Modeling and global trajectory tracking control for an over-actuated MAV

This paper deals with an original micro aerial vehicle (MAV) design, the Omnicopter MAV. It has two central coaxial rotors with fixed-pitch propellers and three perimeter mounted ducted fans with servo motors performing thrust vectoring. Compared with traditional rotary wing MAVs that have inherent underactuation, the Omnicopter possesses some advantages in mobility, for example, lateral translation with zero attitude and hover with nonzero attitude. The trajectory tracking control design, global stability analysis, and control allocation are demonstrated through numerical simulation. The advantage of zero attitude translation is illustrated through experimental results.     

Rescheduling policies for large-scale task allocation of autonomous straddle carriers under uncertainty at automated container terminals

This paper investigates replanning strategies for container-transportation task allocation of autonomous Straddle Carriers (SC) at automated container terminals. The strategies address the problem of large-scale scheduling in the context of uncertainty (especially uncertainty associated with unexpected events such as the arrival of a new task). Two rescheduling policies–Rescheduling New arrival Jobs (RNJ) policy and Rescheduling Combination of new and unexecuted Jobs (RCJ) policy–are presented and compared for long-term Autonomous SC Scheduling (ASCS) under the uncertainty of new job arrival. The long-term performance of the two rescheduling policies is evaluated using a multi-objective cost function (i.e., the sum of the costs of SC travelling, SC waiting, and delay of finishing high-priority jobs). This evaluation is conducted based on two different ASCS solving algorithms–an exact algorithm (i.e., branch-and-bound with column generation (BBCG) algorithm) and an approximate algorithm (i.e., auction algorithm)–to get the schedule of each short-term planning for the policy. Based on the map of an actual fully-automated container terminal, simulation and comparative results demonstrate the quality advantage of the RCJ policy compared with the RNJ policy for task allocation of autonomous straddle carriers under uncertainty. Long-term testing results also show that although the auction algorithm is much more efficient than the BBCG algorithm for practical applications, it is not effective enough, even when employed by the superior RCJ policy, to achieve high-quality scheduling of autonomous SCs at the container terminals.     

COMPUTER SIMULATION OF HYDRODEMETALLATION IN FIXED-BED REACTORS

An isothermal model for hydrodemetallation (HDM) of crude oils in catalytic fixed-bed reactors is proposed. This model involves a consecutive reaction mechanism, which is capable of accounting for particle deposit profiles with interior maxima. Consistent with the fact that HDM catalysts are conglomerates formed by precipitation, the porous catalyst itself is modeled as randomly overlapping spheres of equal size. The metal is deposited as growing metal sulfide crystallites on the inner surface of the catalyst. These crystallites originate from a certain number of randomly scattered nuclei and increase in size as the deposition proceeds. The random sphere model for the catalyst and the deposit provides the changes in the catalyst pore structure—local porosity and surface area.

The mass transport within the domain of the particle is due to restricted liquid diffusion, since the diameter of the metal bearing compound (porphyrin) and the intermediate are comparable to the pore size. The diffusion restrictions taken into account are the enhanced drag imposed on a molecule by adjacent pore walls and steric partitioning.

Since the deposition process is much slower than diffusion and reaction, the pseudo-steady-state assumption can be justified. The equations of conservation for mass are solved by orthogonal collocation on finite elements. Based on this solution technique a computer simulation program of HDM is designed that allows two modes of operation: constant temperature and constant conversion. The simulation program “SIMULA” is highly flexible with regard to reaction kinetics, catalyst structure, reactor design, and operating conditions. In comparison to a base case with uniform activity, the effect of intraparticle (radial) and bed (axial) activity profiles on the conversion rate is discussed. For the case investigated, a radial distribution of activity higher at the center of the particle than at the edge can increase catalyst life by 25%, but axial distribution was less successful.     

亚硝酸型反硝化生物脱氮的节能机理及优化方案

须焦化污水处理工艺中，通过对亚硝酸型反硝化生物脱氮与硝酸型反硝化生物脱氮工艺的比较，探讨了需氧量、耗碱量及投资降低的机理。试验得出的优化方案是以NaOH为碱源的亚硝酸型反硝化生物脱氮工艺。     

一种多接口多信道VANET动态信道分配算法研究

为了合理地实现多接口多信道车载自组织网络（VANET）车辆节点间通信信道的动态分配,提出了一种基于通信双方车辆节点信道切换队列的动态信道分配算法。定义了车辆节点的射频接口状态,给出了信道的性能因子以及信道切换队列的生成方法,通过综合考虑通信双方车辆节点的射频接口状态和信道切换队列,快速自主地建立通信链路,从而解决了信道公平接入和分配不合理的问题。通过软件仿真比较可以看出,该算法实现了信道的动态分配,减小了平均端到端时延,增加了网络平均吞吐量,显著提高了多接口多信道VANET的网络性能。     

随机环境下带有私人信息的单机能力分配策略

本文研究随机环境下考虑私人信息的单机能力分配问题.该问题中各部门的单位产品收益、需求信息及加工设备各时段的能力为私人信息,且各时段中产品的加工时间为随机变量.本文采用设备方与各部门协商的方法对问题进行求解,首先利用随机规划理论将能力分配问题清晰化,然后利用拉格朗日松弛和泰勒级数展开方法进行协商机制设计,接着给出基于偏转次梯度方法的协商参数更新法则,最后综合上述过程给出最终的问题求解算法.数值算例验证了算法的有效性并分析了关键参数对能力分配结果的影响.     

智能电动车辆横纵向协调与重构控制

针对具有高度非线性、强耦合和冗余特性的智能电动车辆运动控制问题,提出了一种由协调控制律和控制分配律组成的横纵向综合控制新方法.首先,建立准确表征智能电动车辆行为机理的动力学模型;其次,采用非奇异滑模控制技术,引入非线性滑动模态切换面,设计有效克服非线性及不确定特性的协调控制律,保证系统状态在有限时间内收敛至平衡点;在此基础上,考虑到轮胎存在冗余和耦合特性,提出基于内点法的控制分配算法来完成期望广义力/力矩的优化分配,实现轮胎横纵向力的协调与重构.仿真结果表明了该方法的有效性.     

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。     

基于MPI高性能计算的方法研究

并行处理在计算能力方面与单处理器的串行处理相比有着无可比拟的优势。个人计算机和网络成本的下降使得使用分布式系统进行并行处理的现象越来越普遍,而分布式网络系统中多采用MPI作为并行编程标准。为了减少程序运行时间,改善MPI计算的性能,负载均衡方法尤为重要,本文提出一种在MPI并行处理中负载均衡的方法,可以按照节点的计算能力和负载情况,在节点之间分配和迁移任务。实验表明,本文提出的方法可有效提高MPI并行处理的性能。     

多编组协同任务分配模型及DLS-QGA 算法求解

为解决多智能体编组协同任务分配问题, 定义任务、智能体编组和相关的分配过程变量, 建立以最高任务执行效率为目标的数学模型. 在问题模型中设计考虑资源损耗的编组资源能力更新机制, 提出用于求解该模型的动态列表规划和量子遗传算法的混合任务分配算法, 使用动态列表规划选择处理的任务, 利用量子遗传算法为选定任务分配最合适编组. 最后通过算例表明, 所提出的方法在解决时序逻辑任务分配时能够得到更优更稳定的方案.