基于改进D?Lite遗传算法路径规划研究

针对遗传算法在移动机器人路径规划中易产生早熟现象和收敛速度慢的问题,提出了改进的D~* Lite遗传算法。该算法将D~* Lite算法和遗传算法相结合,通过引入碰撞系数和可视检测技术以提高路径安全性,寻找最短路径。在遗传算法设计中加入动态调整交叉与变异概率,以解决算法在路径规划中因陷入局部最优值而不能到达目标点的问题。最后,通过实验仿真可知:与蚁群算法和免疫遗传算法相比,改进的D~* Lite遗传算法执行效率高,可以快速规划出全局最优路径。     

基于DSP的智能电源控制单元设计与实现

本文利用TI公司TMS320F28335芯片高效的浮点运算能力,结合片上丰富的外设,设计并实现了一种具有高可靠性的智能电源控制单元。该控制单元周期性地对各片上外设进行自检维护,完成多路负载通道控制、电压、电流的实时监控,并对故障进行指示、处理和上报,同时提供人机交互界面更新状态信息。经过验证,该控制单元工作稳定,具备良好的工程应用价值。     

Genetic algorithm and self organizing map based fuzzy hybrid intelligent method for color image segmentation

The grouping of pixels based on some similarity criteria is called image segmentation. In this paper the problem of color image segmentation is considered as a clustering problem and a fixed length genetic algorithm (GA) is used to handle it. The effectiveness of GA depends on the objective function (fitness function) and the initialization of the population. A new objective function is proposed to evaluate the quality of the segmentation and the fitness of a chromosome. In fixed length genetic algorithm the chromosomes have same length, which is normally set by the user. Here, a self organizing map (SOM) is used to determine the number of segments in order to set the length of a chromosome automatically. An opposition based strategy is adopted for the initialization of the population in order to diversify the search process. In some cases the proposed method makes the small regions of an image as separate segments, which leads to noisy segmentation. A simple ad hoc mechanism is devised to refine the noisy segmentation. The qualitative and quantitative results show that the proposed method performs better than the state-of-the-art methods.     

Tribological behaviour of a 3Y-TZP/Ta ceramic-metal biocomposite against ultrahigh molecular weight polyethylene (UHMWPE)

This study aims to evaluate the tribological behaviour of 3Y-TZP/Ta (20 vol%) ceramic-metal composites and 3Y-TZP monolithic ceramic prepared by spark plasma sintering (SPS) against ultrahigh molecular weight polyethylene (UHMWPE). According to the results of pin (UHMWPE)-on-flat wear test under dry conditions, the UHMWPE – 3Y-TZP/Ta system exhibited lower volume loss and friction coefficient than the UHMWPE – monolithic ceramic combination due to the presence of an autolubricating layer that provides sufficient lubrication for reducing the friction. Owing to the lubrication of the liquid media, under wet conditions obtained using simulated body fluid (SBF), similar behaviour is observed in both cases. Additionally, the ceramic and biocomposite materials were subjected to a low temperature degradation (LTD) process (often referred to as “ageing”) to evaluate the changes in the tribological behaviour after this treatment. In this particular case, the wear properties of the UHMWPE-biocomposite system were found to be less influenced by ageing in contrast to the case of the UHMWPE-zirconia monolithic material. In addition to their exceptional mechanical performance, 3Y-TZP/Ta composites also showed high resistance to low temperature degradation and good tribological properties, making them promising candidates for biomedical applications, especially for orthopaedic implants.     

The Cooperative Molecular Field Effect

Two‐dimensional arrangements of molecules can show remarkable cooperative electronic effects. Such effects can serve to achieve direct electronic sensing of chemical and physical processes via electrostatic effects, i.e., without transfer of charge or matter between the locus of sensing and that of detection.     

Metathesis as a versatile tool in oleochemistry

Olefin metathesis, awarded with the Nobel Prize in Chemistry 2005 for Chauvin, Grubbs and Schrock, has emerged as a powerful tool for organic as well as polymer chemistry. In oleochemistry, this reaction is well known and has been applied for many decades. Examples include the functionalization of the double bonds of different oleochemicals or the (direct) polymerization of plant oils via metathesis. More recent developments, particularly the development of better and more robust catalysts, allow for highly efficient cross‐metathesis reactions opening new possibilities for the direct introduction of chemical functionalities. Within this contribution, the development of metathesis in oleochemistry will be discussed, covering self‐metathesis as well as more recent developments in the field of cross‐metathesis that lead to desired platform chemicals.