轮式移动舞台机器人双模模型预测控制北大核心CSCD

针对轮式移动舞台机器人的快速镇定和移动区域约束控制问题,提出一种快速双模模型预测控制(MPC)算法.考虑轮式移动舞台机器人的位姿约束和速度约束,采用控制Lyapunov函数概念和极坐标系模型设计模型预测控制算法.利用移动舞台机器人与目标的距离、瞄准角和方位角构造一个控制Lyapunov函数,建立移动舞台机器人的一个解析双模结构MPC控制器,再引入自由变量,参数化预测控制变量,降低双模MPC在线优化计算量.在约束条件下,建立了轮式移动舞台机器人闭环系统稳定性和MPC递推可行性理论结果.最后,通过与常规MPC比较,仿真验证所提算法的有效性和优越性.     

轮式移动舞台机器人双模模型预测控制

针对轮式移动舞台机器人的快速镇定和移动区域约束控制问题,提出一种快速双模模型预测控制(MPC)算法.考虑轮式移动舞台机器人的位姿约束和速度约束,采用控制Lyapunov函数概念和极坐标系模型设计模型预测控制算法.利用移动舞台机器人与目标的距离、瞄准角和方位角构造一个控制Lyapunov函数,建立移动舞台机器人的一个解析双模结构MPC控制器,再引入自由变量,参数化预测控制变量,降低双模MPC在线优化计算量.在约束条件下,建立了轮式移动舞台机器人闭环系统稳定性和MPC递推可行性理论结果.最后,通过与常规MPC比较,仿真验证所提算法的有效性和优越性.     

基于多特征信息自适应融合的视频目标跟踪算法

针对单一视觉特征跟踪的局限性,提出一种根据场景变化动态建立目标模型的粒子滤波视觉跟踪算法,方法首先选择简单且具有互补性的色彩与纹理特征描述表示当前图像,然后在粒子滤波框架下,利用民主融合策略进行信息融合,从而提高目标观测模型的鲁棒性;分析和实验表明, 算法对视频运动目标的任意平移、转动、部分遮挡、光照变化以及相似物干扰等情况下的跟踪均具有较好的效果.     

一种基于新锥模型的自适应信赖域算法

本文提出一种自动确定信赖域半径的新锥模型信赖域算法.该算法在每步迭代中利用以前迭代点的二次信息和水平向量信息自动产生一个信赖域半径.且证明了全局收敛性及超线性收敛性,数值结果验证了新算法的有效性.     

基于人工蜂群算法的非线性系统模型参数估计

将人工蜂群算法用于非线性系统模型的参数估计,通过对谷氨酸菌体生长模型的参数估计进行验证,并与人工神经网络、遗传算法和微粒群算法的优化结果进行了比较.仿真试验结果表明:人工蜂群算法对非线性系统模型的参数估计精度高于人工神经网络、遗传算法和微粒群算法的参数估计精度,为非线性系统模型参数估计提供了一种有效的途径.     

基于AGV的智能仓库系统储位分配问题研究

研究了基于自动引导机器人(AGV)的"货到人"拣选模式下的智能仓库系统补货阶段的储位分配问题.根据待拣选订单信息计算出商品之间的关联度,考虑了货架上存放的物品信息、空余储位数量、待补货物品信息,以同一货架上的各种商品之间的关联度之和最大化为目标函数,建立了补货阶段储位分配问题的整数规划模型;设计了求解模型的贪婪算法,并分析了算法复杂度.利用一个具体实例进行模拟计算,分析了贪婪算法的求解效果.进一步利用不同规模算例进行模拟计算,分析了贪婪算法的计算时间和近似比,结果显示贪婪算法可以在很短的时间内得到近似最优解,近似比不超过1.15.设计的贪婪算法可以作为智能仓库管理信息系统的核心算法.     

处理噪声问题的泰勒展开交替最小化算法

为了处理图像、计算机视觉和生物信息等领域中广泛存在的稀疏大噪声和高斯噪声问题,提出了一种利用交替方向最小化思想求解主成分追求松弛模型的泰勒展开交替最小化算法(TEAM).采用推广泰勒展开和收缩算子等技术推导出低秩矩阵和稀疏大噪声矩阵的迭代方向矩阵,加入连续技术提高算法的收敛速率,设计出TEAM算法的求解步骤.实验中,将TEAM算法与该领域的顶级算法作分析对比.结果表明,TEAM算法时间优势明显,误差优势略好.     

