Optimum path planning using convex hull and local search heuristic algorithms

Whether in improving quality or productivity the impact of mechatronic systems such as robots in industry is unquestionable. One aspect of interest in robotics is planning the optimum path for a mobile robot or the optimum trajectory for link movements of a stationary robot in order to increase their efficiency. However, for a given set of points complete enumeration of all the possible paths to establish an optimal one is not feasible as the search space increases exponentially (explodes combinatorially) as the number of points increases. This problem, traditionally known as the “Traveling Salesman Problem” (TSP) has attracted a great deal of attention for a long time. Proven enumerative techniques such as “nearest neighbour algorithm”, “branch and bound”, “cutting planes”, and “dynamic programming” as well as approximation methods such as “tabu search”, “greedy algorithm”, “simulated annealing” and “genetic algorithm”, have had only a limited success in solving this problem. Recently “convex hull”, a minimum area and perimeter shape, has been used as an initial sub-tour along with enumerative techniques such as minimising insertion costs to solve the TSP problem. We present a system which uses heuristic rules to augment the convex hull initial sub-tour created by the Graham scan algorithm. The system is able to provide a solution in a polynomial time.     

Structural Properties of Networked Control Systems With Bandwidth Limitations and Delays

The structural properties of networked control systems with both bandwidth limitations and delays are investigated. Sufficient conditions are given for controllability (stabilizability) and reconstructibility (detectability). Our results enhance previous works by capturing bandwidth limitations and delays simultaneously. The adopted modeling framework could be readily used in control and estimation methods, including optimal and predictive schemes. It also facilitates the use of scheduling optimization algorithms in conjunction with the control scheme presented.     

磁性元件对绿色照明的贡献

文章介绍了磁性元件在电子镇流器中的应用,分析了磁性元件的电磁性能,以节能高效、实现绿色照明为着眼点,对电子镇流器设计中的磁性元件选择提出了建议。     

高压直流UPS的优势与面临的瓶颈

本文分析了传统UPS中逆变器和48Vdc系统效率方面的不足，提出了高压直流不间断电源（HVDC UPS）系统的优势和可能的实施方案，并指出了制约HVDC UPS方案推广应用的瓶颈。     

无线网络监控的环保能源综合解决方案

本文介绍一种可应用于一些基础性建设中的无线网络监控环保能源综合解决方案,本方案将更高效地利用自然能源,替代一部分传统能源的消耗,并可大大减少综合建设投资,提高监控管理效率,是一种非常有前景,值得大规模推广应用的环保型能源。     

Experimental measurement and correlation of solubility of β-carotene in pure and ethanol-modified subcritical water

For the first time, the solubility of β-carotene in pure and ethanol-modified subcritical water (SW) using the static method was determined. The experimental runs were performed at a temperature ranging from 298.15 to 403.15 K and 0–10% (w/w) of ethanol as a modifier at a constant pressure of 5 MPa. Samples were analyzed by UV–vis spectrophotometer. The solubility of β-carotene was found to range from 1.084 × 10⁻⁸ to 227.1 × 10⁻⁸ mol fractions in the subcritical water in above mentioned conditions. The obtained β-carotene solubility data were correlated using the linear model and modified Apelblat model. The obtained results showed the modified Apelblat model was better for estimating the solubility of β-carotene in SW. The values of the root-mean-square deviation (RMSD) between experimental and correlated data were calculated and used as the index of validity and accuracy for the model. Also, thermodynamic properties of the solution such as the Gibbs free energy of solution, enthalpy, and entropy of solution were estimated.     

Structural Properties,LQG Control and Scheduling of a Networked Control System with Bandwidth Limitations and Transmission Delays

The problem of simultaneous LQG control and scheduling of a Networked Control System (NCS) with constant network induced delays at input and output and bandwidth limitations is investigated. Delays are considered at plant as well as controller side. Sufficient conditions for controllability, stabilizability, reconstructibility and detectability of the underlying networked control system are drawn. The proposed conditions extend previous works on structural properties of NCS by capturing both plant and controller side delays together with bandwidth limitations. A framework for computing the optimal LQG controller for the NCS with a fixed scheduling is provided. The proposed modeling approach facilitates use of LQG as well as other control methods for NCSs with delays and bandwidth limitations. In order to optimize performance, a semi-online scheduling procedure is proposed based on an offline look up table. The look up table assigns an optimal schedule with associated optimal LQG controller to initial conditions. The proposed scheme improves previous results by online deployment of schedule and LQG control with stability guarantees and very low computational overhead. A simulation example with communication delays, packet losses and bandwidth limitations in both sensor and actuator sides is included. Static optimal periodic communication sequence, Optimal Pointer Placement (OPP) approach proposed in previous works, a random access scheduling method representing contention based access policies and the proposed method are simulated and compared.      

Magnetic charged system search: a new meta-heuristic algorithm for optimization

An improved version of the charged system search (CSS) algorithm is introduced which is called magnetic charged system search (MCSS). In the new algorithm, magnetic forces are considered in addition to electrical forces, using the Biot–Savart law. Each charged particle (CP), as a search agent, exerts magnetic forces on other CPs based on the variation of its objective function value during its last movement and its distance between other CPs. This additional force provides useful information for the optimization process and enhances the performance of the CSS algorithm. The efficiency of the MCSS is examined by application of this algorithm to well-known mathematical benchmarks and three well-studied engineering design problems. The results are compared to those of the CSS, and the improvements are highlighted.     

直流功率变换器的一种控制方法

非线性PID控制方法是一种处理非线性控制问题的简单而直接的办法。本文将这一方法应用于脉宽调制变换器的非线性无穷大频率平均模型,重点研究了升降压式变换器,通过数字仿真分析,说明了变换器非线性PID控制器的调节性能,从而表明非线性PID控制器应用于开关式直流功率变换器的控制的可行性。     

Investigating the effect of basalt fiber additive on the performance of clay barriers for radioactive waste disposals

Bulletin of Engineering Geology and the Environment - Radioactive materials are widely used in mining, manufacturing, medicine, and agricultural processes. The waste products from these materials...