数转化为两个具有闭式解的子问题迭代求局部最优解。此外,提出一种相关滤波框架通用的加速策略,根据当前帧的目标位移量,对检测定位阶段的特征矩阵进行等距离的循环移位,将其作为在线学习阶段的特征矩阵,每帧可节省一次训练样本的特征提取操作,提高跟踪速度。结果 在3个UAV数据集上与14种主流跟踪算法进...     

永磁同步电机模型预测转矩控制简化控制策略

传统永磁同步电机(PMSM)模型预测转矩控制(MPTC)遍历逆变器生成的全部7个电压矢量, 计算负担较大.当转矩误差较小时, 零电压矢量利用率较高, 则可当转矩误差位于阈值范围, 电机系统直接输出零电压矢量, 否则,依然遍历7个电压矢量, 并给出阈值确定方法. 基于上述策略, 本文增加了6个定子磁链扇区位置约束, 将转矩误差大于阈值时的备选电压矢量降至4个, 并增加磁链扇区数目至12个和磁链误差约束, 进一步减小备选电压矢量. 仿真结果表明, 提出的3种简化策略控制下, 永磁同步电机系统运行正常, 控制性能与传统模型预测转矩控制基本相当,平均开关频率分别降低至77.48%, 77.09%和76.12%, 平均遍历电压矢量个数分别降低至58.29%, 32.86%和29.14%.实时性实验结果表明运行时间分别减小至57.70%, 32.96%和29.48%.     

基于自监督约束的双尺度真实图像盲去噪算法

现存的图像去噪算法在处理加性高斯白噪声上已经取得令人满意的效果,然而其在未知噪声强度的真实噪声图像上泛化性能较差.鉴于深度卷积神经网络极大地促进了图像盲去噪技术的发展,针对真实噪声图像提出一种基于自监督约束的双尺度真实图像盲去噪算法.首先,所提算法借助小尺度网络分支得到的初步去噪结果为大尺度分支的图像去噪提供额外的有用信息,以帮助后者实现良好的去噪效果.其次,用于去噪的网络模型由噪声估计子网络和图像非盲去噪子网络构成,其中噪声估计子网络用于预测输入图像的噪声强度,非盲去噪子网络则在所预测的噪声强度指导下进行图像去噪.鉴于真实噪声图像通常缺少对应的清晰图像作为标签,提出了一种基于全变分先验的边缘保持自监督约束和一个基于图像背景一致性的背景自监督约束,前者可通过调节平滑参数将网络泛化到不同的真实噪声数据集上并取得良好的无监督去噪效果,后者则可借助多尺度高斯模糊图像之间的差异信息辅助双尺度网络完成去噪.此外,还提出一种新颖的结构相似性注意力机制,用于引导网络关注图像中微小的结构细节,以便复原出纹理细节更加清晰的真实去噪图像.相关实验结果表明在SIDD,DND和Nam这3个真实基准数据集上,所提的基于自监督的双尺度盲去噪算法无论在视觉效果上还是在量化指标上均优于多种有监督图像去噪方法,且泛化性能也得到了较为明显的提升.     

Parallel Cloth Simulation Using OpenGL Shading Language

The primary goal of cloth simulation is to express object behavior in a realistic manner and achieve real-time performance by following the fundamental concept of physic. In general, the mass–spring system is applied to real-time cloth simulation with three types of springs. However, hard spring cloth simulation using the mass–spring system requires a small integration time-step in order to use a large stiffness coefficient. Furthermore, to obtain stable behavior, constraint enforcement is used instead of maintenance of the force of each spring. Constraint force computation involves a large sparse linear solving operation. Due to the large computation, we implement a cloth simulation using adaptive constraint activation and deactivation techniques that involve the mass–spring system and constraint enforcement method to prevent excessive elongation of cloth. At the same time, when the length of the spring is stretched or compressed over a defined threshold, adaptive constraint activation and deactivation method deactivates the spring and generate the implicit constraint. Traditional method that uses a serial process of the Central Processing Unit (CPU) to solve the system in every frame cannot handle the complex structure of clothmodel in real-time. Our simulation utilizes the Graphic Processing Unit (GPU) parallel processing with compute shader in OpenGL Shading Language (GLSL) to solve the system effectively. In this paper, we design and implement parallel method for cloth simulation, and experiment on the performance and behavior comparison of the mass–spring system, constraint enforcement, and adaptive constraint activation and deactivation techniques the using GPU-based parallel method.     