基于Udwadia-Kalaba方法的并联机器人鲁棒伺服约束控制

针对2自由度冗余驱动并联机器人轨迹跟踪控制问题,提出了一种基于Udwadia Kalaba方程的鲁棒伺服控制方法.在负载、外部干扰以及制造误差的影响下,无法得到机器人精确、完整的运动模型,导致机器人控制性能变差.为解决这类不确定性带来的影响,提出了一种鲁棒控制方法.该方法通过保证系统的一致有界性和一致最终有界性,使系统能够精确跟踪理想约束轨迹.此外,该方法采用Udwadia Kalaba方程,求解控制过程中满足系统理想约束所需要的约束力.Udwadia Kalaba方程不需要Lagrange乘子或伪广义速度等辅助变量,可以同时处理完整约束和非完整约束,且可以获得满足轨迹约束的约束力解析解.利用Lyapunov函数对该鲁棒控制方法的稳定性进行了理论证明,并且通过仿真实验,验证了该鲁棒控制方法能够在非理想条件下实现给定轨迹的高精度跟踪控制.     

多机器人协调吊运系统逆运动学分析及优化

针对紧耦合多机器人协调吊运系统的逆运动学问题进行了分析,首先利用几何关系和力旋量平衡方程建立了系统的运动学模型和动力学模型;然后对系统的逆运动学进行分析,将其分为变柔索长度和固定柔索长度两种情况分别进行分析;随后对运动学逆解在某一时刻存在无穷多解、多组解和无解的情况分别给出了解决方法,对存在多组解的情况,提出一优化目标求解最优解;最后结合软件UG/ADAMS/MATLAB建立了系统的实验平台,通过实例仿真计算验证了方法的有效性,为后续进一步研究系统运动稳定性、优化拉力分布和控制算法奠定了基础.     

移动机器人履行系统配置优化研究——基于闭排队网络理论

本文对移动机器人履行系统中货架调度任务的履行过程进行分析,根据机器人在货架装载、搬运、拣选、卸载四个过程的作业特点建立闭排队网络模型。采用近似平均值分析算法求解,实现系统绩效的迅速评估。通过与仿真计算实验的对比证明,模型对系统绩效的评估误差不超过5%。利用闭排队网络模型评估拣选台、机器人利用率和调度任务履行能力,实现对系统设施配置的讨论和优化。研究表明,拣选台均匀分布于仓库较长的两侧能提高系统履行绩效;系统存在最优机器人投放数量使系统整体利用率较高。     

A global optimization method for the molecular replacement problem in X-ray crystallography

The primary technique for determining the three-dimensional structure of a protein molecule is X-ray crystallography, from which the molecular replacement (MR) problem often arises as a critical step. The MR problem is a global optimization problem to locate an optimal position of a model protein so that at this position the model will produce calculated intensities closest to those observed from an X-ray crystallography experiment involving a protein with unknown but similar atomic structure. Improving the applicability and robustness of MR methods is an important research topic because commonly used traditional MR methods, though often successful, have their limitations in solving difficult problems.We introduce a new global optimization strategy that combines a coarse-grid search, using a surrogate function, with extensive multi-start local optimization. A new MR code, called SOMoRe, based on this strategy is developed and tested on four realistic problems, including two difficult problems that traditional MR codes failed to solve directly. SOMoRe was able to solve each test problem without any complication, and SOMoRe solved an MR problem using a less complete model than the models required by three other programs. These results indicate that the new method is promising and should enhance the applicability and robustness of the MR methodology.     

An efficient code for the minimization of highly nonlinear and large residual least squares functions

A new code for solving the unconstrained least squares problem is given, in which a Quasi-NEWTON approximation to the second order term of the Hessian is added to the first order term of the GAUSS-NEWTON method and a line search based upon a quartile model is used. The new algorithm is shown numerically to be more efficient on large residual problems than the GAUSS-NEWTON method and a general purpose minimization algorithm based upon BFGS formula. The listing and the user's guide of the code is also given.     

Parametric study of nonlinear adaptive control algorithm with magneto-rheological suspension systems

This paper describes the details of the simulation analysis of a nonlinear model-based adaptive suspension control system [Song X, Ahmadian M, Southward SC, Miller LR. An adaptive semiactive control algorithm for magneto-rheological suspension systems. ASME J Vibr Acoust, in press; Song X. Design of adaptive vibration control systems with application of magneto-rheological dampers. Dissertation, Virginia Tech, December, 1999]. The numerical aspect of the simulation study of a seat suspension with application of magneto-rheological dampers will be presented. Magneto-rheological (MR) dampers have strong nonlinearities such as bi-linearity, hysteresis, and saturation related to magnetism, which can be represented by appropriate mathematic functions, respectively. Thus the model-based adaptive algorithm becomes complicated because of involvement of MR damper models. One objective of this study is to investigate the effect of MR damper model simplifications on the adaptive suspension performance. Furthermore, simulation is also applied to do parametric study of adaptive algorithm parameters such as filtering and step size. The numerical results compare the proposed adaptive controller with passive dampers to validate not only its effectiveness but also obtain some guidance information for its experimental implementation.     

Materialmodelling of shape memory alloys in range of large deformations

In this contribution we present a finite deformation material model for SMA which includes the effect of pseudoelasticity. The model's structure is similiar to a Frederick-Armstrong type hardening model for elastoplasticity. A special algorithm has been developed to incorporate the concept into a FE code. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

水资源可再生能力综合评价的遗传加权物元模型

为了科学地计算水资源可再生能力评价指标的权重 ,使评价方法具有可操作性 ,采用主、客观相结合的赋权基点法 ,以全局收敛的格雷码加速遗传算法为工具来确定权重 ,并结合物元分析理论 ,建立了一种新的评价模型——遗传加权物元模型 .文中给出了该模型实施的详细步骤 ,对黄河流域 9个行政分区的水资源可再生能力进行了综合评价 ,取得了较好的效果 .     

A multilevel decoupled method for a mixed Stokes/Darcy model

This paper studies decoupled numerical methods for a mixed Stokes/Darcy model for coupling fluid and porous media flows. A two-level algorithm is proposed and analyzed in Mu and Xu (2007) [10]. We generalize the two-level algorithm to a multilevel algorithm in this paper and present numerical analysis on the error estimates for the multilevel algorithm. The multilevel algorithm solves the mixed Stokes/Darcy system by applying efficient legacy code for single model solvers to solve two decoupled Stokes and Darcy subproblems on all the subsequently refined meshes, except for a much smaller global problem only on a very coarse initial mesh. Numerical experiments are conducted for both the two-level and multilevel algorithms to illustrate their effectiveness and efficiency, and validate the related theoretical analysis.     

Finding dominators via disjoint set union

The problem of finding dominators in a directed graph has many important applications, notably in global optimization of computer code. Although linear and near-linear-time algorithms exist, they use sophisticated data structures. We develop an algorithm for finding dominators that uses only a “static tree” disjoint set data structure in addition to simple lists and maps. The algorithm runs in near-linear or linear time, depending on the implementation of the disjoint set data structure. We give several versions of the algorithm, including one that computes loop nesting information (needed in many kinds of global code optimization) and that can be made self-certifying, so that the correctness of the computed dominators is very easy to verify.     

Finite element simulation of shaped charges

This paper analyzes by numerical simulation the formation, the fragmentation, and the penetration in a plate of a copper jet that develops in a shaped charge. A finite element Lagrangian code has been used to gain insight into this problem. The study is conducted in two dimensions, axisymmetric. An explicit contact/friction algorithm is used to treat multi-body dynamics. A remeshing algorithm is needed to follow the high deformation pattern of the copper jet. The calculations account for rate-dependent plasticity, heat conduction and thermal coupling. A criterion is introduced to model the jet break-up. The simulations reveal in particular a gradient of shear deformation across the jet.     

An algorithm for the finite difference approximation of derivatives with arbitrary degree and order of accuracy

In this paper, we introduce an algorithm and a computer code for numerical differentiation of discrete functions. The algorithm presented is suitable for calculating derivatives of any degree with any arbitrary order of accuracy over all the known function sampling points. The algorithm introduced avoids the labour of preliminary differencing and is in fact more convenient than using the tabulated finite difference formulas, in particular when the derivatives are required with high approximation accuracy. Moreover, the given Matlab computer code can be implemented to solve boundary-value ordinary and partial differential equations with high numerical accuracy. The numerical technique is based on the undetermined coefficient method in conjunction with Taylor’s expansion. To avoid the difficulty of solving a system of linear equations, an explicit closed form equation for the weighting coefficients is derived in terms of the elementary symmetric functions. This is done by using an explicit closed formula for the Vandermonde matrix inverse. Moreover, the code is designed to give a unified approximation order throughout the given domain. A numerical differentiation example is used to investigate the validity and feasibility of the algorithm and the code. It is found that the method and the code work properly for any degree of derivative and any order of accuracy.