关键词最优路径查询的分段拓展算法

关键词最优路径查询（KOR）查找在满足关键词全覆盖和路径长度约束条件下,时间开销最小的路线常用于旅行规划。现有优化算法虽然采用各种剪枝策略缩小搜索规模,但是本质上是广度优先搜索,在查找长路径时,搜索规模依然过大,执行时间长。针对该问题,提出一种关键词最优路径查询的分段拓展算法（SE-KOR）。SE-KOR算法根据关键词倒排索引表构建关键词顶点路径,将路径划分为多段分别拓展,降低搜索规模,从而缩短执行时间。该算法在路径拓展时给出路径走向,而现有剪枝策略不控制路径拓展方向,因此提出局部代价阈值剪枝,控制路径的走向沿关键词顶点路径拓展,并综合运用近似支配、可行解目标值剪枝和全局优先拓展策略加速拓展。实验结果表明,在不损失精度的情况下,该算法执行时间分别在不同关键词个数、代价阈值与查询图规模下至少缩短8.0%、61.0%和57.7%。     

结合l1/2范数与显著性约束的背景减除

传统背景减除模型在背景静止和前景对象移动较快时提取到的前景效果较好,但当背景变化或前景对象移动缓慢时容易将动态背景误判为前景或检测出的前景有较多空洞。针对传统背景减除模型在动态背景和前景对象移动缓慢条件下存在前景检测精度下降的问题,提出一种基于l_1/2范数与显著性约束的背景减除模型。将观测数据分为低秩背景、运动前景和动态干扰3类,利用l_1/2范数约束运动前景加强前景稀疏性,有效抑制动态背景对前景提取造成的干扰,提高运动前景在动态背景中的检测精度。引入视频每一帧的显著性约束,通过对每一帧图像进行低秩稀疏分解来检测移动缓慢的目标。实验结果表明,该模型对于复杂场景具有较强的适应能力,可有效去除动态背景对前景的干扰,快速检测出移动缓慢的前景对象,相比于l_1/1/2-RPCA背景减除模型的平均查全率、查准率和调和平均值分别提升了9、14和10个百分点。     

Shape design of cerium oxide nanoparticles for enhancement of enzyme mimetic activity in therapeutic applications

Cerium oxide nanoparticles (CONPs), widely used in catalytic applications owing to their robust redox reaction, are now being considered in therapeutic applications based on their enzyme mimetic properties such as catalase and super oxide dismutase (SOD) mimetic activities. In therapeutic applications, the emerging demand for CONPs with low cytotoxicity, high cost efficiency, and high enzyme mimetic capability necessitates the exploration of alternative synthesis and effective material design. This study presents a room temperature aqueous synthesis for low-cost production of shape-selective CONPs without potentially harmful organic substances, and additionally, investigates cell viability and catalase and SOD mimetic activities. This synthesis, at room temperature, produced CONPs with particular planes: {111}/{100} nanopolyhedra, {100} nano/submicron cubes, and {111}/{100} nanorods that grew in [110] longitudinal direction. Enzymatic activity assays indicated that nanopolyhedra with a high concentration of Ce⁴⁺ ions promoted catalase mimetic activity, while nanocubes and nanorods with high Ce³⁺ ion concentrations enhanced SOD mimetic activity. This is the first study indicating that shape and facet configuration design of CONPs, coupled with the retention of dominant, specific Ce valence states, potentiates enzyme mimetic activities. These findings may be utilized for CONP design aimed at enhancing enzyme mimetic activities in therapeutic applications.

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多耦合拘束效应对P92钢蠕变裂纹扩展行为的影响

基于断裂力学理论,针对不同面内拘束效应下P92钢高温蠕变裂纹扩展(Creep crack growth,CCG)进行了数据模拟与分析。研究发现不同的拘束效应对CCG行为有着各异的影响,主要分析了试样几何形状、尺寸以及初始裂纹深度等对CCG行为的影响,并且着重研究比较这3种耦合拘束效应对CCG行为的影响程度。基于多种耦合拘束对CCG行为的影响程度做了横向比较,研究发现:试样几何形状对CCG行为的影响程度要大于几何尺寸,试样尺寸和初始裂纹深度对CCG行为的影响程度相似,试样形状比初始裂纹深度的影响程度更大。     

OCL约束验证与实现的方法

为了能在运行时验证OCL约束,提出了约束验证框架.针对OCL-Java代码(即OCL约束对应的可执行Java代码)插入的简单方案和封装方法存在的不足,给出了改进的代码插入方案,其中应用异常处理技术从而能够捕获冲突的约束.为了使OCL-Java代码根据设计的代码模式插入到Java程序中,对Java解析器作了修改.最后,实验结果表明了该方法的可行性.